Yaskawa Feedback Options Installation Guide

YASKAWA Feedback Options provide accurate speed or position control for your industrial applications. Whether you need to precisely control the speed of a motor, or maintain precise positioning, our feedback options offer a range of solutions to meet your needs. Our encoders and resolvers provide high-resolution feedback, while our motor-mounted sensors provide real-time data on motor speed and position. With a variety of models and mounting options available, you can easily find the right option for your application.

PDF

Dokumentti

Mainos

インバータ事業部（COSMOS）（140×182）（和英併記）

YASKAWA AC Drive 1000-Series Option

Motor Encoder Feedback

HEIDENHAIN ERN1387 Interface

Installation Manual

Type PG-E3

To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual.

安川インバータ

1000

シリーズオプション

エンコーダインタフェース

（ ERN1387

取扱説明書

用）

形式

PG-E3

製品を安全にお使い頂くために，本書を必ずお読みください。

また，本書をお手元に保管していただくとともに，最終的に本製品をご使用になる

ユーザー様のお手元に確実に届けられるよう，お取り計らい願います。

MANUAL NO. TOBP C730600 52C

1 Preface and Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2 Product Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

3 Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

4 Option Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

5 Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

7 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

8 Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

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.

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.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

1 Preface and Safety

Yaskawa manufactures products used as components in a wide variety of industrial systems and equipment. The selection and application of Yaskawa products remain the responsibility of the equipment manufacturer or end user. Yaskawa accepts no responsibility for the way its products are incorporated into the final system design. Under no circumstances should any

Yaskawa product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all controls should be designed to detect faults dynamically and fail safely under all circumstances. All systems or equipment designed to incorporate a product manufactured by Yaskawa must be supplied to the end user with appropriate warnings and instructions as to the safe use and operation of that part. Any warnings provided by Yaskawa must be promptly provided to the end user. Yaskawa offers an express warranty only as to the quality of its products in conforming to standards and specifications published in the Yaskawa manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS

OFFERED. Yaskawa assumes no liability for any personal injury, property damage, losses, or claims arising from misapplication of its products.

◆

Applicable Documentation

The following manuals are available for the option:

Option

Yaskawa AC Drive 1000-Series Option

Motor Encoder Feedback

HEIDENHAIN ERN1387 Interface

PG-E3 Installation Manual (This book)

Manual No: TOBPC73060052

Read this manual first.

The installation manual is packaged with the option and contains information required to install the option and set up related drive parameters.

Yaskawa AC Drive

1000-Series

Technical Manual

Yaskawa Drive

Yaskawa AC Drive

1000-Series

Quick Start Guide

The drive manuals cover basic installation, wiring, operation procedures, functions, troubleshooting, and maintenance information.

The manuals also include important information about parameter settings and drive tuning.

Access these sites to obtain Yaskawa instruction manuals:

U.S.: http://www.yaskawa.com

Europe: http://www.yaskawa.eu.com

Japan: http://www.e-mechatronics.com

Other areas: contact a Yaskawa representative.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

1 Preface and Safety

◆

Terms

Note:

Indicates supplemental information that is not related to safety messages

Drive:

Yaskawa AC Drive 1000-Series

Option:

Yaskawa AC Drive 1000-Series Option Motor Encoder Feedback HEIDENHAIN ERN1387

Interface:

Type PG-E3

PG:

Pulse Generator or Encoder mounted on the motor

◆

Registered Trademarks

Trademarks are the property of their respective owners.

◆

Supplemental Safety Information

Read and understand this manual before installing, operating, or servicing this option. Install the option according to this manual and local codes.

The following conventions indicate safety messages in this manual. Failure to heed these messages could cause fatal injury or damage products and related equipment and systems.

DANGER

Indicates a hazardous situation, which, if not avoided, will result in death or serious

injury.

W ARNING

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.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

1 Preface and Safety

NOTICE

Indicates an equipment damage message.

■

General Safety

General Precautions

• The diagrams in this book may include options and drives without covers or safety shields to illustrate details. Be sure to reinstall covers or shields before operating any devices. Use the option according to the instructions described in this manual.

• Any illustrations, photographs, or examples used in this manual are provided as examples only and may not apply to all products to which this manual is applicable.

• The products and specifications described in this manual or the content and presentation of the manual may be changed without notice to improve the product and/or the manual.

• When ordering new copies of the manual, contact a Yaskawa representative or the nearest Yaskawa sales office and provide the manual number shown on the front cover.

DANGER

Heed the safety messages in this manual.

Failure to comply will result in death or serious injury.

The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings in this manual.

NOTICE

Do not modify the drive or option circuitry.

Failure to comply could result in damage to the drive or option and will void warranty.

Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.

Do not expose the drive or option to halogen group disinfectants.

Failure to comply may cause damage to the electrical components in the option.

Do not pack the drive in wooden materials that have been fumigated or sterilized.

Do not sterilize the entire package after the product is packed.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

2 Product Overview

◆

About This Product

The PG-E3 Option allows the user to connect an ERN1387 rotary encoder for motor speed feedback to the drive and take advantage of the "Closed Loop Vector for PM Motors" control mode. The option helps increase the control accuracy and performance.

This encoder signal allows the drive to compensate for subtle variations in the load, while providing the drive with the necessary data to control the output frequency and maintain an accurate constant speed.

The PG-E3 Option reads a maximum frequency of 20 kHz. Be sure to select an encoder with an output of maximum 20kHz when operating at maximum speed.

When using the PG-E3 Option, the drive must be in the "Closed Loop Vector Control for PM

Motors" control mode. Refer to the Technical Manual of the drive for details.

◆

Applicable Models

The option can be used with the drive models in

Table 1

Drive Series

L1000A

Table 1 Applicable Models

Drive Model Number

All models

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

3 Receiving

Please perform the following tasks upon receipt of the option:

• Inspect the option for damage.

Contact the shipper immediately if the option appears damaged.

• Verify receipt of the correct model by checking the model number printed on the name plate of the option. (Refer to

Figure 1

on page

for more information)

• Contact your supplier if you have received the wrong model or the option does not function properly.

◆

Option Package Contents

Description: Option Ground Wires Screws (M3) Installation Manual

MANUAL

–

Quantity:

1 3 1

◆

Tools Required for Installation

• A Phillips screwdriver (M3 metric / #1, #2 U.S. standard size) is required to install the option.

• A straight-edge screwdriver (blade depth: 0.6 mm (1/32”), width: 3.5 mm (1/8”)) is required to wire the option terminal block.

• A pair of diagonal cutting pliers.

• A small file or medium-grit sandpaper.

Note: Tools required to prepare option cables for wiring are not listed in this manual.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

4 Option Components

◆

PG -E3 Option

Figure 1

A B C

PG-E3

Underside

A – Terminal block TB1

B – Model number

C – Terminal block TB2

D – Connector (CN5)

E – Installation hole

F – Ground terminal (installation hole)

<1>

<1> Terminal for ground wire packaged with the option card

Figure 1 PG-E3 Option Components

◆

Terminal Blocks TB1 and TB2

TB2

IP A+ A– C+ C– R+ R– a+ a–

TB1

IG B+ B– D+ D– b+ b– FE

Refer to

Table 5

on page

for details on TB1 and TB2 terminal functions and signal levels.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

5 Installation Procedure

◆

Section Safety

DANGER

Electric Shock Hazard

Do not connect or disconnect wiring while the power is on.

Failure to comply will result in death or serious injury.

Disconnect all power to the drive, wait at least the amount of time specified on the drive front cover safety label. After all indicators are off, measure the DC bus voltage to confirm safe level, and check for unsafe voltages before servicing. The internal capacitor remains charged after the power supply is turned off.

W ARNING

Electrical Shock Hazard

Do not remove the front cover of the drive while the power is on.

Failure to comply could result in death or serious injury.

The diagrams in this section may include options and drives without covers or safety shields to show details. Be sure to reinstall covers or shields before operating any devices.

Use the option according to the instructions described in this manual.

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 this product.

Do not touch circuit boards while the power to the drive is on.

Failure to comply could result in death or serious injury.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

5 Installation Procedure

W ARNING

Do not use damaged wires, stress the wiring, or damage the wire insulation.

Failure to comply could result in death or serious injury.

Fire Hazard

Tighten all terminal screws to the specified tightening torque.

Loose electrical connections could result in death or serious injury by fire due to overheating of electrical connections.

NOTICE

Damage to Equipment

Observe proper electrostatic discharge (ESD) procedures when handling the option, drive, and circuit boards.

Failure to comply may result in ESD damage to circuitry.

Never shut the power off while the drive is running or outputting voltage.

Failure to comply may cause the application to operate incorrectly or damage the drive.

Do not operate damaged equipment.

Failure to comply may cause further damage to the equipment.

Do not connect or operate any equipment with visible damage or missing parts.

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.

Properly connect all pins and connectors.

Failure to comply may prevent proper operation and possibly damage equipment.

Check wiring to ensure that all connections are correct after installing the option and connecting any other devices.

Failure to comply may result in damage to the option.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

5 Installation Procedure

◆

Prior to Installing the Option

Prior to installing the option, wire the drive, make the necessary connections to the drive terminals, and verify that the drive functions normally. Refer to the Quick Start Guide packaged with the drive for information on wiring and connecting the drive.

Figure 2

shows an exploded view of the drive with the option and related components for

reference.

Figure 2

A – Insertion point for CN5

B – Option card

C – Included screws

D – Front cover

E – Digital operator

F – Terminal cover

G – Removable tabs for wire routing

H – Ground wire

I – Drive grounding terminal (FE)

J – Connector CN5-A

K – Connector CN5-B

L – Connector CN5-C

Figure 2 Drive Components with Option

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

5 Installation Procedure

◆

Installing the Option

Remove the front covers of the drive before installing the option. Refer to the drive manual for directions on removing the front covers. Cover removal varies depending on drive size.

1.

Shut off power to the drive, wait the appropriate amount of time specified on the drive for voltage to dissipate, then remove the digital operator (E) and front covers

(D, F).

DANGER! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Before

wiring terminals, disconnect all power to the equipment. The internal capacitor remains charged even after the power supply is turned off. After shutting off the power, wait at least the amount of time specified on the drive before touching any components.

Figure 3

Figure 3 Remove the Front Covers and Digital Operator

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

5 Installation Procedure

Figure 4

2.

Insert the option (B) into the CN5-C (L) connector located on the drive and fasten it into place using one of the included screws (C).

Connect the ground wire (H) to the ground terminal (I) using one of the remaining screws (C). Connect the other end of the ground wire (H) to the remaining ground terminal and installation hole on the option using the last remaining provided screw

(C).

Figure 4 Insert the Option and Connect the Ground Wire

Note: There are two screw holes on the drive for use as ground terminals. When connecting three options, two ground wires will need to share the same drive ground terminal.

12 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

5 Installation Procedure

Figure 5

3.

Route the option wiring.

Depending on the drive model, some drives may require routing the wiring through the side of the front cover to the outside. In these cases, cut out the perforated

openings on the left side of the drive front cover as shown in

Figure 5

(A) and leave

no sharp edges to damage wiring.

Route the wiring inside the enclosure as shown in

Figure 5

(B) for drives that do not require routing through the front cover.

For more information, refer to the Peripheral Devices & Options section of Yaskawa

AC Drive Technical Manual in your application.

A – Route wires through the openings provided on the left side of the

front cover.

<1>

B – Use the open space provided inside the drive to route option wiring.

<1> The drive will not meet NEMA Type 1 requirements if wiring is exposed outside the enclosure.

Figure 5 Wire Routing Examples

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

5 Installation Procedure

4.

Prepare wire ends as shown in

Figure 6

Refer to Wire Gauges and Tightening

Torques on page 18

to confirm that the proper tightening torque is applied to each

terminal. Take particular precaution to ensure that each wire is properly connected and wire insulation is not accidentally pinched into electrical terminals.

WARNING! Fire Hazard. Tighten terminal screws to the specified tightening torque. Loose electrical

connections could result in death or serious injury by fire due to overheating. Tightening screws beyond the specified tightening torque may cause erroneous operation, damage the terminal block, or cause a fire.

NOTICE: Heat shrink tubing or electrical tape may be required to ensure that cable shielding does not

contact other wiring. Insufficient insulation may cause a short circuit that can damage the option or drive.

Figure 6

Shield Insulation

PG option terminal

PG at motor

FE/SD

Ground Terminal

Shield sheath

(Insulate with electrical tape or shrink tubing)

Figure 6 Preparing Ends of Shielded Cable

5.

Wire the motor PG encoder to the terminal block on the option using a

HEIDENHAIN 17-pin cable. Refer to

Figure 7

for wiring instructions.

Limit the length of all motor output power cables to less than 10 m.

Refer to Option Terminal Functions on page 19

for a detailed description of the

option board terminal functions.

Table 2

PG Encoder Cable Specification

Option Terminal

B+

B–

C+

C–

A+

A–

D+

D–

R+

R–

Color

Brown/Green

White/Green

Green/Black

Yellow/Black

Blue/Black

Red/Black

Gray

Pink

Yellow

Purple

Red

Black

PG Encoder Cable

PG Encoder Side

A+

A–

B+

B–

C+

C–

D+

D–

R+

R–

14 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

5 Installation Procedure

Figure 7

Figure 8

R/L1

S/L2

T/L3

U/T1

V/T1

W/T1

YASKAWA

Drive

5 V

0 V

TB1,TB2

PG-E3

Option

A+

A –

B+

B –

C+

C –

D+

D –

R+

R –

Cable

(by HEIDENHAIN)

Shield in cable

<1>

Encoder

<2>

CN5-C a+ a – b+ b –

A pulse monitor signal

B pulse monitor signal

Ground wire main circuit terminal control circuit terminal

Figure 7 PG-E3 Option and PG Encoder Connection Diagram

<1> Properly connect the shield in cable to terminal IG on the option Terminal Block

TB2 or remove the ground connection on both ends.

<2> Ground the shield on the PG encoder side and the drive side. If noise problems arise in the PG encoder signal, remove the shield ground from one end of the signal line or remove the shield ground connection on both ends.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

5 Installation Procedure

Figure 9

6.

Replace and secure the front covers of the drive (D, F) and replace the digital operator (E).

Figure 8 Replace the Front Covers and Digital Operator

Note: Take proper precautions when wiring the option so that the front covers will easily fit back onto the drive. Make sure cables are not pinched between the front covers and the drive when replacing the covers.

16 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

5 Installation Procedure

Figure 10

7.

Set drive parameters for proper motor rotation.

The leading pulse determines the motor rotation direction. A PG encoder signal with leading A pulse is considered to be rotating forward (counter-clockwise when viewing rotation from motor load side).

The A pulse leads, followed by the B pulse displaced at 90 degrees

A Pulse

B Pulse

Time

→

Figure 9 Displacement of A and B Pulses

After connecting the PG encoder outputs to the option, apply power to the drive and manually rotate the motor and check the rotation direction by viewing monitor U1-05 on the digital operator.

Reverse motor rotation is indicated by a negative value for U1-05; forward motor rotation is indicated by a positive value.

If monitor U1-05 indicates that the forward direction is opposite of what is intended, set drive parameter F1-05 to 1 to switch the direction of how the option reads pulses from the PG encoder output.

Please note that when the drive is initialized using A1-03 =1110, 2220, 3330, the value for F1-05 will reset to factory default and the parameter will need to be adjusted again to switch the direction.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

5 Installation Procedure

◆

Wire Gauges, Tightening Torque, and Crimp Terminals

Wire gauge and torque specifications are listed in

Table 3

.Yaskawa recommends using crimp terminals with the specifications listed in

Table 4

to facilitate wiring and ensure proper connection.

Table 3 Wire Gauges and Tightening Torques

Terminal

Signal

a+, a–, b+, b–,

Screw

Size

Tightening

Torque

Nxm

(inxlb)

Bare Cable

Applicable

Gauges

(AWG)

Stranded wire:

0.25 to 1.0

(24 to 17)

Solid wire:

0.25 to 1.5

(24 to16)

Recomm.

Gauge mm

(AWG)

0.75

(18)

Crimp Terminals

Applicable

Gauges

(AWG)

0.25 to 0.5

(24 to 20)

Recomm.

Gauge mm

(AWG)

0.5

(20)

0.22 to 0.25

(1.95 to 2.21)

IP, IG, A+, A–,

B+, B–, C+,

C–, D+, D–,

R+, R–

<1>

– –

<1> Use HEIDENHAIN 17-pin Cable. Refer to

PG Encoder Cable Specification on page 14

to for detail.

Wire

Type

Shielded twisted pair, etc.

–

■

Crimp Terminals

Yaskawa recommends using CRIMPFOX 6 by Phoenix Contact or equivalent to crimp the terminal ends.

Note: Properly trim wire ends so loose wire ends do not extend from the crimp terminals.

Table 4

Crimp Terminal Sizes

6 mm

L d2

Wire Gauge mm

(AWG)

0.25 (24)

0.34 (22)

0.5 (20)

Phoenix Contact

Model

AI 0.25 - 6YE

AI 0.34 - 6TQ

AI 0.5 - 6WH

L mm (in)

10.5 (13/32)

14 (9/16)

d1 mm (in)

0.8 (1/32)

1.1 (3/64)

d2 mm (in)

2 (5/64)

2.5 (3/32)

18 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

5 Installation Procedure

◆

Terminal Functions

Table 5

Option Terminal Functions

Terminal

Block

Terminal

B+

Function

PG encoder Power Supply

Common

B Pulse Signal Input

Description

Supplies power to the PG encoder.

Input for the B pulse sine-wave from the PG encoder.

• Max. input frequency: 20 kHz

• Input signal differential: B+ – B–

B– Inverse B Pulse Signal Input

0.6 V to 1.2 V

D+ D Pulse Signal Input

TB1

D– Inverse D Pulse Signal Input

Input for the D pulse sine-wave from the PG encoder.

Input signal differential: D+ – D–

0.6 V to 1.2 V b+ b–

B Pulse Monitor Signal Output Outputs a ratio of the B pulse frequency.

• Output method: Line driver

Inverse B Pulse Monitor Signal

Output

• Output voltage: RS-422 level

• Possible resolution:1/n

Set F1-06 to monitor the pulse signal.

Varies by drive model.

Ground Ground terminal for shielded cable.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

5 Installation Procedure

Terminal

Block

Terminal

A+

TB2

A–

C+

C–

R+

R– a+ a–

Function

PG encoder Power Supply

A Pulse Signal Input

Inverse A Pulse Signal Input

C Pulse Signal Input

Inverse C Pulse Signal Input

R Pulse Signal Input

Inverse R Pulse Signal Input

Description

Supplies power to the PG encoder.

Voltage range: 5 V

± 5%, 200 mA

Input for the A pulse sine-wave from the PG encoder.

• Max. input frequency: 20 kHz

• Input signal differential: A+ – A–

0.6 V to 1.2 V

Input for the C pulse sine-wave from the PG encoder.

Input signal differential: C+ – C–

0.6 V to 1.2 V

Input for the R pulse (PG encoder home pulse) from the PG encoder.

Input signal differential: R+ – R–

0.2 V to 2.38 V

A Pulse Monitor Signal Output Outputs a ratio of the A pulse frequency.

• Output method: Line driver

Inverse A Pulse Monitor Signal

Output

• Output voltage: RS-422 level

• Possible resolution:1/n

Set F1-06 to monitor the pulse signal.

Varies by drive model.

20 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

6 Related Parameters

The following parameters are used to set up the drive for operation with the option. Set parameters as needed. Parameter setting methods can be found in the drive Quick Start

Guide or Technical Manual.

No.

(Addr. Hex)

A1-02

(102)

F1-01

(380)

<2>

F1-02

(381)

F1-03

(382)

Table 6

Related Parameters

Name

Control

Method

Selection

PG 1 Pulses per Revolution

Description

Available

Control

Mode

0: V/f Control

1: V/f Control with PG

2: Open Loop Vector Control

3: Closed Loop Vector Control

5: Open Loop Vector Control for PM

6: Advanced Open Loop Vector Control for PM

7: Closed Loop Vector Control for PM

Set to 7 when using PG-E3.

All Modes

Sets the signal periods per revolution to be read from the pulse generator.

CLV

CLV/PM

Default:

<1>

Range:

<1>

Default:

Min:

Max:

<1>

PG Feedback

Loss Operation

Selection

PG Overspeed

Operation

Selection

Sets the stopping method when the PG encoder becomes disconnected (PGo).

0: Ramp to stop (decelerates at time set to C1-02)

1: Coast to stop

2: Fast Stop (decelerates at the time set to C1-09)

3: Continue running

4: No alarm display

NOTICE: Due to potential damage to the motor and machinery, do not use the "Continue running" and

"No alarm display" settings except under special circumstances.

Sets the stopping method when overspeed is detected.

0: Ramp to stop (decelerates at time set to C1-02)

1: Coast to stop

2: Fast Stop (decelerates at the time set to C1-09)

3: Continue running

NOTICE: Due to potential damage to the motor and machinery, do not use the "Continue running" setting except under special circumstances.

CLV

CLV/PM

CLV

CLV/PM

Values

Default: 1

Range:

<1>

Default: 1

Range: 0 to 3

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

6 Related Parameters

No.

(Addr. Hex)

F1-04

(383)

F1-05

(384)

F1-06

(385)

F1-08

(387)

F1-09

(388)

F1-10

(389)

F1-11

(38A)

F1-14

(38D)

F1-18

(3AD)

F1-19

(3AE)

F1-20

(3B4)

Name

PG Deviation

Operation

Selection

PG 1 Rotation

PG 1 Ratio for

PG Pulse

Monitor

PG Overspeed

Level

Description

Available

Control

Mode

0: Ramp to stop (decelerates at time set to C1-02)

1: Coast to stop

2: Fast Stop (decelerates at the time set to C1-09)

3: Continue running

NOTICE: Due to potential damage to the motor and machinery, do not use the "Continue running" setting except under special circumstances.

0: Forward = A pulse leads

1: Forward = B pulse leads

Sets the division ratio for pulses output from the PG encoder. Set as a three-digit number: x is the first digit, y is the second digit, and z is the third digit:

When using the PG-E3 option card, the drive disregards the value set for "x", and uses the formula

1/yz to determine the division rate for the pulse generator. The setting range is consequently 1/32 to

CLV

CLV/PM

CLV

CLV/PM

CLV

CLV/PM

Sets the level for detecting overspeed as a percentage of the maximum output frequency.

CLV

CLV/PM

Values

Default:

<1>

Range: 0 to 3

Default:

<1>

Range: 0, 1

Default: 1

Min: 1

Max: 132

Overspeed Det.

Time

Excessive

Speed

Deviation Det.

Level

Excessive

Speed

Deviation Det.

Time

Sets the time required for the motor to exceed the level set in F1-08 to trigger a fault.

Sets the degree of speed deviation to trigger a dEv fault. Set as a percentage of the maximum output frequency.

Sets the time required a speed deviation situation to trigger a fault.

CLV

CLV/PM

CLV

CLV/PM

CLV

CLV/PM

PG Disconnect

Det. Time

Sets the time in seconds for PG encoder disconnect to be detected.

CLV

CLV/PM

Default: 115

Min: 0

Max: 120

Default: 0.0

Min: 0.0

Max: 2.0

Default: 10

Min: 0

Max: 50

Reverse

Rotation Det. for PG 1

Reverse

Rotation Det. for PG 1

PG 1 Hardware

Disconnect

0: Disabled n: Number of times a dv3 situation must be detected to trigger a fault.

0: Disabled n: Number of times a dv4 situation must be detected to trigger a fault.

0: Disabled. No fault if the connection is lost.

1: Enabled. Fault if connection is lost.

CLV/PM

CLV

CLV/PM

Default: 0.5

Min: 0.0

Max: 10.0

Default: 2.0

Min: 0.0

Max: 10.0

Default: 10

Min: 0

Max: 10

Default: 128

Min: 0

Max: 5000

Default: 1

Range: 0, 1

22 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

6 Related Parameters

No.

(Addr. Hex)

Name Description

Available

Control

Mode

Values

F1-51

(3D3)

PGoH

Detection

Level

Set the level for detecting PG Hardware Fault

(PGoH). Set as a percentage of

Sin

2 + Cos

CLV/PM

Default: 80

Min: 1

Max: 100

<1> Varies by drive models.

<2> The output frequency of the PG encoder can be calculated as follows:

Operation at max. output frequency

＝

Motor speed at maximum frequency output (r/min)

× PG rating (p/rev)

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

7 Troubleshooting

◆

Preventing Noise Interference

Take the following steps to prevent erroneous operation caused by noise interference:

• Use shielded wire for the PG encoder signal lines.

• Limit the length of all motor output power cables to less than 10 m.

• Separate the control wiring to the option, main circuit input power wiring, and motor output power cables.

• Ground the shield on the PG encoder side and the drive side. If noise problems arise in the

PG encoder signal, verify that the shield is properly grounded and ground one end of the signal line or remove the ground connection on both ends.

• Properly connect the shield in cable to the IG on the option terminal or remove the ground connection on both ends.

■

Figure 11

Interface Circuit

PG-E3

PG Encoder

A–,B–,R–

120

A+,B+,R+

2.5 V

1 k

C–,D–

C+,D+

2.5 V

26LS31 Level a+ a– b+ b–

Monitor Signal

Figure 10 Interface Circuit

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

7 Troubleshooting

◆

Drive-Side Error Codes

Table 7

lists the various fault codes related to the option and pulse generator. Refer to the

drive Technical Manual for further details on fault codes.

Check the following items first when an error code occurs on the drive:

• Make sure the PG encoder cable is properly connected.

• Check the cables between the PG encoder and the option.

• Make sure the option is properly installed to the drive.

Table 7 Fault Displays, Causes, and Possible Solutions

Digital Operator Display

dEv

Cause

The load is too heavy.

The acceleration and deceleration times are set too short. / Acceleration and deceleration ramps are set too large.

The load is locked up.

Parameters are set inappropriately.

Motor brake is engaged.

Brake control sequence is incorrect.

Digital Operator Display

dv1

Cause

The PG encoder is disconnected or is not wired properly, or the

PG option or PG encoder are damaged.

Fault Name

Speed Deviation (for Control Mode with PG)

The deviation between the speed reference and speed feedback is greater than the setting in F1-10 for longer than the time set to F1-11.

Possible Solution

Reduce the load.

Increase the acceleration and deceleration times (C1-01 through C1-08)./

Decrease the acceleration and deceleration ramps (C1-01 through C1-08)

Check the machine.

Check the settings of parameters F1-10 and F1-11.

Ensure the motor brake releases properly.

Correct the brake control sequence and then verify that the brake has been released.

Fault Name

Z Channel Pulse Fault Detection

The motor turned one full rotation while failing to detect the Z channel pulse.

Possible Solution

• Rewire the PG encoder and make sure all wiring including shielded wiring is properly connected

• If the problem continues after cycling power, replace the PG option or the PG encoder.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

7 Troubleshooting

Digital Operator Display

dv2

Cause

PG encoder cable noise interference.

The PG encoder is disconnected or is not wired properly, or the

PG option or PG encoder are damaged.

Digital Operator Display

Fault Name

Z Channel Pulse Noise Fault Detection

The Z channel pulse is out of phase by more than 5 degrees for the number of times specified in parameter F1-17.

Possible Solution

Separate the PG encoder cable wiring from the source of the noise (e.g., drive output wiring).

• Rewire the PG encoder and make sure all wiring including shielded wiring is properly connected

• If the problem continues after cycling power, replace the PG option or the PG encoder.

Fault Name

Cause

dv3

E5-11 is not set properly.

An external force on the load side caused the motor to move.

Inversion Detection

• Torque reference and acceleration are in opposite directions.

• The speed reference and actual motor speed differ by over 30% for the number of pulses set to parameter F1-18.

Possible Solution

Set the value for

Δθ to E5-11 as specified on the motor nameplate.

• Make sure the motor is rotating in the proper direction.

• Investigate problems on the load side causing motor rotation in the opposite direction.

Noise interference along the PG encoder cable is affecting the A channel or B channel.

The PG encoder is disconnected or is not wired properly, or the

PG option or PG encoder are damaged.

The PG encoder rotational direction set to F1-05 is in the opposite direction of the motor wiring.

Digital Operator Display

• Rewire the PG encoder and make sure all wiring including shielded wiring is properly connected

• If the problem continues after cycling power, replace the PG option or the PG encoder.

Make sure motor wiring for each phase (U, V, W) is connected properly.

Cause

dv4

E5-11 is not set properly.

Fault Name

Inversion Prevention Detection

Pulses indicate that the motor is rotating in the opposite direction of the speed reference. Set the number of pulses to trigger inverse detection to F1-19.

Note: To avoid nuisance faults, be sure to disable inverse detection in applications where the motor may rotate in the opposite direction of the speed reference. Set

F1-19 to 0 to disable this feature.

Possible Solution

• Set the value for

Δθ to E5-11 as specified on the motor nameplate.

• If the problem continues after cycling power, replace the PG option or the PG encoder.

26 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

7 Troubleshooting

Noise interference along the PG encoder cable is affecting the A or B pulse.

PG encoder is disconnected or is not wired properly, or the PG option or PG encoder are damaged.

Digital Operator Display

• Make sure the motor is rotating in the proper direction.

• Investigate problems on the load-side that may be causing the motor to rotate in the opposite direction.

• Rewire the PG encoder and make sure all wiring including shielded wiring is properly connected

• If the problem continues after cycling power, replace the PG option or the PG encoder.

Fault Name

oFA00

Cause

Non-compatible option connected to drive port CN5-A.

Digital Operator Display

Non-Compatible Option connected to drive port CN5-A

Possible Solution

Use only compatible options. Connect PG-E3 to CN5-C. For other option cards, refer to the Installation Manual for that option card.

Fault Name

oFb00

Cause

Non-compatible option connected to drive port CN5-B.

Digital Operator Display

oFC01

Non-Compatible Option connected to drive port CN5-B

Possible Solution

Use only compatible options. Connect PG-E3 to CN5-C. For other option cards, refer to the Installation Manual for that option card.

Fault Name

Option Connection Error at drive port CN5-C

Cause

Option at drive port CN5-C was changed during run.

Digital Operator Display

Possible Solution

Switch the power off and reconnect the option.

Cause

The option card is damaged.

Digital Operator Display

Cause

The option card is damaged.

Digital Operator Display

Cause

oFC50 oFC51

Overshoot is occurring.

Fault Name

PG Encoder Option A/D Conversion Error

Error with the A/D conversion level (VCC level), or A/D conversion timed out.

Possible Solution

Replace the option card

Fault Name

PG Encoder Option Analog Circuit Error

Incorrect signal level (+2.5 V signal)

Possible Solution

Replace the option card

Fault Name

Overspeed

The motor speed feedback exceeded the F1-08 setting.

Possible Solution

Increase the settings for C5-01 (Speed Control Proportional Gain 1) and reduce

C5-02 (Speed Control Integral Time 1).

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

7 Troubleshooting

Incorrect speed feedback scaling when terminal RP is used as speed feedback input in V/f control.

• Set H6-02 to the value of the speed feedback signal frequency when the motor runs at the maximum speed.

• Adjust the input signal using parameters H6-03 through H6-05.

Incorrect PG encoder pulse number set.

Check and correct parameter F1-01.

Inappropriate parameter settings.

Digital Operator Display

Check the setting for the overspeed detection level and the overspeed detection time (F1-08 and F1-09).

Fault Name

PG Encoder Disconnected

PGo

Detected when no PG encoder pulses received for a time longer than setting in

F1-14.

Possible Solution Cause

PG encoder cable is disconnected.

PG encoder cable wiring is wrong.

Reconnect the cable.

Correct the wiring.

PG encoder does not have enough power.

Brake control sequence is incorrect.

Digital Operator Display

PGoH

Make sure the correct power supply is properly connected to the PG encoder.

Correct the brake control sequence and then verify that the brake has been released.

PG Encoder Hardware Fault

Fault Name

PG encoder cable is disconnected.

Possible Solution Cause

PG encoder cable is disconnected.

Reconnect the cable.

28 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

7 Troubleshooting

Table 8 Operation Error Displays, Causes, and Possible Solutions

Digital Operator Display

oPE02

Fault Name

Parameter Range Setting Error

Use U1-18 to find parameters set outside range.

Possible Solution Cause

Parameters were set outside the possible range.

Digital Operator Display

Set parameters to the proper values.

Note: When multiple errors occur at the same time, other errors are given precedence over oPE02.

Fault Name

Control Method Selection Error oPE06

Cause

Control mode requires installing a PG option, but no PG option is installed (A1-02 = 7).

Correct the setting for the control method.

Possible Solution

• Connect a PG option.

• Correct the value set to A1-02.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

8 Specifications

Table 9 Option Specifications

Items

Model

Compatible PG

Encoder Type

Multi-turn

PG Encoder Wiring

Length

PG Encoder Power

Supply

Compatible Control

Modes

Maximum Input

Frequency

Pulse Monitor

Output

PG Encoder

Disconnect

Detection

Ambient

Temperature

Humidity

Storage

Temperature

Area of Use

Altitude

PG-E3

ERN1387 (HEIDENHAIN)

Not available

10 m (32 ft.) maximum

Output voltage: 5 V

± 5%

Max. Output Current: 200 mA

Closed Loop Vector for PM motors

20 kHz

Monitor for A and B pulse output

Matches RS-422 Level

Software detection

–10

°C to 50°C (14 °F to 122 °F)

Specifications

95% RH or lower with no condensation

–20

°C to 60°C (-4 °F to 140 °F) allowed for short-term transport of the product

Indoor (free of corrosive gas, airborne particles, etc.)

1000 m (3280 ft.) or lower

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

◆

Revision History

Revision dates and manual numbers appear on the bottom of the back cover.

MANUAL NO.

TOBP C730600 52B

Published in Japan November 2009 09-7 1

Revision number

Date of original publication

Date of publication

Date of

Publication

March 2010

November 2009

July 2009

Rev. No

−

Section

Entire Document Edited for clarity.

−

First edition

Revised Content

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual

英文 No.10-5（140×182）インバータ製品用

YASKAWA AC Drive 1000-Series Option

Motor Encoder Feedback

HEIDENHAIN ERN1387 Interface

Installation Manual

IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan

Phone: 81-4-2962-5696 Fax: 81-4-2962-6138

YASKAWA ELECTRIC CORPORATION

New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-6891, Japan

Phone: 81-3-5402-4511 Fax: 81-3-5402-4580 http://www.yaskawa.co.jp

YASKAWA ELECTRIC AMERICA, INC.

2121 Norman Drive South, Waukegan, IL 60085, U.S.A.

Phone: (800) YASKAWA (800-927-5292) or 1-847-887-7000 Fax: 1-847-887-7310 http://www.yaskawa.com

YASKAWA ELÉTRICO DO BRASIL COMÉRCIO LTDA.

Avenda Fagundes Filho, 620 Bairro Saude, São Paulo, SP04304-000, Brasil

Phone: 55-11-3585-1100 Fax: 55-11-5581-8795 http://www.yaskawa.com.br

YASKAWA ELECTRIC EUROPE GmbH

Hauptstraβe 185, 65760 Eschborn, Germany

Phone: 49-6196-569-300 Fax: 49-6196-569-398

YASKAWA ELECTRIC UK LTD.

1 Hunt Hill Orchardton Woods, Cumbernauld, G68 9LF, United Kingdom

Phone: 44-1236-735000 Fax: 44-1236-458182

YASKAWA ELECTRIC KOREA CORPORATION

7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul, 150-877, Korea

Phone: 82-2-784-7844 Fax: 82-2-784-8495

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-02A, New Tech Park, 556741, Singapore

Phone: 65-6282-3003 Fax: 65-6289-3003

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

No. 18 Xizang Zhong Road, Room 1702-1707, Harbour Ring Plaza, Shanghai, 200001, China

Phone: 86-21-5385-2200 Fax: 86-21-5385-3299

YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE

Room 1011A, Tower W3 Oriental Plaza, No. 1 East Chang An Ave.,

Dong Cheng District, Beijing, 100738, China

Phone: 86-10-8518-4086 Fax: 86-10-8518-4082

YASKAWA ELECTRIC TAIWAN CORPORATION

9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan

Phone: 886-2-2502-5003 Fax: 886-2-2505-1280

YASKAWA ELECTRIC CORPORATION

YASKAWA

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.

MANUAL NO. TOBP C730600 52C

Published in Japan March 2010 09-7

10-3-3

2 -0

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Sisällysluettelo

Mainos

インバータ事業部（COSMOS）（140×182）（和英併記）

YASKAWA AC Drive 1000-Series Option

Motor Encoder Feedback

HEIDENHAIN ERN1387 Interface

Installation Manual

安川インバータ

1000

シリーズオプション

エンコーダインタフェース

（ ERN1387

取扱説明書

用）

Table of Contents

1 Preface and Safety

1 Preface and Safety

Applicable Documentation

1 Preface and Safety

Terms

Registered Trademarks

Supplemental Safety Information

W ARNING

CAUTION

1 Preface and Safety

2 Product Overview

2 Product Overview

About This Product

Applicable Models

3 Receiving

3 Receiving

Option Package Contents

Tools Required for Installation

4 Option Components

4 Option Components

PG -E3 Option

Terminal Blocks TB1 and TB2

5 Installation Procedure

5 Installation Procedure

Section Safety

Electric Shock Hazard

W ARNING

Electrical Shock Hazard

5 Installation Procedure

W ARNING

Fire Hazard

Damage to Equipment

5 Installation Procedure

Prior to Installing the Option

5 Installation Procedure

Installing the Option

1.

5 Installation Procedure

2.

5 Installation Procedure

3.

5 Installation Procedure

4.

5.

5 Installation Procedure

5 Installation Procedure

6.

5 Installation Procedure

7.

5 Installation Procedure

Wire Gauges, Tightening Torque, and Crimp Terminals

5 Installation Procedure

Terminal Functions

5 Installation Procedure

6 Related Parameters

6 Related Parameters

6 Related Parameters

6 Related Parameters

7 Troubleshooting

7 Troubleshooting

Preventing Noise Interference

7 Troubleshooting

Drive-Side Error Codes

7 Troubleshooting

7 Troubleshooting

7 Troubleshooting

7 Troubleshooting

英文 No.10-5（140×182）インバータ製品用