Yaskawa VM3C Manual

Varispeed-626VM3C DRIVE
INSTRUCTION MANUAL
INVERTER DRIVES WITH DIGITAL VECTOR-CONTROL
0.4/0.2 TO 5.5/3.7kW
Upon receipt of the product and prior to initial operation, read these
instructions thoroughly, and retain for future reference.
YASKAWA MANUAL NO. TOE-S626-5B
PREFACE
This instruction manual describes precautions and how to handle for proper and safe use of
high-performance AC drive systems employing the YASKAWA vector control inverter. Read this
manual thoroughly before operation. | |
This manual explains operation examples under typical conditions. For applications under
special conditions, contact your YASKAWA representative. Users are requested to use the
equipment within the range of the specifications and in the manner described in this manual.
Y ASKAWA ELECTRIC CORPORATION
General Precautions
* Some drawings or photos in this manual are shown with the protective cover or shields
removed, in order to describe detail with more clarity. Make sure all covers and shields are
replaced before operating this product.
* This manual may be modified when necessary because of improvement of the product,
modification, or changes in specifications.
Such modifications are denoted by a revised manual No.
* To order a copy of this manual, if your copy has been damaged or lost, contact your
YASKAWA representative.
+ YASKAWA is not responsible for any modification of the product made by the user, since that
Will void your guarantee.
NOTES FOR SAFE OPERATION
Read this manual thoroughly before installation, operation, maintenance or inspection of the
VS-626VM3C. In this manual, NOTES FOR SAFE OPERATION are classified as “WARNING”
or “CAUTION”.
A WARNING
Indicates a potentially hazardous situation which, 1f not avoided, could result in death or serious
injury to personnel.
A CAUTION
Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate
injury to personnel and damage to equipment.
It may also be used to alert against unsafe practices.
Even items described in| /A CAUTION may result in a vital accident in some situations. In either
case, follow these important notes.
NOTE, . These are steps to be taken to insure proper operation.
e
This manual also contains precautions for safe use of the equipment. Pay special attention to
precautions marked with IN A and жЖ.
A: Precautions to prevent accidents that may lead to injury.
À: Precautions to prevent accidents that may lead to failure of damage to the equipment.
Xx ! Precautions about installation or wiring conditions to prevent accidents that may lead to
failure or damage to the equipment.
RECEIVING
A CAUTION
(Ref. page)
- Do not install or operate any inverter which is damaged or has missing parts.
Failure to observe this caution may result in personal injury or equipment
damage. paannaonroeoraosrvaseorcorarvaanaaoorenmreaverorvedoreresooaaraonaarmoorcoeocansanorencarareraorsonronecaonearmara 3
INSTALLATION AND WIRING
A WARNING
| (Ref. page)
+ Only commence wiring after verifying that the power supply is turned OFF.
Failure to observe this warning can result in an electrical shock or a fire.. -:---- 180
- Wiring should be performed only by qualified personnel. |
Failure to observe this warning can result in an electrical shock or a fire.
- When wiring the emergency stop circuit, check the wiring thoroughly before operation.
Failure to observe this warning can result in personal i injury. Seren nennen nenne oem 18
- Make sure to ground the ground terminal SD. |
(Ground resistance---200V class: 100Q or less) So |
Failure to observe warning can result in an electrical shock ora fire. prets dB
A CAUTION
(Ref. page)
* Lift the cabinet by the base. When moving the unit, never lift by the front cover.
Otherwise, the main unit may be dropped causing damage to the unit. TES?
* Mount the inverter on nonflammable material (i.e.metal). o
Failure to observe this caution can result in a fire. er eh $ ;
* For open chassis type, install a fan or other cooling device to keep the intake air
temperature below 45°C. |
Overheating may cause a fire or - damage to the unit. +*==eeeermeocncan rien ie donne O
* Verify that the inverter rated voltage coincides with the AC power supply voltage.
Failure to observe this caution can result in personal injury or a fire.
* Do not perform a withstand voltage test of the inverter. ELA
It may cause semi-conductor elements to be damaged. + sess neon. 18
+ To connect a braking resistor, braking resistor unit or braking unit, follow the
procedures described in par.5. o
Failure to observe this caution can result in a Нге. ................... eee... eoscooeoeorecooe cena 18
* Make sure to tighten terminal screws.
Failure to observe this caution can result in erroneous operation, machine damage
or a fire. ....... a RET EEE EEE AREA EAN SEA EE EAE EEE EAT ANTE EEA EERE EEE EN 18
- Never connect the AC main y circuit power supply to output terminals U, V and W. a
The inverter will be damaged and invalidate the guarantee. ++-<-<<<<"<<<<<<<< 18
— I —
OPERATION OF DIGITAL OPERATOR
(Ref. page)
- Since the stop button of the digital operator can be disabled by a function
setting, install a separate emergency stop switch.
Failure to observe this warning can result in personal injury. ««-cscseesermreeeriiiiiniiii. 59
TEST RUN
(Ref. page)
- Only turn ON the input power supply after replacing the front cover. Do not remove
the covers while current is flowing.
Failure to observe this warning can result in an electrical shock. ++-:======re=ee=eceneeeereenennes 79
* Never operate the digital operator or the switches when your hand is wet.
Failure to observe this warning can result in an electrical shock. +--<=========ereeesererreverecea. 79
- Never touch the terminals while current is flowing, even during stopping.
Failure to observe this warning can result in an electrical shock. +--=========errereeererreceerenes 79
A CAUTION
CN Ea (Ref. page)
- Never touch the heatsink or discharging resistor since the temperature is very high.
Failure to observe this caution can result in harmful burns to the body. -------+*=+*===.- 79
* Since it is easy to change operation speed from low to high speed, verify the safe
working range of the motor and machine before operation. Ro Ш
Failure to observe this caution can result in personal injury and machine damage. e 79
- Install a holding brake separately if necessary. |
Failure to observe this caution can result in personal injury. ‘<<< eee 79
* Do not change signals during operation. Eo
The machine or the inverter may be damaged. --<--==-==========1eer0eeiere sacasrrcsecnn 01179
- All the constants of the inverter have been preset at the factory Do not change
the settings unnecessarily.
- The inverter may be damaged. For common terminal pins of sequence input signals,
change the pins according tô input method 1 in par. Á,]|, +*.rereciracionerarcecorcacatacaranircoeces 70
MAINTENANCE AND INSPECTION
A WARNING _
(Ref. page)
* Never touch high-voltage terminals in the inverter.
Failure to observe this warning can result in an electrical shock. 7909090000600 93
+ Perform maintenace or inspection only after verifying that the CHARGE LED goes OFF,
after the main circuit power supply is turned OFF.
The capacitors are still charged and can be dangerous. <++<<<<<<eceeeeeeeseces 93
* Only authorized personnel should be permitted to perform maintenance,
inspections or parts replacement.
[Remove all metal objects (watches, bracelets, etc.) before operation. ]
(Use tools which are insulated against electrical shock.) |
Failure to observe this warning can result in an electrical shock. +---““e=e=eeereerenacacoos. 93
A CAUTION
(Ref. page)
* The control PC board employs CMOS ICs. Do not touch the CMOS elements. |
The inverter may be damaged by static electricity. + ereraroreraanoreeoCnaartórrnaoorocraroronmootísn 03
- Do not connect or disconnect wires or connectors while power is applied to the circuit.
Failure to observe this caution can result in an electrical shock, personal injury or
equipment damage.<<<<<++ 00h n ernennen Henne e aresroceroanooaneorenna eoosaccaoocorcaveararosectarmoocórocactre 03
OTHERS
A WARNING |
A
1
1
i
Ref.
* Never modify the product. (Ref. page)
Failure to observe this warning can result in an electrical shock or personal injury and will
invalidate the guarantee.
Error ma ua A
A warning label is displayed on the front cover of the inverter, as shown below. Follow these
Instructions when handling the inverter.
|
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| 626VM3C |
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Warning a =] id
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Model CIMR-VMC25P5
Warning Label
E В
WARNING
FH. BREOBENABD ET,
o BZ. BERORICTL TERA ETAT. СОБОЙ О СКС,
REODHBENDBDET,
e EEZERUVERENTE 1 INT, RKEHD/N—EBIFHLOTEE0,
® ERITEMET> TEE,
May cause injury or electric
shock.
e Please follow the instructions in
the manual before installation or
operation.
e Disconnect all power before opening
front cover of unit. Wait 1 minute
until DC Bus capacitors discharge.
e Use proper grounding techniques.
— VII —
CONTENTS
1. STANDARD SPECIFICATIONS
2. RECEIVING INSPECTION AND PRE-STORAGE CHECK
3. MOUNTING AND WIRING
4. CONTROL SIGNALS
5. ORIENTATION CONTROL
6. PREPARATION BEFORE STARTING
7. OPERATION OF DIGITAL OPERA TOR
8. TEST RUN
9. MAINTENANCE
10. TROUBLESHOOTING
11. SPARE PARTS
=
HSOOONDgggdake
CONTENTS
| STANDARD SPECIFICATIONS --------------ereeieerni Dee nes
2. RECEIVING INSPECTION AND PRE-STORAGE CHECK 60000000 prereset sens en... ee 3
91 CHECK WHEN UNPACKING сене einen nene dentada dedo ii
21.1 Inverter Nameplate -=---------=-renenn eee 4
22 NOTES ON STORAGE +««<=ecssvercacavaraarocaneenoes вееееееннннне ree peste een... 5
3. MOUNTING AND WIRING ---------======- TT TT TT 7
3.1 NOTES ON INSTALLATION OF TBE MOTOR e occrescrnooaracorcavarcoratonacoororreoeacascencanpreacoao 7
311 Installation Location: -------===-=====rrere ee Dee DeDeReDe ereDeeeneDeee ies 7
3.1.2 Installation Orientation ----<-<<<-<<-<< eerie . Peer EEE eeonecotenereecaoeo. 7
3.13 Connection to Load Machine --===="=----===mee0eer ns eee, errors 8
32 NOTES ON INSTALLATION OF THE INVERTER -----------eeecerninrnene De 9
29.1 Installation Location--=------=-= ere ES NY
32.2 Exterior and Mounting Dimensions -+---ss-sseseeeee. eee 1
3.2.3 ТоекаПаНоп ОпепбаНоп сееееееееееееееееннененннееесееенееечееееесаенееымеееннеенненноееынннне: 11
PRO ON DOG D OVER 12
3.4 WIRING SPECIFIC ATIONS оно ооо вые ваз виз оон оо вос ооанованьовововёоваесво совой овиз виа нон нае ова оса ов чавойиоеве 13
341 Power Cables and Terminals +++. REEL scene seven 13
3.4.2 Control Signal Lines *-*==e=re=esmererecocrorecanecareore ce nenecaorerenereocareneconercrcarererarececencarererree 14
343 Control Signal Connectors Terminal Layout +-<<<<<<eceececeerreenenmnmnmnennnennnnsennen 15
35 STANDARD WIRING DIAGRAM Lensesestense tea ee serre cee rene ne... tee ieee 16
3.51 When Using Braking Resistor Unit ооооичичооовойночевонововвтвеньоваоовотатявоевьсавьцвовавововачьовео свое 16
3.5.2 When Using Braking Unit and Braking Resistor Unit *ecruvercsarcanoo eeoeonoacacoreoraconeocare. ce | 17
36 NOTES ON CONNECTION -----=-..e=ee.n.. ana eee scene sne see 0 0e cena ces e0 000 teers coven enenneano 18
4. CONTROL SIGNALS -----==-====-eeeeriicinrncn nn Dn De ere erre ener >.
41 SEQUENCE INPUT SIGNALS :+++<<<<<crercereenessecn sense ce sa seu 00e Gecenesessae sec rene enr tre crc race c ec 00e 21
42 SPEED REFERENCE +=+:::=-eeneeenenennenenene e Canencensoconeoeóracacecera eco rniacenmas reee 97
13 SEQUENCE OUTPUT SIGNALS------.......... ee ee 9
44 ENCODER PULSE OUTPUT CIRCUIT +++ ernencorocacooarereacero cren erreDes Beeren eeecuooon. 31
45 ANALOG MONITOR SIGNALS +-<+<<<<-secrcesceimenmençentenennees A неее 39
5. ORIENTATION CONTROL + 4er EEE EEE eee ER BB
5.1 ENCODER TYPE ARBITRARY POSITION ORIENTATION CONTROL-+++++++++444044444 33
— IX —
5.1.1 Arbitrary Position Stop Control by Load Axis Encoder +00 een ee nenne nennen 34
512 Home Position Stop Control by Motor Encoder ---------============rreee 36
513 Specifications of Orientation Control----==================ere es 37
514 Dimensions in mm (in inches) -=---=-========ee eee 29
5.1.5 Connections enocorooreerreraanvanroaaeraroarenscoreraacaocrcacoauonoroooocanearanzorartenareesoroarenneraaoonaecnnmarocono 40
516 Control Signal Connectors Terminal Layout ----==-=========eeeee 41
51.7 Notes on Installing and Wiring of Encoder + eccorconroananaaracaneaveanranoaotercoarconarreraronnavcanarueceo 42
51.8 Stop Position Reference Input Signals escrscereeoeneancancancanraurcosrosroszecrercasvansaraton aseo aneceno 43
5.2 HOME POSITION ORIENTATION CONTROL BY MAGNETIC SENSOR --============"-- 44
5.2.1 Stop at Home Position by Magnetic Sensor e enccrorrocarcacnaoreeaccosorranaarvardaucareorarocorasaccare 45
5.2.2 Orientation Specifications »econarecarcanoonranmarveseracocarerearaanmconrorevasacranvarvarart ne reeraceccerererecaroo 46
523 Dimensions in mm (in inches) -------=========e rene esses sess nee 47
594 Connection: Lenin DR ReDeR tener neereeeee 49
525 Control Signal Connector Terminal Layout ------=-==========1ee0e00e 50
5.2.6 Installing Magneto and Magnetic Sensor -----=-==========eeeee 50
527 Notes on Mounting *«-<<-<e<erecrseeaenenenneneeneeeeeeeneene see een ren ee era 5]
6. PREPARATION BEFORE STARTING SY enocacrcreceocereaoeroeme 53
6.1 CHECK BEFORE TURNING ON POWER + csnovesoraneanosanonr ranaaonaaórarocoCcaranaavacactanercancoso 53
62 CHECKING POWER VOLTAGE #444 00ER EEE 53
7. OPERATION OF DIGITAL OPERATOR---<"<-<-<<»<#<s<srcersreerencecre cer rerens rence rene 55
71 FUNCTIONS OF THE DIGITAL OPERATOR Pasvcercersaranvacarorrorvravorrerenaarcasorevravecaensanraro 55
7.9 KEY OPERATIONS AND DISPLAY e ennacocarcanrcanaoresoaaonrerramurocoonerarvaoncanocsnanvaroareooramearareo 57
791 Indication at Power-ON------=====erererereineee eN DDD DNI Des 58
722 Switching Display Functions «+e EEE 59
7.2.3 Operation Status Display Mode anosuovesesnnancaanaorarenorarnoaoneorosoorevcocamperaoceronesacanarveneaneceo 59
7.2.4 Control Constant Display Mode e aredanenocanacaoranaavoereennearncanasorenovoasaioetanrarcaotorarartensaneoecaareo 60
725 Digital Operator Operation Mode -----=-===========reee 61
726 Protective Function Operation Display Mode -»<»<<»-<»+<<-screreerieneencencnneaceanrerencenennn 62
73 OPERATION STATUS DISPLAY FUNCTION --<»<»<»<rerscrcrererrenereneerencenee eoneeneneneencnee 63
74 CONTROL CONSTANT -<+<<<<<srererereececer ses renenarenenenenenrera eee enenenenca serre ececeneee encens 66
75 PROTECTIVE FUNCTION DISPLAY -------===eeremerenenen ns 76
8. TEST RUN ------===+eeoc0aocaoreranenananecaocanccancdaranrancaneeaonacrarcanres ne... see ...... 79
81 CHECK AFTER TURNING ON POWER ----====="==eservecronaceninecenereeeneee.. неееенененннненеееее 79
8.1.1 Checking the Motor + eenaneccacenira e rnereecrneonencacenrare no nerecene EE 79
8.1.2 Checking the Inverter-------"========-.- LC TQ
8.1.3 Checking Status Display == eneraerenes eerceneocereanecoren EU
82 SETTING UP CONSTANTS ><" EE EEE EEE 81
8.2.1 Soft Start Time Setup +++ DA er nece. EEE 81
829 Load Meter Full-scale +++ PTF PPPS Me... 81
8.23 Zero-speed Detection Level ‘<"<<<rerrerenccnecees crrresceeaeee senc sec se cc 8]
8.2.4 Speed Agreed Width --------=====....... eee EE nee eens cer 82
8.2.5 Speed Detection Level <<<" PT aessaacu es eee een freer, 82
8.2.6 External Operation Torque Limiting Level +++" EEE 83
8.27 Motor Code Selection seceocoreraco a... PES ........0..... a. e... a. eorecccooe. peneana. Keen een 83
8.2.8 Rated Speed ecceocacen. cerneen sense sens ans sance rene roer reneea econ eree пеннененненынуенанннннненееееее: 83
829 Transmission Ratio: ненененжененнеенннненаннннннооо rere SS 83
8.2.10 Flux and Base Speed Ratio in Servo Mode =. eee scene eee 84
8.2.11 Positioning Completion Detection Width |
`РояНопте Сотр1еНоп Сапсе] М/1@@ эпох. LL 84
8.212 Orientation Speed -------=--=====e=eemmee... enenccneo. aroococanecaoo renee ere ano eeenne ee 85
8.2.13 Resolution of BCD Stop Position Instructions + vrerereeene secte cn c acer see nen see tente 86
83 OPERATION +=: sessescens sacsseceune es prceneconenecanna cero ET
84 ADJUSTMENT PROCEDURE AND CONTROL CONSTANT SETUP +40 0000 87
8.4.1 Adjustment in Speed Control Mode <<< PL 87
8.4.2 Adjustment in Encoder Orientation Control Моде -**сеееееееннененеееенннененн жене ненннннесеее 89
8.4.3 Adjustment in Magnetic Sensor Orientation Control Mode <<<". orrenceo: eeÄ.......... -91
9 MAINTENANCE --<"-----<<<<<<<<<<##++reccccceeeccececeencen eee e eee UNE
91 DAILY CHECK LIST Pococoreacaocosttaomerroracrótarecccavavazrbae eoneccecaner mennaeonacrcarcacascecaceaneoreórene. 93
9.2 PERIODICAL MAINTENANCE Ce eetreee eee eres errr, eee 94
9.3 PERIODICAL CHECK LIST AND ACTION TO BE TAKEN -------===ee=e=.e... A
9.4 INSULATION RESISTANCE TEST (INVERTER) ------=-=..- eee 0
10. TROUBLESHOOTING ++ nroconerereorenece A SA SO YY 4
11. SPARE PARTS-------ee=eercevccccaronrancarcare aereo eee eee tercero ene. 115
1 STANDARD SPECIFICATIONS
Table 1.1 Standard Specifications
Model CIMR-VMC | ___: 20P4 20P7 21P5 22P2 23P7 25P5
Max. Applicable Motor Output HP (kW) | 0.5(0.4) 1 (0.75) 2 (1.5) 3 (2.2) 5 (3.7) 7.5(5.5)
Input Voltage 200, 220V (50,/60Hz), 230V (60Hz)
Allowable Voltage Fluctuation +10%, — 15%
Allowable Frequency Variation +5%
Required Power Capacity IKVA 1.5kVA 3kVA 4k VA TkVA 9kVA
Speed Control Range 1: 200
Rated Output Control Range 1:2ta1.8
Overload Capacity 120% 60s of 15-minute rating
Speed Speed control by motor encoder signal
Control Method
Torque Vector control with magnetic control
Braking Method Braking resistor (provided separately)
Speed Regulation 0.2% maximum speed or below (load variation : 10 to 100%)
Speed Command Analog +10V 7 100%
Soft Start Time 0.1 to 180.0sec
Overcurrent, overload, overvoltage, overspeed power fault, excessive speed
Protective Function o
deviation, motor overheat, encoder signal disconnection
Emergency stop, operation ready, forward, “reverse run, gear selection,
Contact Input Signal 2
Р 9 soft start, torque limit, fault reset, orientation
i Zero- d, ‚ 5 tection, fault during torque limit,
Contact Output Signal ero-speed, speed agree, speed de ault during torq
orientation
Encoder Signal Output 1024PPR (A, B Phase) 1PPR (C Phase) differential output
Monitor Qutput Speedometer signal, load meter signal (analog, +10V)
Constant Setting Digital operator (JOVP-100)
Ambient Temperature 0 to +55€ (not frozen)
Storage Temperature* —20 to +60€
Humidity 5 to 920%RH (non-condensing)
Vibration 1G at less than 20Hz, 0.2G at 20 to 55Hz
Indoor (protected from corrosive gases and dust), less than 1000m (eleva-
Location
tion)
* Temperature during transportation (for short periods)
2. RECEIVING INSPECTION AND PRE-STORAGE CHECK
2.1 CHECK WHEN UNPACKING
Upon receipt of the inverter VS-626 VM3C Drives, unpack and check the following. Make sure that
the inverter is kept free from packing materials or fittings.
(1) Check the type and specifications of the delivered product with the shipping documents.
(2) Check optional equipment and spare parts.
(3) Verify that a parameter list is provided.
(4) Check for any damage during transportation.
If there is any discrepancy or any condition such as damage, or the delivered equipment does
not conform to listed specifications, contact your YASKAWA representative. Phone and fax
numbers of YASKAWA representatives are listed on the back cover of this manual.
211 Inverter Nameplate ~~
692-448
o feMonEL CIMR-VMC23P7 |
200V CLASS INVERTER
e INPUT AC 3PH 200-220V/50Hz
200 - 230V/6 OHz
Outout Spec.—— +8 OUTPUT АС 3PH 22A
(Rated Current)
SPEC 23P7 |
YASKAWA ELECTRIC CORPORATION JAPAN
NPIT41117-5-@
Input Spec.
(Rated Voltage)
\
Option Display or Spec. No.
— > [INVERTER MODEL DESIGNATION
CIMR- VM Cc 00000
Max. Applicable Motor Output (0P4:0.4/0.2kW)
to
(5P5:5.5/3.7kxW)
(P stands for a decimal point.)
Voltage Specification (2:200V series)
Specifications (C:Small capacity series)
VM3 Series
Fig. 2.1 Example of Inverter Nameplate
2.2 NOTES ON STORAGE
If the inverter is to be stored for a period of time, prepare the following conditions to keep the
equipment in good order.
(1) Temperature: OC to +60C 2
(2) Humidity: 5% to 90% (RH) (Non-condensing)
—% — Air containing 50% RHat +40€ condenses when cooled to +28C. Take special care if
extreme temperature fluctuations exist/occur in the storage area.
(3) Location: Indoors free from corrosive gases and dust
3. MOUNTING AND WIRING
3.1 NOTES ON INSTALLATION OF THE MOTOR
NOTE The flange surface and the output shaft of the motor are coated with rust preventives or
e grease. Clean the flange surface, output shaft, and keyways with thinner before installa-
tion.
3.11 Installation Location
(1) When the motor with cooling fan is applied, make sure that enough cooling air is supplied to the
cooling fan. The motor opposite drive end (where cooling air is exhausted from) must be separated
from nearby equipment by 100 millimeters or more.
—% — If supplied air is insufficient, motor thermal fault protection may be activated even if the
load is within the rating.
(2) The motor must be protected from water or oil splashes.
—% — Entry of water or oil into the motor may deteriorate insulation and cause a ground fault.
(3) The motor must be mounted on a sturdy bed, base, or frame.
—% — Adding to the motor weight, dynamic load is applied to the bed during operation, and
vibration may occur.
3.1.2 Installation Orientation
(1) Flange-mounted type motors can be mounted when the motor output shaft is connected to the
load machine in a horizontal to vertically-downward position.
— vw — If the output shaft is directed upward, excess force is applied to the motor bearing and the
life may be shortened.
(2) Foot-mounted motors must be mounted on the floor with the foot down.
—M — If the motor is hung upside down, excess force is applied to the foot and its life may be
shortened.
3.1.3 Connection to Load Machine
(1) To connect directly, align the centers of the motor shaft and load: machine shaft, so that the two
shafts form a straight line. Use a spline if necessary.
—% — If the centers of the shafts are misaligned, excessive twisting force is applied to both the
motor shaft and load machine shaft, and the bearing may be damaged or worn out quickly.
| | LEVELER |
- |. The gan A must be uniform and must be less than 0.03mm.
= ? Gap B must be less than 0.03mm.
| A
—
Fig. 3.1 Connection between the Motor and Load Machine x
(2) For V-belt drive, lay the motor and spindle parallel to each other, and perpendicular to the line
passing through the centers of both pulleys. Radial load applied to the shaft end of the motor output
flange must not exceed the limit. | | |
— — If the belt is not placed at an exact right angle, vibration may « occur or the belt may slip.
If an excess radial load is applied to the motor shaft, excess force is applied to the motor
bearing and its life may be shortened.
(3) The arc of contact ( $) must be 140” or greater.
—XM — If the arc of contact ( $) is smaller, the belt may slip.
a | BELT | 1.When Cis 1000 тт ог mare:d<1 mm { a
= MOTOR SHAFT
С | £.When C is less than 1000 mm:d/C < 1/1000
3.8<1/3
lo
| SSD LOAD SHAFT
Fig. 3.2 Connecting a Belt
(4) To use gears, lay the motor and machine shafts parallel to each other, and engage the shafts at
the centers of the tooth surfaces.
—w — If the tooth surfaces are not engaged properly, gear noise occurs. |
(5) To attach pulleys or gears to the motor output flange, they must be balanced well. The motor
is in dynamic balance when a half-key having a half-thickness of the size shown in the dimension
diagram (of the shaft) is attached.
—% — A slight unbalance may cause vibration during high-speed rotation.
3.2 NOTES ON INSTALLATION OF THE INVERTER
NOTE When carrying the inverter, handle with care so as not to damage it. Holding the face plate
e or PC board frame when carrying may damage the equipment.
3.2.1 Installation Location |
(1) The inverter must be kept free from water or oil splashes.
—X — Entry of water or oil into the inverter may deteriorate insulation and cause a ground fault.
(2) Avoid direct sunlight.
—X — Radiant heat of the sun may raise the temperature in the inverter over the operating
thermal range and life of electronic components may be significantly reduced.
(3) Avoid corrosive gases and liquids. Avoid locations where dust or iron powder is abundant.
— Xx — Corrosion by harmful gases or adhesion of dust may deteriorate insulation resistance and
cause a ground fault.
(4) The inverter houses the heat sink cooling fan at the rear. Leave 150 mm or greater clearance
on the upper (exhaust) and lower (entry) sides of the fan to prevent cooling performance deteriora-
tion.
— Xx — If air flow is obstructed and insufficient cooling air is supplied, a heat sink overheat error
may occur even when the output is within the rating.
(5) Although the control panel open-chassis type inverter is operable at 0C to +55C, air entering
the heat sink must be 45C or below. See Fig. 3.3.
—X — If warmer air is input, heat dissipation from the heat sink is reduced and a heat sink
overheat error may occur even when the output is within the rating.
(6) For ease of periodical inspection and maintenance, leave space to open and close the PC board
frame. Also make clearance of 30 mm or greater from each side panel of the inverter.
—X» — If the above clearances are not provided, proper inspection and maintenance will not be
possible.
З
(7) Place sealant at the unit mounting joint to prevent entry of dust.
—% — If no sealant is applied, water or iron powder may enter from the joint to deteriorate
insulation and cause a ground fault. |
80mm OR 30m OR
GREATER GREATER
| | | MO GREATER AIR -
| | A 4
— + ALLOWABLE = | E =
= TEMPERATURE —— — | |} |
of] ON THE CONTROL
LL
no PANEL SIDE: 55'C o В
- | | INTAKE AIR
| | | В E TEMPERATURE:
—10 TO +45'C
FRONT COVER | f | |
3% | | ) =) 1 4 5
150m OR GREATER | É
AIR
(8) Clearance on the left and right sides 6 Clearance above and below
— Fig. 3.3 Inverter Installation Space
10
3.2.2 Exterior and Mounting Dimensions
Table 3.1 shows the exterior and mounting dimensions for VS-626VM3C drives.
Exterior Dimensions
W
„|
Mounting Dimensions
| -Фф- Ф-
—
MAIN CIRCUIT
wm oe mm ео = a
`
* TERMINAL H]
H 1
(FIST NES ОУ
| “CHARGE” | > -Ф- —
| INDICATOR W 1
N + LAMP pa WI | d:MTG BOLT
692-447
Table. 3.1 Exterior and Mounting Dimensions
Voltage Model Copacity Exterior Dimensions in mm (inches) | Mounting Dimensions in mm (inches) | Approx Mass
Class CIMR-VMIC: _: kVA W H D W, H, d kg (Ib)
20P4 1 204.5 | 304 190 180 285 M6 5
20P7 15 (8.35) | (12.4) | (7.76) | (7.35) | (11.6) (11.02)
200 21P5 3 204.5 | 304 225 180 | 285 Me 7
99P9 5 (8.34) | (12.4) | (8.86) (7.35) | (11.6) (15.43)
23P7 7.5 204.5 | 354 255 180 335 M6 10
25P5 10 (8.34) | (13.9) | (10.0) | (7.35) | (13.2) (22.05)
3.2.3 Installation Orientation
For cooling efficiency and ease of maintenance, the inverter must be installed in a vertical position
with the input-output terminals below.
—% — If the inverter is placed in a horizontal position, the inverter inside temperature exceeds the
operating thermal range even when the output is within the rating, and the life of the
electronic components may be significantly reduced.
Do not drill or weld the control panel after mounting the inverter. Otherwise, metal chips
may be left in the inverter and lead to a failure.
©
11
3.3 CONNECTION
Fig. 3.4 shows equipment configuration for a drive system. Connect the power source, inverter, and
motor properly according to the drive system configuration and connection diagram.
When the drive is to be used for single-motor drive and no system connection diagram is found, refer
THREE-PHASE | 6; ме-нвевуМЗС
POWER SUPPLY ee = To — - € ; 8
Е | | MOTOR POWER CABLE
Y GROUNDING (I
| TERMINAL IIL
&
LI
ох
— POWER SUPPLY CABLE FOR
) Zo MOTOR COOLING FAN
BRAKING REGISTOR 8 |
12
3.4 WIRING SPECIFICATIONS
Take the following into account when selecting the inverter power cables, motor cooling fan power
cables, and control signal lines.
3.41 Power Cables and Terminals
Table. 3.2 lists the rated current, types and size of cables, and terminal size of the inverters. Layout
of the motor terminal box is shown in Fig. 3.5 (Connector Terminal Layout). Layout of input and
output terminals of the inverters is shown in Par.3.2.2, “Exterior and Mounting Dimensions”.
Table. 3.2 Power Cable Specifications
Cable Nominal Cross Section (mm** Terminal Mame and
Inverter | can inverte
V r
CC | Rated 600V Vinyl 600V Flame-resistant | 600V Rubber-insu- arene
EOS | Current Cable Crosslinked Polyethylene lated Cabtyre
(A) (IV, VV) Cable Cable (CT) Input Output
20P4 3 2.0 2.0 2.0 M4 M4
20P7 5 2.0 2.0 2.0 M4 M4
21P5 9 2.0 2.0 2.0 M4 M4
200V
22P2 13 2.0 2.0 2.0 M4 M4
23P7 22 3.5 2.0 3.5 M5 M5
25P5 33 0.0 3.5 5.5 M5 M5
Note: Motor terminal screw size is to be M5 for 5.5kW (15-minutes rating) and M4 for 3.7kW or less.
* Cable size is selected assuming external suspended wiring of single 3-core cables at an ambient temperature of
30°C,
Maximum allowable conductor temperature is 60°C for the IV, VV, and CT cables, and 110°C for the 600V
flame-resistant crosslinked polyethylene cable.
If the ambient temperature is higher than 30°C, allowable current of cables is decreased.
@ Refer to the rated current in Table 3.2 and select appropriate cable size according to JIS
standards or the technical data provided by the cable manufacturer. Related JIS standards
are as follows :
IV : JIS C 3307
VV: JIS C 3342
CT : JIS C 3302
The flame-resistant crosslinked polyethylene cable shall conform to Japan cable industrial
standard JCS No.360.
13
3.4.2 Control Signal Lines
Table. 3.3 lists types and sizes of control signal connectors and cables. Layout of the motor terminal
box is shown in Fig. 3.5 (Connector Terminal Layout). Layout of input and output terminals of the
inverters is shown in Par. 3.2.2, “Exterior and Mounting Dimensions”.
Table. 3.3 Specifications of Control Signal Connectors and Cables
Between NC/PC and Inverter Between Inverter and Motor
| Cable | Ny tor ENS | Cable a Connector
0.3mm? concentric 50-core
or 600V vinyl sheathed
cable (IV) Complex KQVV-SWt
(0.5mm?)* | AWG 22x3C | |
or complex KQVV- SW ME SOLE 0 Tue AWG 26x6P "o ns)
AWG 22X3C | (50 pins) pins YASKAWA drawing No. pur
AWG 26 X6P DP 8409123
YASKAWA drawing No.
DP 8409123
* For the 1CN signal line except for the analog signals such as speed instructions, 600V vinyl sheathed cable (IV)
can be used. When this cable is used, the signal and power cables must be separated and the cable extension
must be as short as possible (20m or less) to reduce noise.
t The diameter of the wire bundle must be less than the connector leading port.
MR-50LF: 16mm dia
MR-20LF: 11mm dia
I The signal and power cables between the inverter and the motor must be separated and the cable extension
must be as short as possible (20m or less) to reduce noise.
NOTE Do not run the signal and power cables in the same duct and bundle them. Malfunction of
e the equipment may occur
14
3.4.3 Control Signal Connectors Terminal Layout
Fig. 3.5 shows terminal layout of the control signal connector. Also refer to Fig. 3.6 (Standard
Wiring Diagram) when designing interface with NC or PC. For descriptions about control signals,
see Par. 4, “CONTROL SIGNALS.”
| 50 | 49 | 48 | 47 | 46 | 45 | 44 | 43 | 42 | 41 | 40 | 39 | 38 | 37 | 36 | 35 | 34 | 33
COM] RST JORT TLIM! SSC | LGR {REV | РУБ | RDY | EMG COM | COM
1 (INC) | (SV)
32 31 30 29 28 27 | 26 25 24 23 22 21 20 19
ORE |ORG| TLE ZSPD | AGR |SDET| 0V | LM | 0V | SM
18 17 16 15 14 13 12 11 10 9 8 7 6 9 4 3 2 1
$5 |* РВО| РВО |* PAO PAO|* PCO| PCO | FLT | FLT (FLT| OV ov OV ISCOM| SS |+15V
0 1 2 C / NC, NO, 0V) | 4
PCB Side Connector : MR-50RMAG
Cable Side Connector : MR-50LF (С)
(a) CONTROLLER 1CN
ENCODER CONNECTOR
ML Connector (MLR-12)
FG |* РВ| РВ |* РА| РА | * РС| РС
13 12 11 10 9 8
THSB |[THSA
7 6 5 4 3 2 1
+5V | +5V/+5V| 0V | OV | 55 Sign Terminal Sign Terminal
(0V) 1 | DC+5V 7 | PC
2 10V 8 | *РС
PCB Side Connector : MR-20RMAG 3 PA 9 | FG (Frame Ground)
Cable Side Connector : MR-20LF (6) 4 | *PA 10 | SS (Shielded)
5 | PB 11 TS
6 * PB 12
(b) CONTROLLER 2CN (When encoder is provided with zero-point signal)
Notes: 1. The terminal layout is a view of the board
connector viewed from the engaged part.
2. In the figures, indicates an input signal
to the inverter, whereas [J indicates an
output signal from the inverter.
3. Asterisk (*) with the 2CN signal indi-
cates reverse rotation signal.
Fig. 35 Connector Terminal Layout
15
3.5 STANDARD WIRING DIAGRAM
3.5.1 When Using Braking Resistor Unit —
=
—
THERMAL RELAY,
TRIP CONTACT
1 2 |BRAKING
RESISTOR
UNIT (OPTION)
B AC SPINDLE MOTOR
t
5
VS-626VM3C
GR
(SV) * PA
TLIM(INC)
|
|
à)
ANALOG
SPEED
REFERENCE
Notes:
1. P Ÿ : Twisted pair wires.
2, Asterisk (+) indicates reverse
rotation signal.
CONNECTOR ON
CABLE SIDE :
1CN : MR5OLF
2CN : MR2OLF
t Some motors are not provided
with fan, depending on their
capacity.
! Example of the connection
when sequence input com-
mon is 0 or +24V common. |
(Refer to par.4.1) ВЕ
+24COM
Mm
EXTCOM OVCOM
16 Fig. 3.6 Standard Wiring Diagram
3.5.2 When Using Braking Unit and Braking Resistor Unit
THERMAL RELAY
TRIP CONTACT
; A |
[LEVEL
BRAKING | DETECTION
UNIT (OPTION) — | AC SPINDLE MOTOR
A — — =
;/ BRAKING
200V — andl, B2 B1/P N UNIT (OPTION)
— VS-626VM3C
OO NS U
1 1CN у
com? 33,34,COM W
35 | ЕМС E
о 36] ROY гсм |
я 37] FWD +5v [45611 y
381 REV Ov 23 OÙ
> 39! LGR PA 116 a
a 40| sscisv) *PA JVR:
— 41 | TLIM(INC) РВ _ | 18 Loy
5 42 * PB 19: P | i
43] ORT PC | 14 ||
or +
> 44| RST xPC |15||P $: '!
_ 1j +15V г
ANALOG | ? 2 | SS(0V) | |
Г I
SPEED Ел 3| SCOM тнед 1.8 o
REFERENCE UU 4 | OV тнев AE 7 т
=“ 5 y +
eL ss(ov)_| 1 y
dr NT
2 Notes :
IED 1, Р 7"; Twisted pair wires.
N ON | 14 | PAO OV ¡22 2. Asterisk (+) indicates reverse
_ ¡Pl 15 | * РАО LM ] 23 rotation signal.
- - 7 PA CONNECTOR ON
DE * PBO N
PR ov |24 CABLE SIDE
-—— APC ICN MRSOLF
- PRO «POO —T 2CN MR20LF
| + 18] SS(OV)
_ 25| SDET
+ 26| АСВ t Some motors are not provided
- 27| ZSPD with fan, depending on their
— 28 capacity.
29] TLE
N 30| ORG + Example of the connection
= 31| ORE when sequence input com-
= 32 mon 1$ О or +24V common.
{
| (Refer to par.4.1)
x 45 COM1
_ 9
-. o
- то FLT
11
+ 24VC OM
EXTCOM OVC OM
Fig. 3.7 Standard Wiring Diagram 17
3.6 NOTES ON CONNECTION
Complete interconnections, following the instructions given below. | © a
(1) Control signal leads (ACN and 2CN) must be separated from main circuit leads (R, S, T, U, V,
W) and other power lines and power supply lines to prevent erroneous operation caused by noise
interference (Electromagnetic interference). a
—»xX— If a signal line (especially the motor encoder signal line) runs along a power cable, the dv/
dt noise from the power cable may cause a serious malfunction.
(2) When a twisted shielded wire is used for the control signal line, the terminal must be insulated
as shown in Fig. 3.7, except for the motor encoder signal line between the inverter and the motor
which must be connected on both ends because the encoder signal line in the motor is a multicore
shielded cable. The extension of the control signal line including the encoder signal line must be 20m
or less. | | |
—X— A longer motor encoder signal line between the inverter and the motor may result ina
voltage drop in the line, reducing encoder power voltage and causing a serious malfunction.
SHIELD AVOR
HEAT ARNO
SHEATH /
2 A
TO SHIELD ‘
SHEATH TERMINAL 5 NEVER CONNECT
-INSULATE THESE PARTS
WITH INSOLATING TAPE.
Fig. 3.8 Shielded Lead Termination
(3) Make a positive grounding using ground terminal E on the casing го VS- 626 VM3C.
* Ground resistance should be 1002 or less.
* Never ground VS-626VM3C in common with welding machines, motors, and other large-current
electrical equipment, or ground pole. Run the ground lead in a separate conduit from leads for
large-current electrical equipment. a
* Use ground lead listed in technical standards of electric installation and make the length as short
as possible. |
- Even when VS-626VM3C and motor is grounded through its mountings such as channel base or
steel plate, be sure to ground VS-626VM3C using the ground terminal ©.
* Where several VS- 626VM3C units are used side by side, all the units should preferably be
grounded directly to the ground poles. However, connecting all the ground terminals of VS-
626VM3C in parallel, and grounding only one of VS-626VM3C to the ground pole is also permis-
sible (Fig. 3.8(2)). However, do not form a loop with the ground leads (Fig. 3.9(b)).
OX
q Lala Latorre
(a) Good — (b) Poor — (a) Good (b) Poor
Fig. 3.9 Grounding of Three VS-623VM3C Units Fig. 3.10 Grounding of Motor and VS-626VM3C
18
(4) Phase rotation of input terminals (R, S, T) is available to each direction, clockwise and
counterclockwise
(5) Never connect the power supply to output terminals (U, V, W).
—% — If the power supply is connected to an output terminal, excess current flows and internal
transistors may be damaged.
(6) Connect inverter output terminals (U, V, and W) to corresponding motor terminals (U, V, and
W).
—% — Connection error may cause motor buzzing and vibration, or improper rotation.
(7) It is possible that failures caused by grounding or short-circuiting of output cables may occur.
Be careful not to let cables come in contact with the case.
(8) Never connect phase advance capacitors between the inverter and the motor. (Fig. 3.10)
—% — Inverter output overcurrent protect may be activated or the motor may run away. Phase
advancing capacitors may be overheated or damaged by high-frequency component of
inverter output voltage.
—
=
Т W Y—
INVERTER
VS-626VM3C
о a)
(Never connect phase advancing capacitor)
Fig. 3.11 Removal of Phase Advancing Capacitor
(9) When a ground fault interrupter or leak relay is used, it must be well balanced and placed in the
power supply line as shown in Fig. 3.11.
Since output from the controller contains a high-frequency component, zero-phase current may flow
through the voltage-to-ground capacitance of the inverter-motor cable (C1) or the voltage-to-ground
capacitance of the motor (C2), improperly activating the ground fault interrupter. To avoid this,
observe the following:
(a) Make the cable between the inverter and the motor as short as possible to reduce steady
zero-phase current.
(b) Set rated sensitivity current high.
(c) Use a specialized inverter or impulse wave inactive ground fault interrupter.
GROUND FAULT
INTERRUPTER
POWER SUPPLY | I |
т o— AA | 777 RST Ram
Lo
С! C?
dr
Fig. 3.12 Installation of Ground Fault Interrupter
A
19
(10) If both the VS-626 VM3C inverter and magnetic contactor are placed in the same control panel,
the controller may sometimes operate erroneously due to the noise generated from the coil of the
magnetic contactor. Connect a surge suppressor in parallel with the coil of the magnetic contactor.
The surge suppressor will absorb the energy stored in the coil of magnetic contactor and thus must
have a capacity suited to the coil. YASKAWA'’s magnetic contactors and surge suppressor are
shown in Table. 3.4. o -
В CAUTION = | |
Never connect surge suppressor to the output terminals (UO, M, W) of the controller.
—% — If there is no surge absorber, making or breaking of the magnetic contactor generates surge
voltage from the winding, disrupting the signal on the inverter control signal line.
Table. 3.4 Application of Surge Suppressor
Magnetic Contactor 1
and Control Relay
Surge Suppressor* |
Type | Type Specifications Code No.
Magnetic-contactor
HI-10E, -20E, -25E, RE
-35E, -50E, 65E,, — 250VAC
-80E,. -125E, || DER2S0A2E | 95 uF+2000 C002417
Control relay
RA-6E,, RL-33E
Control relay
LY-2, -3
200V | Manufacturer:
Class OMRON
Corporation] Co | e
HH-22, -33 250VAC
| “[Manufacturer: FUJI! DCR2-10A25C - |-014F+2000 (002482.
Electric Corporation] |
MM-2, -4 —
-— [Manufacturer:
OMRON |
Corporation]
* Surge suppressor is mady by MARCON ELECTRONICS Co., Ltd.
Use the surge suppressor shown below when any surge Suppressor is used other than the
‚above. | а | a | |
200V class : Type DCR2- 50A2E
t Magnetic contactors and velays for control are products of YASKAWA CONTROL Co., Ltd.
20
4 CONTROL SIGNALS
4.1 SEQUENCE INPUT SIGNALS
For input signals, take the following conditions into consideration.
(1) Possible input methods are 0V common, +24V common, and external common. Select one
input by the selection connector on the controller (shown in Fig. 4.1).
(2) Before changing the selection connector, turn OFF the power.
—X — If the selection connector is changed when the control power supply is ÓN, the control
power supply is short-circuited and the PC boards may be damaged.
(3) Insert the selection connector so as to connect terminals in a column, namely 1 and 2, and 3 and
4.
—X» — If terminals in a line are connected, the +24V power supply is short-circuited and the PC
boards may be damaged.
(4) When the external common input method is selected, prepare a +24V power supply (20V to
26V) for the input signal.
(5) When relay contacts, etc. are used, the contact capacity must be 30V or above (bmA or above).
(6) The filter in the level shifter circuit in the input section causes approximately Sms delay in the
signals.
(7) Fig. 4.3 shows the input circuit, and Table 4.1 gives the signal functions.
(8) The ON/OFF status of the input signal can be checked by control signal V1-09.
Refer to Fig. 4.2 for the display. See Par.7 for operation.
EL
ll A
+24V. COM e AC 0
7 31 31 A
E
д?
EXTCOM OV СОМ
SELECTION PIN
—
Select one inout and insert the
selection pin.
ICN ON
O |
_ Before changing the selection pin, turn OFF the power.
Insert the selection pin in a pasition shown in the figure.
Fig. 4.1 Input Method Selection Pin
a
-— 4 чин ED a ver
EMG RDY FWD REV LGR
am a" amo «и a
SSC TLIM ORT RST
ро х —. ух Am A
Note ! Input signal of “Closed Status” is indicated by the lamps.
Fig. 4.2 Display of Input Status (Vi—09)
21
22
-—+24V
com | a TRAV COM Ir
a am | 1.3 | ] Tn
| pl de a | dela 2
| | EXTCOM | | v lov com
(a) OV Common Input Method Interface
a
com | y EME Y
ООО IT]
DV COM
(6) +24V Common Input Method Interface
A
—7
| +4
+24V
OR
OV |
Т | 8.9ке LLC 000
N |
ee —] o = — — = = — 4
1° -- - +24V COM
COM р =
OV AE Y 9 3 Po 3 |
OA NT
+24V AL ej 4 2 4 2
dl 0V COM
— EXTCOM
(c) External Common input Method Interface
Fig. 4.3 - Input Interface Circuit
Table 4.1
Functions of Sequence Input Signals
Signal
Connector
No.
Pin No.
On
Signal
Function
Ready
ICN
36
CLOSE
« If | RDY | is closed during operation, the base is immediately
blocked to shut down motor current. Close again to
restart.
By changing the selection signal C1-37 (SEL 2) bit 3 and 2,
becomes the following status.
“117: When [КРУ | is opened during run, the motor will rapidly be
stopped by regenerative braking. Then, the current is interrupted
to open the MC.
stopped by regenerative braking.
Then, the current is interrupted, but, MC is still closed.
When | RDY | is not used, always close No.36 pin. Then, when OV
common or +24V common input method is selected, connect
ICN-pin No.36 to pin No.33. When external common input
method is selected, close | RDY | externally.
Forward
Run
Reverse
Run
ICN
37
38
CLOSE
CLOSE
With and | ЕМС | closed and the speed reference positive,
when [FWD is closed, the motor runs CCW as viewed from drive
end ; and when | REV | is closed, the motor runs CW. Therefore,
when speed reference and run signals are combined, the motor
runs in the directions shown below.
SPEED REFERENCE ® ©
[FWD| CCW CW
REV CW CCW
When the signal is opened during run, the motor is stopped by the
regenerative braking and when the motor speed reaches to zero,
the motor current is interrupted by gate blocking.
The acceleration time is set with the soft start constants
(C1-10 Tec).
The time between halt and 100% rated speed can be set between
0.1 and 180.0 seconds. However, for some load inertia values, the
accel decel time may be exceeded than the soft start set time.
and should be closed at least 15ms after are
closed. and | REV | should not be closed before and
вру.
Operation
Signal
+
.
+
[CLOSE
LROY | | CLOSE
i
rec — |
LEWD] or [Rev]! [CLOSE
| |
PUREE
15ms and above
* When both and | REV | are closed, the motor stops.
In this case, if whichever of them becomes open, the motor
resumes running, so that care must be taken to avoid accident.
23
Table 4.1
Functions of Sequence Input Signals (Cont'd)
Signal vorectr Pin No. signal | — Function
Forward ICN 37° | CLOSE | « When or is closed, the motor runs at the speed
Run | specified by a speed reference. Be sure to first set a speed when
FWD running the motor.
Reverse 38 CLOSE | В
Run E.
REV SPEED REFERENCE |
OR
* When a trouble occurs during run, base is blocked immediately to
interrupt the motor current.
* Open and signals before turning power ON. If either
| FWD] or | REV | is opened, motor cannot be started.
Emergency ICN 35 OPEN | + Operation is ready within 2.5 seconds after closing | EMG]
Stop _ | During ! the delay time, the main circuit capacitor is changed.
* When is opened during run, the motor is quickly stopped by
| | regenerative braking, and then, the current is interrupted and MC
is opened. Even when the motor is not stopped, the current is
automatically interrupted after 10 seconds. |
* After opening , operation will not be ready even | after
closing [ЕМС] again unless and [REV] are opened.
* When [EMG] is not used, always close No.35 pin. Then, when 0V
common or +24V common input method is selected, connect
ICN-pin No.35 to pin No.34. When external common input
| method is selected, close No.35 pin externally.
Torque |- 1CN 41 | CLOSE | + This signal temporarily limit motor torque during operation.
Limit | * When is closed, torque is limited. In this state, torque
Incremental
Signal
limiting signal | TLE | [TLE] is output.
The torque limit. level when is input can be set up for
external operation torque limit level C1-24 (TLçx1) from 5% to
120% of the 15-minute rating.
TORQUE 120%
LEVEL
- When [TLIM! is not to be used, leave pin No.41 open.
* This signal is used for incremental operation during orientation
control. The signal 1s input to pin 41 when bit 0 and bit 1
of select signal C1-36 (SEL1) are set to “4” and “|”, respectively.
INC | is effective when input simultaneously with or before
ORT |
If | INC | is input when power is turned ON or is input
without performing the absolute positioning, an incremental error
(code: F-d15) occurs.
When is input after INC |, incremental operation is start-
ed from the stop position at that time. Therefore, absolute
positioning must be performed in advance if positioning precision
is required.
24
Table 41 Functions of Sequence Input Signals (Cont'd)
signal | Comnector [pin No, | ON Function
No. Signal
Soft-start ICN 40 CLOSE | + This signal is for cancelling the soft start function so that speed
Cancel reference is changed by speed command without delay, for inching
| ssc | or other special control modes.
* When | SSC | is closed, the accel “decel set time is disregarded,
Servo Mode and the motor is accelerated or decelerated in short time by the
Signal current limit accel “decel function.
* When SCC | is not to be used, leave pin No.40 open.
CLOSE | - Selecting “]” on bit 3 of selection signal C1-36 (SEL 1) permits
change to servo mode for solid tap, etc.
SEL 1
Bit 76 54 3 2 10
a Soft start cancel at 1CN-40 “close”
- “|” :Changes to Servo mode at 1 CN-40 “close”
(The gain of speed Icon. etc. changes to servo made)
* The following control constants are effective only when servo
mode is selected:
* Speed control ratio gain: C1-05, 07
* Speed control integral time constant: C1-06, 08
* Servo mode flux level: C1-31
+ Servo mode base speed ratio: C1-32
Alarm ICN 44 CLOSE | + This signal is for restoring the run ready status after eliminating
Reset the cause of the tripping of the protective circuit, as the result of
RST , overcurrent or overload.
OPEN |. RST | is effective only after the tripping of a protecting circuit.
While [FWD or | REV | is closed, or | ORT | is closed, resetting is
not possible,
* The | RESET switch incorporated in the digital operator equiva-
lent to this signal in function.
« Resetting is effected by | RST | edge signal.
Therefore, close [RST | and open it.
+ In the protective circuit sequence, malfunction has priority.
An example of the timing chart for resetting is given below.
OVERLOAD
PROTECTION | Ш
(OL)
| FWD | | [LORE |
[RST] bod nos |
RUN
FAULT INDICATION |
2-700 al
MALFUNCTION
SIGNAL ROTECTIV | RESET END
25
Table 4.1
Functions of Sequence Input Signals (Cont'd)
, Connector | … |
Signal Pin No. On Function
No. Signal E.
Orientation | ICN | 43 CLOSE | * This is an instruction signal of electric orientation. o
| ORT | * When is input, the spindle is immediately moved and
stopped at a specified position.
* Open when replacement of a tool or workpiece, or any
other work has been performed in the positioned status.
* If an emergency stop occurred during orientation, operation can-
not be restarted unless is opened.
* Open before turning power ON. Otherwise, operation
cannot be started.
If there is no orientation card (option), use the motor encoder
signal for positioning. |
* When is not to be used, disconnect pin 43.
L Gear 39 | CLOSE | *« These signals change parameters such as gear ratio and gain to
Selection optimize control according to gear selection of the spindle.
Signal * Use the gear select signals as listed in the table below.
|
LGR Function
OPEN | H—gear selection
“CLOSE | L—gear selection
* For gear ratio and gear selection, refer to Table 4.2.
Table 4.2 Gear Selection by Gear Ratio
о Number Gear Rati о Сеаг Rat о (= Spindle Speed Gear Selection
10 (= )
Speeds | ' Motor Speed L Gear (LGR)
— 25 0.6 x
—
1
— —08 0.05 O
HIGH 25 06 x
2
0.8 0.05
LOW | N O
Note: Contact your YASKAWA representative on the other combinations
of gear ratio.
26
O--ON, contact closed
X-- OFF, contact open
4.2 SPEED REFERENCE
Table 4.3 Speed Reference Input
Connector
Signal No. Pin No. Function
Analog Speed ICN 3 * Rated input voltage is +10VDC. If the rated motor speed cannot
Reference be obtained at rated input voltage, it can be adjusted by motor
SCOM speed adjustment constant C1-12 (SAD).
* The allowable input voltage is +12 VDC.
However, since the controller limits it at 105% or 110% of rated
value, the rated speed of the motor is limited at 105% or 110% of
the rated speed. Select the level of speed limit by bit 5 of select
signal C1-38 (SEL3). When “'” is set for the bit 5, 105% is set up.
When “|” is set, 110% is set up.
* The input impedance of [SCOM | 1s 50 ka.
and run signals, speeds and
directions of rotation shown below are obtained.
* With various combinations of
RATED SPEED | FORWARD RUN
105% 10 o 105%
| 7 (REV) | (FWD) y
| |
ı-10.5V 10.5 V |
ot ft [SCOM
12V | 0 волгу
| N (FWD) | (REV) 7 J
105% 105 %
REVERSE RUN
SCOM | is effective and the motor runs when run signal or
REV | is closed.
* If | SCOM | is set to OV while forward or reverse run signal 1s being
input, the motor may fail to stop completely. To stop the motor
completely, open both the forward and reverse run signals. (While
either is closed, current flows.)
* To improve noise resistance, use shielded lead for the
circuit.
* When setting | SCOM | manually, the reference voltage (+15V) of
the controller can be used, provided the current is kept up to 10 mA.
V5-626V M30
[5508
SETTING [y + 15V
RESISTOR [15.2 9
o = ) SCOM
E
TW OR MOR
—
ov
|
27
4.3 SEQUENCE OUTPUT SIGNALS
Use these output signals under the following conditions.
(1) Both +24V common and 0V common are available output methods. o
(2) Signal output is insulated by a photocoupler. Prepare +24V power supply to output signals.
(3) When 24V is applied, the output current capacity is up to 50mA. | | |
(4) When an inductive load such as an external relay is to be switched ON and OFF, be sure to
connect a spark suppressor in parallel with the load. The maximum allowable voltage for the
output circuit is 26V. | |
— Xx — If greater voltage than the maximum allowable : is applied, the photocoupler of the output
| circuit may be damaged. | |
(5) Fora capacitive load, connect a protective resistor in series with the load to limit the current.
—% — If there is no protective resistor, excess current flows when the photocoupler is operated,
and the components may be damaged.
(6) Fig. 4.4 shows the output circuit. Table. 4.4 lists the functions of signals.
(7) The ON OFF status of the output signals can be checked by control signal V1-10. The status
is displayed on the digital operator LEDs as shown in Fig. 4.5.
|
SDET | AGR | ZzSPD TLE
«нь oan am — a
ORG ORE FLT
— AED. AED. AED. Y
Note: = Output signal of closed status are indicated by the lamps.
Fig. 4.5 Display of Output Status s (V1-10)
28
Table 4.4 Functions of Sequence Output Signals
nnect Contact and
Signal Co No or in No Function
* When the motor speed drops below the set level, | ZSPD lis closed.
Once | ZSPD | is closed, it remains closed for 50 ms.
ZSPD | CLOSE
> e 97 | M |
Speed 1CN o 6000 r/ min REVERSE f FORWARD 6000 r/ min
ZSPD — ZERO-SPEED DETECTION LEVEL [C1-19)
* 3%
* The zero-speed detection level can be set up for control constant
C1-19 (ZS,v1) from 3r//min. to 60r min.
. Since | ZSPD | 15 output irrespective of [FWD] and REV |, it can
be used as a safety run interlock signal.
« When the motor speed enters the preset range of | SCOM ¡AGR!
closes. However, in gateblock status, it is not output. Once! AGR |
is closed, it remains closed for 50 ms.
* When this signal is used as an answer to S command in NC
program operation, the program is advanced to the next step.
+ Speed agreed signal setting range of 10% to +50% of rated
speed is selected with speed agreed signal detection width C1-20
Speed PZA (AGR)
—o * Operation Example of Speed Agreed Signal
Ur 1CN |
| AGR 3 Xx” С1 — 20 = 15%
15%
| is OPEN
“Aza
0 25% 100% —
SPEED REFERENCE
- When the motor speed drops below a preset level, | SDET | is
closed.
* The speed detection level is set between 0 and 100% speed with
the preset constants C1-21 (SD v1)
Speed PRO
Detection ICN ©
SDET
2 3 45
CLOSE | OPEN | CLOSE
« Hysterisis width is set in the control constants C1-22 (SDurs)
* | SDET | operates regardless of the run direction signals.
29
Table 4.4 Functions of Sequence Output Signals (Cont'd)
Sic nal | Connector | Contact and Function
9 № Pin No. ) a
‘ * When external torque limit | TLIM |is input, will be closed.
Torque 445 * can be used as check signal for [TLIM|.
Limit © | |
—0Q
TLE |
4 4 45
. is closed when the spindle reached near the commanded
stop position after is input. a a Co
* While is closed, resistant torque is generated against
9] external force to compensate for positioning error. Therefore,
Orientation | | + Î tools and workpieces must be replaced while is closed.
Completed 1CN — | | | | |
x * If a great external force is applied and positioning error is in-
a 2 creased, is opened. Prepare an external sequence to judge
it to be an orientation failure. |
* One pulse is output per one rotation of the spindle using the
oo ; a magnetic sensor signal.
Spindle |
Home Position | 1CN o |* is output when spindle runs at 1000 r/ min. or less.
5
& 1
° When protective circuit for overcurrent or overload tripped, the
“motor current is instantly interrupted, and the motor stops after
running by inertia. Upon current interruption, is output.
) * The | FLT | relay is closed at protective circuit operation.
Fault | "0 The contact is NONC contact.
FLT ICN - * While is being output, open operation signal or
REV | and output a failure warning to the main system.
* | FLT [is displayed. Refer to function.
* For the relationship between and "RST |, refer to Table
4.1.
30
4.4 ENCODER PULSE OUTPUT CIRCUIT
[PAO * PAO PBO * PBO PCO * PCO] * indicates a reverse signal.
Encoders having home position signals (1024 pulses/rev) outputs phase-A, phase-B, and phase-C
(home position) signals.
These signals can be used for position feedback signals. Specifications of output signals are as
follows:
(1) Signal form
* Two-phase pulse with 90” pulse difference (phase-A and -B)
* Original point pulse (phase-C)
(2) Output circuit and receiver circuit
The output circuit is a line driver in compliance with the RS-422-A specifications. Use line receivers
of matched characteristics to convert the signals as shown in the connection circuit example in
Fig. 4.6.
VS-626VM3C
ION _ RECEIVER CIRCUIT(SUPPLIED BY USER)
14| | PAO E À О
|
PHASE '—> Р | | A, 1 D PHASE A
15| | * РАС | | 1
| |
16| | PBO || —
| 1 Lo
PHASE 8 = | | PHASE 8
17] | * РВО po LIT
| |
| |
12| | PCO po
Ï
| 4 PI
PHASE C Р | PHASE C
131 | * PCO Po TT
Ï | Ma
QUTPUT LINE 47 Rı :51— 2000
a 18 [ ; Cr: 87~220pF
Use line receivers in compliance with the
EIA standard RS-422-A. such as SNTSYA.
TN
x) | ei Twisted pair wires
Fig. 4.6 Output Circuit and Receiver Circuit
(3) Output phase
FORWARD RUN REVERSE RUN
PHASE A PHASE A
(PAD) | | | | (PAD) | | | |
| 80° 30°
РНАЗЕ В
(РВО)
tl muse [| | | JJ
\PBO)
PHASE C | | PHASE C I
PCO) (РСО)
Fig. 4.7 Output Phase
31
4.5 ANALOG MONITOR SIGNALS
Use the analog output signals in the following conditions.
Table 4.5 Functions of Analog Output Signals
Signal
Connector
No.
Pin No.
Function
Speed-
ometer
ICN
21
* When an external speedometer is connected, the motor speed can
be monitored.
—* Speedometer signal terminal outputs DC voltage signal propor
tional to the motor speed, regardless of the run direction..
* Select a voltmeter as a speedometer which satisfies the following
specifications.
Item |. Specifications
Name | Voltmeter
Activation Moving coil type
Rating 10V full-scale
Internal Resistance 10kQ
Class | 2.5 class or above
* The level of speedometer signal is | adjustable with the control
constant C1-16 (SMan:). |
» Since C1-16 (SM,p;) is only for adjusting the speedometer, the
actual speed is not influenced by it.
* The forward and reverse run speed accuracy is +3% max. of the
- rated speed.
Load
Meter
Signal
ICN
23
* The load meter indicates the ratio of the actual load to the rated
‘output of the motor. -
* Select a voltmeter conforming to the same specifications as the
speedometer. |
* Load meter signal can be adjusted with the control constants
C1-17 (LM ap;) and © 18 (LM Fs).
Note: Use pin No. 22 or 24 for OV meter.
32
5 ORIENTATION CONTROL
51 ENCODER TYPE ARBITRARY POSITION ORIENTATION CONTROL
By using the signals of the load axis encoder connected with the load axis (spindle) with speed
change ratio of 1 : 1, such as lathes, one rotation is divided into 4096 (resolution : 0.088) for
positioning based on 12-bit binary or 3-digit BCD stop position commands. For this control, as
shown in Fig. 5.8, positioning command orientation signal, stop position command and orientation
card are needed in addition to signals such as FWD), [REV], etc.
—
——
THERMAL RELAY
TRIP CONTACT
TOR
NIT (OPTION AC SPINDLE MOTOR
N B1/P B2
vS-626VM3C
2007 —
— 6 R
—o €
— 1CN LOAD AXIS
COM SPEED
COM CHANGE
AR
у =
+
GR MOTOR
AXIS
ANALOG
SPEED
REFERENCE
For
Notes :
1 PJ : Twisted pair wires.
РАО
* PAC
* РВО 2. Ao (ak) indicates reverse
rota signal.
dsiov)__-* 24VCON CONECTOR ON
CABLE SIDE
coer || || LL 1CN : MRSOLF
AGR EXTCOM OVCOM | 2CN- MR2OLF
As LOAD AXIS ENCODER | 2&N MAOH.
TLE + SV 7CN : MR2OLM
ORG
ORE =
* SP
A + Some motors are not provided
with fan, depending on their
capacity.
COMI *
S(FG
ra A — — ее
ENCODER TYPE 50
ORIENTATION POT
CARD (OPTION)
CN
SPCO
* SPCO
LOAD AXIS SPAO
ENCODER * SPAO
SIGNAL SPBO
QUTPUT * SPBO
SS (OV) P12
COM
Fig. 51 Arbitrary Position Stop Control by Load Axis Encoder
33
NOTE If the orientation function is to be used under the following conditions, adjust the machine
e and adjust parameters before starting.
(1) When the orientation function is to be used for the first time after VS-626VM3C was
connected to the driven machine.
(2) After exchanging the motor or the encoder.
(3) After altering wiring between equipment.
For details about tuning, refer to the adjustment procedure.
The following two types of arbitrary positioning:
(1) Absolute positioning
(2) Incremental positioning
They are explained below.
When the load axis and the motor axis are directly coupled, orientation positioning can be perfor-
med by motor encoder signal. |
5.1.1 Arbitrary Position Stop Control by Load Axis Encoder
(1) Absolute positioning |
Absolute positioning is used to perform positioning at the specified stop position with the spindle
zero point as reference. Therefore, when the specified stop position is “0°”, the spindle stops at the
spindle zero point; when it is “90°”, the spindle stops at 90° after proceeding in the CW direction.
When the orientation signal is input during rotation (or stopping), the spindle speed decelerates or
accelerates to the set orientation speed. After the set speed is reached, the encoder phase C signal
is checked. Then the axis stops at the position specified by the servo loop, and at the same time,
it outputs the orientation completion signal (ORE).
Since the servo loop keeps operating even after completion of orientation unless the orientation
completion signal is turned OFF, the spindle hardly strays away from the positioning point even if
external force is applied to the spindle. -
Fig. 5.2 is the time chart of absolute positioning.
RUN SIGNAL
(FWD OR REV)
ORIENTATION SIGNAL
(ORT)
ORIENTATION COMPLETION —
SIGNAL (ORE - ORIENTATION SPEED
| | _—
| |
À | MOTION (ATO) 7
SPEED NN | | 7
(~: COMMAND, ——: ACTUAL] Ve | и
. . “= Го = —— = у 7
0
| (a) Orientation Starting at Operation Speed
RUN SIGNAL
(FWD OR REV)
ORIENTATION SIGNAL
(ORT)
ORIENTATION COMPLETION
SIGNAL (ORE)
|
|
. |
SPEED Ш =
(- : COMMAND, ==: ACTUAL] „” “>. |
= — — | do
(b) Orientation from Stop |
Fig. 5.2 Time Chart of Absolute Positioning
34
(2) Incremental positioning
Incremental positioning is used to perform positioning at a new stop position which is determined
by adding the specified rotation moving amount (angle) to the current stop position.
By inputting the incremental signal and inputting the orientation signal again after completion of
absolute positioning, the spindle stops at the new stop position, and at the same time, it outputs the
completion signal.
In this mode, each time the orientation signal is input, the spindle proceeds by the specified rotation
moving amount.
Fig. 5.3 shows the time chart of the incremental positioning operation.
AUN SIGNAL
¡FWD OR REV:
ORIENTATION SIGNAL CLOSE | | CLOSE 1 CLOSE Г
'0RT)
ORIENTATION COMPLETION ABS INC CLOSE
POSITION SIGNAL FOR CONTROL
(MAGNETIC SENSOR OUTPUT)
SPEED
[~: COMMAND. —+— : ACTUAL) bs, и
CLOSE |
=
= = = — —_—
/ |
0 > ABSOLUTE STOP POSITION
POSITION \,
—COMMAND N INCREMENTAL
——ACTUAL `
| ) 98
RB
N
\,
0 | >
Note: When incrementa! positioning is performed, a position shift must not be generated while the orientation signal is turned OFF.
if a shift occurs, the stop positioning accuracy may not be obtained.
Fig. 5.3 Incremental Positioning
35
5.1.2 Home Position Stop Control by Motor Encoder ‘ |
When the spindle and the load axis are coupled at a transmission rate of 1 : 1, one rotation (angle)
of the axis is divided into 4096 (at a resolution of 0.088° ) by using the motor encoder signal and the
positioning is moved to the position determined by control constant C2-01.
As shown in Fig. 5.4, this control requires a positioning reference and orientation signals, adding t to
speed reference, forward: -reverse run and other signals.
—
——
THERMAL RELAY
TRIP CONTACT —
1
2 |BRAKING
RESISTOR
UNIT (OPTION)
~ AC SPINDLE MOTOR |
200V 5 o-
X
VS-626VM3C
GR
(SV) * PA
TLIM(INC}
T
T
ANALOG
SPEED
REFERENCE JHSA
THSB
SS(OV)
1
Notes:
1. PT : Twisted pair wires.
..2. Asterisk (+) indicates reverse
rotation signal.
‘CONNECTOR ON
CABLE SIDE
1CN: MRSOLF
2CN : MR20LF
t. Some motors are not provided
with fan, depending on their
capacity.
+24VCOM
[OU
EXTCOM OVCOM
Fig. 5.4 Home Position Stop Control by Motor Encoder
36
51.3 Specifications of Encoder Type Orientation Control
Table 51 Standard Specifications
Item
Description
Positioning Method
Absolute or incremental method”*
Positioning Detecting Method
Angle detected by load axis encoder phase A, B or C pulse
Stop Position *'
Stopped at the position determined by external command or inter-
nal setting with the load axis zero-point** as reference.
Stop Position Repeating Accuracy*'
+ 0.2” or less
Resistant Torque*'
Continuous rated torque/ +0.1” displacement**
Orientation Card
Code No.: ETC62103x.3
Load Axis Encoder Type
PC-1024ZLH (for load axis mounting)
UTMSI-10AAB (motor encoder)
* 1. Excluding functional error such as backlash or eccentricity.
* 2 © Incremental method is only acceptable for the load axis encoder method.
* 3 : The zero point can be obtained by setting the constant memory to the number of offset pulse from load axis
encoder phase C pulse startup at FWD run,
* 4 . Continuous rated torque may not be obtained depending on gain setting. Also for quick load variation,
displacement becomes larger.
37
Table 5.2 Encoder Specifications
Item Se Description
Type о | РС.102471.Н-4К-68 PC-1024ZLH-6K-68 — UTMSI-IAABt
Max. Speed" (r/min) 4000 | 600 1000
Power Supply ВЕ a +5VDC £5% TT
Dissipated Current ВЕ Max 350 mA. | | =
Phase-A, -B 1024 pulses/rev.
No.
©. of Pulses Phase-C — 1pulses/rev. =
Each phase is of parallel output by line driver.
Output to | ; EE RATE
SN75113 | - SN75158
Max. Respons Phase-A, -B 80kHz Phase-A, -B 120kHz Phase-A, -B 188kHz
rennen . Phase-C 70kHz Phase-C 117kHz Phase-C — 183kHz
quenes (4690r/min) « (7000r/minn | (11000r/min) —
“| Within 50% of Phase-A, -B
Accumulated Pitch Error Within 33% of Phase-A, -B signal frequency , a о В
| signal frequency
Pitch Error | | Within 12.5% of Phase-A, B signal frequency |
Input Shaft inerta Max. 1 X 10-*kgf - cm - s° | 58.7 X10-*kgf - em * s*
Input Shaft Torque Max. 1 kgf - em o
Input Shaft Allowable At standstill At runniug
Load (Thrust) Max. 10 kg Max. 4kg —
(Radial) Max. 20 kg Max. 6kg
Construction Dustproof, dripproof (With oil seal) Motor flange mounting
Ourput Connector |
(Main Unit Side) MS3102A20-29P MLR-12
(Cable Side) MS3106A20-29S MLP-12
(Manufacturer) JAPAN AVIATION ELECTRONICS INDUSTRY, LTD. (Nippon Pressure Terminal Sales Co. Ltd.)
0.33kg
Mass 1.5k
5 (Encoder disk)
Ambient Temperature | 0 to +60€
Humidity | 10 ог 95% RH (Non-condensing)
* Shows upper limit speed in practical use.
Т Type UTMSI-10AAB is an encoder housed in the motor.
38
51.4 Dimensions in mm (in inches)
(1) Encoder Type Orientation card (Type ETC62103X.3)
= 223(8.78) N
| |
> #1 |!
CODE NO. =
SG ©
O _
| SEN JON el SON
© | | | | $ | ©
1
ov |
Note: Connect SG terminals to SG controller screw terminals.
Fig. 5.5 Dimensions of Orientation Card
(2) Encoder for load axis (Type PC-1024ZLH-[_JK-68)
SURFACE TREATMENT
. BLAKPANN ,
|
BI BEH |
5 +
cm € le)
Sl uo +01 By 3819 602 |
o | 150.05) | |
N | ) |
28 aie Mow | Bla |
ce | | |
; La т { 195 |
20.79 | 2 0.
| =. |]
363 [> ui | =
ред но РЕ ка Ÿ 39 ==
Р3(0.12 wl 2 101 17
— |
(0562.2) +0.2(0.008) _
М5 3102 А20-29Р EY POSITION
O 6862.68)
Notes:1. Install the encoder with the greatest possible care, so as not to generate backiash, because it will lead to a positional
| deviation.
2. Besides this type of load axis encoder, the encoder without a flange and the encoder with a 160 L] flange are available.
Fig. 5.6 Dimensions of Encoder for Load Axis
39
51.5 Connections
ORIENTATION CARD
(ETC 62103X)
Binary
NOTES;
16 _
32 * | P indicates twisted pair wires.
64 — .
A ;
Tt \,- indicates shielded wire
256 T.Example of the connection when
sequence input common is O or
2 +24V common.(Refer to per.4.1)
1024 .
2048
ENCODER
> >
AB Im 1.1012 I IX It
CONTROL BOARD
(ETCB2201X)
Fig. 5.7 Interconnections
40
5.1.6 Control Signal Connectors Terminal Layout
14 15 16 17 18 19 20
_ _ _ _ _ _ DS
(OV)
8 9 10 11 12 13
P08 | P09 | P10 | P11 | P12 ¡COM
a 2 3 4 о 6 7 |
Ро1 | P02 | P03 P04 | PO5 | P06 Por |
L
PC Board Connector: MR-20RFAG
Cable Side Connector: MR-20LM (G)
(a) 5CN (Stop position reference input)
20 19 18 17 16 15 14
SS SPBI SPB «SPAL SPA lSPC| SPC
(FG)
13 12 11 10 9 8
onl р 79 1
*СРВ| СРВ |+ СРА — |СРА |+ СРС
7 6 о 4 3 2 1 |
cre +5V | +5V | +5V | OV OV OV
PC Board Connector: MR-20RMAG
Cable Side Connector: MR-20LF (G)
(b) ECN (Load axis encoder signal input)
—
14 15 16 17 | 18 19 20
SPCOI+SPCOISP AOlxSPAOSPBOI-SPBO (Ov)
5 9 10 11 12 13 I
1 2 3 4 О 6 7
- = |-
PC Board Connector: MR-20RFAG
Cable Side Connector: MKR-20LM (©)
(с) 7CN (Load axis encoder signal output)
Notes:1. The layout of pins is for the case where the connectors on the PC board are viewed from the fitted part.
2. In the diagram, the symbol 7] represents an input signal and [] an output signal.
3. Asterisk(*) shows the reverse signals.
Fig. 5.8 Connector Pin Location
41
Main unit side MS3102A20-28P Co
Cable side MS3108A20-293 (Angle plug)
MS31 0O6AP0-P9S (Straight plug)
MS3057-12A (Cable clamp)
Made by Japan Aviation Electronics. Industry, Ltd.
PA | PC PB - | FG | - - | +V | -
K L M N P R | Ss | т
0 V = | — | *PA * РС | * РВ | — —
* . Reverse signals
Fig. 59 Connector Pin Arrangement
5.1.7 Notes on Installing and Wiring of Encoder Table 5.3 Cable Specifications
(1) Limit the length of signal cable Connection | Soldered Type Caulking Type
between orientation card and encoder to Drawing Ne | DP 8409123 DE 8400093
on ran 29 ee ble th | bl Manufacturer a Fujikura Cable Co.
2 e have available the signal cable
d ‘hed in the specificati hown i General Double, BAVYSW KQVV-SB
escribed in the specification shown in. Specifications | аб хбр AWG26 x 10P
Table 5.3. You can purchase this optional
item in the standard lengths according to
your requirement. | ВЕ
(3) During installation, keep the power
cable and signal cable apart from each
other to prevent interferencs from electri-
For Soldered Type | For Caulking Type
cal noise. Internal
e В nterna A, [Red 1 [Blue
(4) During normal rotation of spindle, if - ‘Composition |——=— ; hte
the encoder rotates clockwise as viewed and BE | te
. . | Lead Color As | Green (yellow) 3 | White
from the spindle, interchange A- and B- Standard Be Red.
phases as shown in Fig. 5 10 | [White blu) myises | Witt
. U. . - Yellow- . Purple- .
5 | a ВЕ Be | White (yellow) ar? White vies
| | a : Blue-
ECN o | | Be White (green) 6 Brown wires
| Orange. Yellow-
SPA 16 | | ru PA В. White (orange) 7 Brown
| | Purple- Green-
„spa -LL1P N | aupa в. [Ме бер JE
18 Be ve (grey) 9 Red
; . ite y rown
* SPB « PB rown
YASKAWA | Standard length: 5m, 10m, 20m,
Standard Terminal ends are not provided
Fig. 5.10 Signal Lead Change Specifications | (with connectors)
42
5.1.8 Stop Position Reference Input Signal
The input signal circuit of the encoder orientation card is the same as the circuit explained in Par.
4.1, “SEQUENCE INPUT SIGNALS.”
Table 5.4 Input Signal
7
Connector Pin On
Signal Name Description
9 No. No. Level Р
Stop Position HCN 1 L * This is a stop position reference which is input from
Reference to (Close) outside with the load axis home position assumed as 0
12 (zero).
|
+ For position reference, either a 12-bit binary or 3-digit
BCD may be selected.
Bu: 0° TO 359.9
Abso- Binary Data 12-bit (000, to FFF,)
lute Code 1-bit — 6 to +6
| | BCD Ш | Data 3-digit (11-bit) (—799, to + 799)
a Binary Code Tbit — 180" to 179.9
Incre- ‘ Data 11-bit (— 000, to 7FF,)
mental | BCD Code 1-bit —6to +86
LL Data 3-digit (11-bit) (—799, to +799,)
* Sign bit is — (minus) if in the ON state and + (plus) if
in the OFF state.
* 0 can be obtained as a product of the data of 3-digit BCD
and C3-12 (Py), the BCD stop position instruction
resolution.
(6 < 3607)
« The relation between command signals and number of
pulses are shown in the following table.
Bit Pin | Binary BCD
| No. | Without Code | With Code | With Code
1 1 1
2 2 2 2 2
3 3 4 4 4
4 4 8 8 8
5 5 16 16 10
6 6 32 32 20
7 7 64 64 40
8 3 128 128 80
9 9 256 256 100
10 | 18 512 512 200
11 | 19 1024 1024 400
12 20 2048 Code Code
* In the case of binary-coded decimal notation, the content
of the signal varies with the polarity of the code.
If it is ON»
Sum of number of pulses of
the bits that are input.
001010010011
206+64 + 8 + 1=329
If it 1s OFF
Complement of the sum of the number
— (256-1-644-8-+1)= — 329
of pulses of the bits that are input.
« In the case of incremental, motions exceeding 180° are
not available in the binary notation.
However, in the case of BCD reference, depending on the
setting of BCD stop position reference C2-12 (Pvc)
reference exceeding 180° (upto +360" maximum) are
available.
43
5.2 HOME POSITION ORIENTATION CONTROL BY MAGNETIC SENSOR
A magnetizer is mounted on the load side rotor and a magnetic sensor is mounted on the fixed
section to detect a position and make positioning at a constant angle. As shown in Fig. 5.11, this
control requires positioning reference and orientation signals, a magneto, a magnetic sensor, and
magnetic sensor orientation card adding to speed reference, forward/ reverse run and other signals.
44
200V ~~
— VS-626VM3C
—o
—o
1CN
COM 34, COM
ANALOG
SPEED
REFERENCE
Fame
~~
THERMAL RELAY
TRIP CONTACT
DE
NG
RESISTOR
JUNIT (OPTION) AC SPINDLE MOTOR
Y
FWD +
REV . OV
GR В
SSC(SV) xP
M(INC}
ORT
+15V
OM
Notes :
SM) 1. PÍ: Twisted pair wires.
2. Asterisk (+) indicates reverse
rotation signal.
LM) CONNECTOR ON
CABLE SIDE
1CN : MRSOLF
2CN : MR20LF
8CN : MR@OLF
t Some motors are not provided
with fan, depending on their
capacity.
T +24VCOM
HO
; o IN CASE OF MAGNETIC
a SENSOR AMPLIFIER.
7 (FS-1378C)
POSITION
SIGNAL
(FOR CONTROL) —
+
MAGNETIC SENSOR
TYPE ORIENTATION
CARD (OPTION)
Fig. 5.11 Home Position Orientation Control by Magnetic Sensor
NOTE If the orientation function is to be used under the following conditions, adjust the machine
e and adjust parameters before starting.
(1) When the orientation function is to be used for the first time after 626VM3C was
connected to the load machine.
(2) After exchanging the motor, magnet, or magnetic sensor.
(3) After altering wiring between equipment.
(4) After exchanging the orientation card.
Home position stop operation with a magnetic sensor is explained in the following.
5.2.1 Stop at Home Position by Magnetic Sensor
If an orientation signal is input during rotation (or when the machine is stopped), the spindle speed
is immediately accelerated (or decelerated) to the set orientation speed.
After the set speed is reached and the magneto on the spindle passes by the stop position, the servo
loop uses a motor encoder signal to rotate the spindle until the centers of the magneto and the
magnetic sensor match, and uses the magnetic sensor signal to stop the spindle at the home position.
At the same time, an orientation completion signal (ORE) is output.
After orientation is completed, the servo loop operates until the orientation signal is turned OFF.
Thus, the spindle is not easily moved from the home position even when external force is applied in
the direction of rotation.
Fig. 5.12 shows the time chart of positioning.
OPERATION SIGNAL
:FWO OR REV
ORIENTATION SIGNAL
ORT
JRIENTATION COMPLETED
:ORE- SIGNAL
SPEED [r-min]
—— COMMAND
—'— ACTUAL
POSITION SIGNAL “OR CONTROL
‚MAGNETIC SENSOR OUTPUT
(a) Orientation, starting during operation
OPERATION SIGNAL
(FWD OR REV!
| | CLOSE Г
ORIENTATION SIGNAL
(ORT!
CLOSE |
ORIENTATION
COMPLETION (CRE; SIGNAL
1
|
|
|
SPEED P= OT
(7 CQYMANO | x !
CTUAL 0 | ul o
POSITION SIGNAL FOR CONTROL | IN
MAGNETIC SENSOR OUTPUT y V
(b) Orientation, starting from stop
Note: If slip dose not occur in transmission mechanism and parameters are set up properly, the servo loop stops the shaft smoothly.
Fig. 5.12 Positioning Operation
45
5.2.2 Magnetic Sensor Orientation Specifications
Table 5.5 Standard Specifications |
Item
Description |
Position Detecting Method
Position displacement is detected from flux changes using a magneto and a
magnetic sensor.
Stop Position
The rotor stops at a position where the centers of the magneto and the magnetic
sensor head face each other. Adjustment is available within + 2° by the adjust-
ment resistor.
Stop Position Repetition Error*
+0.2°C or less
Resisting Torque
Continuous rated torque ~ +0.1° displacement!
Orientation Card
Code No.: ETC62102X.3
Magneto
Type: MG-1378BS, MG-1444S (MG1378BS is the standard.)
Magnetic Sensor
Type: FS-1378C, FS-200A (FS-1378C is the standard.) —
* When the magneto is mounted on the circumference of a spindle of 120mm diameter. Mechanical error and
interference by external magnetic field is not considered.
t Continuous rated torque may not be obtained depending on the gain setting.
Table 5.6 Magnetic Sensor
Item
Description
Type FS-1378C
Type FS-200A
Power Voltage
15 VDC + 5%
12 VDC + 10%
Current Consumption
100mA or less
SOMA or less
N . Output Output
Postion Signal (for control) +4V or greater +8V or greater
on +0.2V or lower | +0.2V or lower |
set | 15k0 Dispiace-| 15k0 Displace-
Output impedance 0 ment | 9 ment
Position Signal 30° or greater” output
ый |
tor oniering) (+2.4V or lower) Displace-
9 +0.5V or lower { | | ment
Offset -
V
NJ 0
Operating Temperature
Output Terminals
—10° to +50C-
Round connector (manufactured by
Tajimi Radio Electric Appliances)
: Position signa! + )
SG
+15V
Position signal — Y
Range signal —
Range signal +
Oe
A
6mm dia. 4-core cabtyre cable, 5m long
Wiring»
Red: +12V
Black: SG
Green: Output +
White: Output —
Manufacturer
Makome Laboratory
When the magneto is mounted < on the circumference of a spindle of 120mm diameter.
+ The range signals output from terminals E and F can be used for monitoring.
46
Table 5.7 Magneto Specifications
Description
Item
Type MG-1378BS Type MG-1444S
Detection Range mm (inches) +15 +7
Allowable Speed (r min.)
(Mounted on the circumference of 6700 10,000
200mm diameter.)
Mass (g) 33 15
Manufacturer Makome Laboratory
5.2.3 Dimensions in mm (in inches)
(1) Magnetic Sensor System Orientation Card (Type ETC 62102X.3)
223(8.77)
| a
+ À
CODE NO. =
O
BON |
o $ | ©
_%
Fig. 5.13 Dimensions of Orientation Card in mm (inches)
(2) Magneto
(a) Type MG-1378BS (b) Type MG-1444S
IDENTIFICATIONS: M£ dé STAINLESS STEE! COVER 0 5(0 09)
16256 TMTGHOLES © Hoh STEEL. LOVE TMORNESS 7 9-64 UL MTO HOLES
/ [ В ЕщЕ [7
SL и © H SPC?01 AT TA) =
N-- —-- si ig
_ i | М и VE AMY
| '
STAINLESS STEEL COVER 0.5(0 0)
| MG - 1378- BS 1
| MACOME CORP
| + «= THICKNESS
ta В a в
| ' | Де
| | Vs =
| | TN 02
' f AN |
|| Cada
o LAMERCATE
+ La à
a - BASEPLATE
|| 125
a] ——
"on ик
i
Fig. 5.14 Dimensions of Magneto in mm (inches)
47
(3)
(a)
Magnetic Sensor
Type FS-1378C
MAGNETIC SENSOR HEAD FSH-13780
1 (0.039)
29 _16
(0.866) (0.63)
2- М4
(0.18) Y 2 |) 6-CORE LCKV
45 2.7 CABLES0mm
He
N
MTG HOLES DRILLING PLAN
(b)
48
(0.16)
Type FS-200A
$12 0.4
COSt
MAGNETO MOTION DIRECTION
7)
WATER PROOF GLAND SKINTOP STP-7
uu
D
a
|
|
11504
20 510.88
DETECTOR FSD-1376C
J $5.4 (0.21)
И мтс =
+
E
10]
RECEPTACLE
TRCH6-21A 19-7M
05)
{0.088 0
fu
ПО
pc
Ly
3750.8) | 375 o (0.39) | PLUG TRCNGE-12A 10-7F -
0.39)
95 370
LA IAMTG HOLE
MACOME
MAGNETIC FLUX
SENSOR FS 200 A
} 4-СОВЕ САВТУРЕ
‹ / CABLE #6.1=5m
§
42 (1.69)
50 (1,97)
A
— -
Mo 5230)
N 5-40.20. IMTG HOLE
Fig. 5.15 Dimensions of Magnetic Sensor in mm (inches)
MEME
5.2.4 Connection
(1) Magnetic Sensor Signal
ATION - |
ae Magnetic | т
POSITION | Y sensor Type FSH-13180
SIGNALS | © amplifier |
+15V o Sensor
OV head
SS(0V)
MB-20LF Metal Connector {attachment]
(manufactured by Honda Communication industry:
Note: Contact your YASKAWA representative on the other combinations of gear ratio.
* Use 0.3mm twisted pair 3P vinyl cable (copper-braided and shielded). Wiring extension must be 20 meters or
shorter.
T ТР indicates twisted pair wires.
(a) Type FS-1378C
ORIENTATION — j8ecn
CARD 12 GREEN
- POSITION | O — zl |
SIGNALS | © — У
co с
MAGNETIC SENSOR
Type FS-0A
J
av
vo
HH TYPE MR-20-LF
(manufactered by Honda Communication Industry)
(b) Type FS-200A
Fig. 5.16 Connection of Magnetic Sensor
49
5.2.5 Control Signal Connector Terminal Layout
| 20 | 19 | 18 | 17 16 | 15 | 14
EEE | - |
13 | 12 | 11 10 9 | 8
SIG — SIG + — | +15V | +12V
7 6 5 4 3 2 1
SS — — —
O) ОУ | оу [ov
PBC Side : MR-20RMAG
Cable Side : MR-20LF (G)
or MR-20LWF (G)
Notes: 1. The layout of pins is for the case where the con-
nectors on the circuit board are viewed from the
mating connector.
2.In the diagram, the symbol I'] represents an input
signal and [4 an output signal.
(a) 8CN (Orientation Card Side)
Cable Side
Magnetic Sensor Side : TRC116-21A10-7M
- TRC116-12A10-7F
Notes: 1. The layout of pins is for the case where the con-
nectors on the sensor are viewed from the mating
Sensor.
Ltd.
connector.
2. The connector to the cable belongs to the magnetic
Fig. 5.17 Connection Pin Location
5.26 Installing Magneto and Magnetic Sensor
The magneto is installed on the load axis, and the magnetic sensor is installed on a stationary part.
Their relative position must be such that when the load axis is in the intended stop position, the
magneto and the magnetic sensor are aligned center-to-center.
Fig. 5.18 shows the installing method, and Table 5.8 gives the required mounting accuracy.
MOUNTING PLATE
50
(Bmm OR BELOW) [
MAGNETO
(MG-1378BS)
‘MAGNETO
(MG-12445)
7
Fig. 5.18
„
о
(7 Y
—
—
lL
=
(a)
; \
н- А 5, то
<
(b)
Installing Magneto and Magnetic Sensor (1)
MAGNETIC SENSOR HEAD
(F5H-13780)
L
A
À S2
~~
-
A,
—l
=
MG-1378BS/ FS-1378C
MAGNETIC SENSOR
(FS-200A)
MOUNTING
PLATE
—
—
=~
MG-14445 / FS-200A
3. Connectors are made by Tajimi Radio Electric Co.
(b) Magnetic Sensor Side (FS-1378C)
Table 5.8 Installing Magneto and Magnetic Sensor
Code Dimensions MG-1378BS /FSH-1378C MG-1444S /FS-200A
, . 60 to 70mm 60 to 70mm
R Rad f 1 Бег* |
adius of spindle member (2.36 to 2.76 inches) (2.36 to 2.76 inches)
| Gap (center of magneto to magnetic ómm (0.24 inches) 5mm (0.197 inches)
sensor)! [6 to 8mm (0.24 to 0.31 inches) | [3 to 7mm (0.12 to 0.28 inches)
AL Gap (end of magneto to magnetic I to 2mm 1 to 2mm
sensor)! (0.04 to 0.08 inches) (0.04 to 0.08 inches)
AST AS? Center position error of magneto and 0.5mm max 0.5mm max
magnetic sensor} (0.02 inches) (0.02 inches)
Angul ispl f
5 ngular displacement error from 0.2" max 02° тах
datum plane?
* In determining the diameter of the spindle member for installing the magneto take permissible maximum
centrifugal force of the magneto into consideration.
The L value is a recommended value. Adjust the gap so as to satisfy the AL requirement.
In aligning magneto to the mechanical center line of the system such as the spindle nose key of a machining
center, observe the specified mounting accuracy standards for the center position and angular position of the
magneto.
++ о—+
5.2.7 Notes on Mounting
(1) The magnet's flux provides feedback for the position loop. Mount the magneto on the spindle
(such as the spindle of a milling machine).
— YX —
If there is any transmission such as belt or gear between the axis with magneto and the
spindle, stop position of the spindle may vary because of belt slipage or gear backlash.
(2) The magneto has to be mounted on non-magnetic materials. Avoid adhesion of iron filings on
the magneto.
— 3 —
If there is any magnetic substance near the magneto, the magnetic field is distorted and
position detection impaired, and the rotor may fail to stop at the proper position.
(3) Be careful not to damage the magneto and the magnetic sensor when mounting.
— Yo —
The magneto rotates at high speeds. Slight damage may lead to an unpredictable malfunc-
tion. The magnetic sensor is precision equipment. If force is applied to cause of internal
distortion, detection precision may be deteriorated.
(4) Remove magnetic field generating equipment such as solenoids and magnets from around the
magneto and the magnetic sensor.
— Xx —
If there is any magnetic field generating equipment near the magneto, the magnetic field
may be distorted and proper position detection cannot be executed, and the rotor may fail
to stop at the proper position.
51
(5) Avoid oil or water splashes on the magnetic sensor amplifier and the connecting cables. If the
sensor head is frequently exposed to oil or water splashes, use sealing materials to avoid oil and
water entry into the bushing as shown in Fig. 5.19. a
—% — If water or used oil enters into the magnetic sensor or connecting cables, insulation
| deteriorates over time and the detection signals may be distorted, causing unacceptable
control variations. В |
| 7 MAGNETIC SENSOR
A SILICONE ADHESIVE
Fig. 5.19: Prevention of Liquid Entry into the Magnetic Sensor Bushing a
(6) Cable length between the magnetic sensor amplifier and the orientation card must be 20 meters
or shorter.
— *— Only a slight difference in voltage causes error detection signals of the magnetic sensor.
— Longer cables undergo more interferences by e error - voltage and noise voltage, leading to
position errors. | | | 0 |
(7) The magneto and the magnetic sensor must be mounted with the poles in proper position as
shown in Fig: 5.20: If the > polarity i is reversed, however, control is possible by reversing the signals
in the orientation card. |
LOAD AXIS LOAD AXIS
HEAD PIN
GROCIVE В
Ко J IDENTIFICATION Е
HEADPN |
GROOVE...
(a) Type MG-1378BS/FS-1378C (b) Type MG-1444S/FS-200
Fig. 5.20 Magneto and Magnetic Sensor Mounting Direction
52
6. PREPARATION BEFORE STARTING
6.1 CHECK BEFORE TURNING ON POWER
After installation and wiring, check the following before turning ON power:
(1) Verify that capacity and type of the motor and the inverter match specifications of the load
machine.
- Refer to the nameplates of the motor and the inverter.
(2) Check wiring between equipment with the connection diagram.
Do not activate the buzzer for checking when the control circuit is connected.
(3) Check for loose terminals and connectors.
* Main circuit screw terminals of the motor and the inverter.
« Fastening bolts at the motor and the inverter.
(4) Verify that the motor and the inverter are grounded sensor.
(5) Verify that signal line connectors are securely inserted in the specified places.
* Signal line connectors of the inverter, motor encoder, and magnetic sensor.
(6) Check that wire pieces and metal chips are not in the conducting parts.
(7) Verify that the motor and the load machine are ready to operate.
* Check for obstacles around the rotor.
* Verify that emergency stop and collision prevention function normally.
6.2 CHECKING POWER VOLTAGE
Turn OFF the molded-case circuit-breaker (MCCB) on the supply side of the inverter to verify the
power input voltage supplied to the primary side of the MCCB. Use a voltmeter or rotation meter
(volt-ammeter) to measure the input voltage. Table 6.1 shows allowable ranges of input voltage.
Table 6.1 Allowable Ranges of Power Voltage
Nominal Voltage/ Allowable Voltage
Inverter ss
Frequency Variation Range
200V/50, 60 Hz
170 to 242 V
200V Series 220V/50, 60 Hz
230V/60 Hz 170 to 253 V
Note: VS-626VM3C is operational within the voltage variation range specified
in the above table; however, the 200V series shows optimum characteris-
tics at 200 to 240V. Thus, if supply voltage is lower than the basic 200V,
specified output may not be obtained during high-speed operation. If
input voltage can be varied by a changer, set the input voltage within the
above ranges for optimum operation.
53
7. OPERATION OF DIGITAL OPERATOR
NOTE This section explains the functions, operation method, and control constants of the digital
e operator. Become thoroughly familiar with the different procedures before turning power
ON.
7.1 FUNCTIONS OF THE DIGITAL OPERATOR
VS-626 VM3C supports the multi-functional display operator that enables the following:
(1) Display of Control Signal Status
Status of control signals of individual points is displayed by monitoring the status of operation. For
the display items, refer to Table 7.3.
(2) Display and Setup of Control Constants
Control constants must be set up for normal operation in compliance with the specifications. Tables
7.4 to 7.6 list the contro! constants.
(3) Display of Protective functions
If an error occurs during operations, protective functions are displayed. Table 7.7 lists the protec-
tive functions. Nothing is displayed when operation is normal.
(4) Operation by the Digital Operator
By setting the control constant (C1-37), digital operator can be operated without sequence input
signals or speed reference.
This function is valid only when test-running inverter and motor. 7
55
Fig 7.1 shows the display unit and operation keys of the digital operator (JVOP-100).
Mode Display LED (Note)
Digital Operator Running indication |
Lights when disital operator is operating.
Rotation Direction Indication
FWD: Lights when forward rotation instruction is input.
REV: Lights when reverse rotation instruction is input.
Remote Mode indication
Appears when external terminal input mode is selected.
SEQ: Lights when the motor rotates in the reverse direction.
> REF: ---
4 я O
REMOTE | -
DRIVE ie REV SEQ REF * Display
O o о
_ — » Displays monitored values of speed and toraue instructions and function set values. | |
Cn
Ll LILIA LI Display Selection Key
DIGITAL | isplay items. Per. | 2 rovides the order of appearance of the dis la items. a
OPERATOR — Depress this key to select display items. Par, 7.0.0 р of appeara play |
JVOP-100
Read/Write Key
cc] | DSPL Le Depress this key to display set values of constants.
DRIVE J" Depress this key again to write set values.
JOG | Alem | Numeral Change Key
E NTER Use these keys to change values such as set values and constant signals. |
A A: Increment key
Te | V | v:Decrement key
RESET | |
o o Digit Selection Key
' RUN (о | — - —
Use this key to select a position in a set value to be changed. The
N / >] | selected position blinks. (Use this key to reset after an error occurs.)
—— Run Command Key
These are operation command keys when the drive is operated by the
digital operator. These keys are effective only in drive mode.
| STOP: Stop Instruction. When STOP is depressed, the red LED on the left part of the key lights. - |
| RUN: Operation instruction. When RUN" is denressed the red LED on the left part of the key lights. |
| FWD/REV: Forward and reverse rotation switch, When this key is depressed, direction of rotation is changed. |
| JOG: Jogging operation. Vhen this key is held down, Jogeing operation is available. |
PAGM/DRIVE:When emergency stop key | В depressed, the operation speed is reduced and stopped,
then current is turned O
* Digital display LEDs and status display LEDs are used.
Fig. 7.1 Display Unit and Operation Keys of the Digital Operator (JVOP-100)
56
MOTOR SPEED ай
[FWD] i | o
OR | | | |
$
SPEED INSTAUCTION | | |
| | | |
TT | X PN |
eS 3 | +
TES | O © © Les o:
a
COS: ON © Bik @ : OFF
ap
Note: RUN and STOP LEDs light, blink, and go OFF depending on the status of operation.
Fig. 7.2 Digital Operator Display
7.2 KEY OPERATIONS AND DISPLAY
Operations of the keys and indications of the digital operator are explained below. Table 7.1
corresponds displayed characters to alphanumeric characters.
Table 7.1 Indication of Numbers and
Letters by 7-segment LED
No. Letters
0 Г А hi N —
a ; | oy : A i -
Ш 2 qe Pad С or p =
s 30 4 a | -
4 E F R —
5 E с с _
6 = G - T -
- 7 7 H | - U _
. ) — ; —
— — v ; -
a M 111 | -
Note: “—” 1s not displayed.
57
7.21 Indication at Power-ON
When power is turned ON, all the LEDs of the digital
operator light for LEDs selfcheck.
+
Then the PROM version is displayed. The upper five
digits of the PROM number are displayed. The
example is for PROM number “NSC 620020.”
l
Finally, operation status data V1-01 (motor speed) is
displayed. Since the motor is not rotating immedi-
ately after the power is turned ON, 0 is displayed.
If a protective functios is activated because of a
failure, the failure indication number lights.
The example indicates a break in a wire in the motor
thermistor, which appears when the motor encoder
signal connector (2CN) is disconnected. |
7.2.2 Switching Display Functions
Depress the |DSPL| key on the digital operator to
change the mode of display. |
|
Depressing the key once changes the display
from motor speed data to a data number.
The first letter V indicates that operation status
display mode has been selected.
\
Depress the key again. Operation: status
display mode is changed to control constant display
mode. In this mode, control constants can be set and
changed.
l
Depress the key again. Usually, if no protec-
tive function is activated, operation status display
mode is restored. If bits 0 or 1 of control constant
C1-37 are set ON, instruction display mode of opera-
tion by the digital operator is entered.
|
58
ES ES or E 0
bl | LA, LA, | LA. | Le,
E = nm re hay
Ly Ld 14 a.
m
Lt
mt - sr 0
J „ай il L
N | / |
NY, (| _ |r 6
ОА { м 0
7 1 N |
NL Z |
né / - E Г
a { Jl {
—_7 T1
NLZ
oo e | rw 6
u { 11 {
7
When the | DSPL | key is depressed in digital operator Г MAL
operation mode, operation status display mode is H / | ! - | , ! !
restored provided that no protective function has o
been activated.
If a protective function is activated because of a | о | ШИ | п г = |
AR a |
failure, the failure indication number lights.
The example indicates a break in a wire in the motor br
thermistor.
7.2.3 Operation Status Display Mode
To check data in operation status display mode, do
as follows.
To change a data number, depress > key once.
The blinking cursor moves to the displayed data 9 ‘ ‘ M E
number. Depress key again to return the blink- | К 0 - LI | (
ing cursor to its initial position. ld > =
|
Search for the data number to be checked (in this
example, V1-09) using A, or key. o NL ZN а
Ve ‚оо
! mE 3 -
Depress the key to change data number LS и ГМ ТУ
display to data contents display. a
The display example is the status when RDY | and
ЕМС! are closed. - | - ow | Ш
|
To return to data number display from data contents
display, depress the | DSPL | key.
For explanations of operation status display, see
Table 7.3.
59
7.2.4 Control Constant Display Mode
To check data or set or change a constant in control
constant display mode, do as follows.
To change a data number, depress >| key once.
The blinking cursor moves to the displayed data |
number. Depress key again to return the blink- |
ing cursor to its initial position.
1
Search for the data number to be checked (in this .
example, C1-10) using or key.
J
Depress the ¡DATA! key to change data number
display to data contents display. — |
1
Select the position in the data to be changed and
depress key to move the blinking cursor.
y
Use or [V] key to change the data. (In this
case, from “1” 10 “5”)
+
Hold down the DATA key for several seconds.
The entire data blinks for several seconds, then stops
blinking. The data has been changed.
(The entire data continuously blinks if the data is out
of the setting range. If this occurs, depress the
DSPL | key to change from data contents display to
data number display, then restart setting from the
beginning.)
|
To return to data contents display from data number
display, depress the |DSPL key.
For explanations of control constants, see Tables 7.4
to 7.6. |
Note: C1-01 to 24, C2-01 to 08, C3-01 to 08 can be changed during
operation or stop. C1-25 to 40, C2-09 to 24, C3-09 to 24 can be
changed only during stop. |
60
и Хо
oO 1 | Al |
7 | X<7
N ими
mr” / - / 77
LL q El TT
| BR — + на
М
| NM 77 /
Ld bl hal y q
EN 4 a
Mm 77 m (
LY | Lt | LS, a
- —
Li | 1,
TA
UL ML ML ML
I NO NN
Ой 14 Le, 5 |
TTY 77% 718 77
АЕ
r #7 rt E
Le Le Le al
FIN
7.2.5 Digital Operator Operation Mode 7 Ni ZN LZ
To operate by the digital operator, do as follows. I” / | - + 7 |
A РО |
Select C1-37 in control constant display mode. o и Пхи
| 120
Depress the DATA! key to change from data number | y? 4 ’ 1“
display to data contents display. |
l
Select the position in the data to be changed and
depress key to move the blinking cursor.
Set the lower two bits ON.
J
Use | /N or key to change the data. (In this
case, the lower two bits are changed from “11” to
«lls
11) м м | py
Operation step ( | || A ia > | HAT |
J LL AN
Hold down the DATA key for several seconds. a. a ) H Н
The entire data blinks for several seconds, then stops
АТА
blinking. The data has been changed.
|
_ Ми Хи,
Depress the | DSPL| key to return to data number | m | / М 7 |
display from data contents display. Digital operator | L tol - | | |
operation mode is entered. STN STN
| | И Хи
ue, - |
Then set up for speed instructions. F f > / A ” |
D “it " - - - |
epress the | DSPL| key to select “instruction con- TC
stant” for digital operator operation. Use cursor
keys | >}, [A], or to set a speed instruction for d1-02. Speed instruction is expressed as a
percent of the rated speed settng (C1-26). If 25% is set when rated speed is 6000 r/min., the
instruction translates into 1500r/min.
l
For operation, stop, and forward-reverse run, use the ER | Srop , and| E keys respectively
on the digital operator. Display on the digital operator changes each time the | DSPL! key is
depressed from constants (C1-01, and so on) to variables (V1-01, . . .) to instructions (d1-01, . . .).
Operation control signals and speed instructions displayed among instruction display are handled
similar to constant setup. Table 7.2 lists the parameters.
61
To return from digital operator operation mode to normal operation by external instructions,
«llr
change the lower two bits of C1- 37 from to
Table 7.2 Parameters for Digital Operator Operations
“a 1 -
Constant
No. Description Unit | Initial Value in Digital Operator Operetion
d1-01 Sequence Binary | | | | | | | | | |
input |
d1-02 Speed reference % Percentage display to rated speed setting (C1-26)
7.2.6 Protective Function Operation Display Mode
If a protective function is activated because of a
failure, the protective function indication number is
displayed. After an error is reset, up to four protec--
tive operations are recorded to view the order of a
series of failures.
First protective function operation is indicated with
an F followed by a hyphen. |
|
Depress A key to display the protect display
number which activated the next protective func-
tion. | |
l
If key is depressed when the last failure display
number is displayed, the first failure display number
is displayed again. Depress key to display
failure display numbers in reverse order of occur-
rence.
ur .
J
ro a: Le a
IX
A
L D | 7 A
r or Do at
To reset a failure by the digital operator after removing the cause, depress the RESET key
@ in protective function operation display mode. In other modes, the RESET key cannot
reset the failure. Before resetting, turn OFF |
62
and
7.3 OPERATION STATUS DISPLAY FUNCTION
Different groups of operation status indications are displayed for different modes of operation. V1
indications are for inverter operation. V2 indications are for optional encoder orientation control.
V3 indications are for magnetic sensor orientation control, which is also optional.
(Data marked with * are operation status display data for preset. )
Table 7.3 (a)
Operation Status Display Functions (For Inverter Operation)
No. Signal Name Description Unit
V1—01 Motor Speed Speed detected by the motor encoder r/min
VI—02 Speed Reference ee oy! reference. Ratio of analog instruction to the %
V1—03 Load Axis Speed Product of motor speed and gear transmission ratio r/min
V1—04 Torque Reference Percentage to 15-minute rating (100%) %
Vi-05 |-=----
V1—06 verter Output Detected inverter output current converted to amperes. A
urrent Precision is +3%
V1—07 Output Frequency Inverter current output frequency Hz
*V1—08 Internal Status Operation status signal (at logical level)
V1—09 Input Signal Status | Sequence input signal ON/OFF status?
V1—10 Output Signal Status Sequence output signal ON/OFF status ?
V1—11 Inverter Capacity Inverter unit 15-minute rated capacity kW
ие az a _
Vi-13 | — — — — —
“vi—14 | DC Bus Voltage | Main circuit capacitor voltage. Precision is +3% у
\/1—15 pnalog Speed Converted value of analog Instruction to be used for speed
Converted Value instruction offset adjustment. Valid only during operation.
me 1 UR
*V1—17 Phese-U current Detected phase-U current converted from analog to digital
*V1—18 Phase-W current Detected phase-W current converted from analog to digital
V1—19 PROM No. Oe 0020 (NSE 620020) No. (lower 5 digits)
Table 7.3 (b) List of Operation Status Display Functions (For Encoder Orientation Control)
No. Signal Name Description Unit
V2—01 I/O Signal Status Orientation 1/0 signal status *
Vv2-02 | — — — — —
V2-—03 Position Monitor petual Position expressed by dividing one rotation by 4096 in Pulses
V2—04 pormanded Ctop 1096 Tn reference toa set origin. hy dividing one rotation Pulses
V2—05 Position Deviation ome en commanded stop position and current Pulses
V2—06 Positioning Time pletina of orientation instruction to output of com- x 2ms
63
Table 7.3 (c) List of Operation Status Display Functions
(For Magnetic Sensor Orientation Control)
No. - Signal Name Description Unit
V3-—01 I/O Signal Status Orientation 1/O signal status !
_ Magnetic Sensor | —
v3—02 Signal Level
V3—03 Position Monitor Actual position expressed in reference to a set origin =~ Pulses
_ Commanded Stop Commanded stop position expressed in reference to то
V3-04 | Position a set origin | | Pulses
V3—05 Position Deviation Disition la Dame commanded stop position and current | Pulses
_ bee y Time from input of orientation instruction to output of com- x
v3—06 Positioning Time | pletion signal | | e. 2ms
Table 7.3 (d) List of Operation Status Display Functions (Others)
No. Signal Name Description Unit
V7—01 Motor Temperature | Detected temperature for motor overheat protection Cc
*V7—02 Slip Frequency Slip frequency to be applied to the motor | Hz
64
Î Status of I/O signals are shown in the following lamps of input signals in the ON status light.
<V1-09> Sequence Input Signal Status Display
hd hd VID E DD
EMG RDY FWD REV LGR
ED NZ ED E «E
SSC TLIM ORT RST
ро х AER. AEE. ARR. AR.
<V1-10> Sequence Output Signal Status Display
ED VD ED ED bh A
SDET AGR ZSPD TLE
ED «> «ED «a «ED
ORG ORE FLT
AR. ABR. A. FN AREER.
<V2-01> 1/0 Signal Status for Encoder Orientation Control Display
I Нин E E IED
HGR LGR ORESTS
ED CD «ED ED 4A
TUNE
AR. AR. A. AER. ANNE.
<V3-01> 1/0 Signal Status for Magnetic Sensor Orientation Control Display
VD VD VD ЧН
HGR LGR ORESTS
MED JAD «ED 4 ED
TUNE
— —— ANE. FN AE.
65
7.4 CONTROL CONSTANTS
Different groups of control constants are displayed for different modes of operation. User constants
(C1) are for inverter operation. C2 constants are for optional encoder orientation control. C3
constants are for magnetic sensor orientation control, which is also optional.
Nore The following constants cannot be changed during running :
Change the constants after stopping the motor.
Table 7.4 User Constant List —
Constant Constant Name Description | Unit | Upper Limit Limit
No. Lower Limit
Speed Control Speed control proportional gain when high-speed gear is selected | — 255
C1—01 | Proportional (LGR is OFF). % /Н;
Gain (H) К Raising Kyun increases rigidity. | ВЕ
VEN Torque Instruction P =Kyuy X Speed Tolerance 1
Speed Control Speed control integral time constant when high- speed gear is. 1000
C1—02 Integral Time selected (LGR is OFF). | ms |
Constant Reducing 7 vun quickens response.
(H) 7 vun Torque Instruction I =Speed tolerance X T ime / т Vin | о
Speed Control Speed control proportional gain when low- speed gear is selected 255
_ Proportional (LGR is ON). | | | o/ | |
C1-03 Gain (L) Raising Ky; increases rigidity. 7 7 Hz
Kvin Torque Instruction P = Ky x X Speed Tolerance 1
Speed Control Speed control integral time constant when low-speed gear is 1000
C1—04 Integral Time selected (LGR is ON). ms
Constant Reducing 7 vin quickens response. | a
(L) 7 vr | Torque Instruction I = Speed Tolerance X Time /7 yin 5
Speed Control Speed control proportional gain when high-speed gear is selected | — 255
C1—05 | Proportional (LGR is OFF) in servo mode (SV is ON). %/7/HZ-— —— v —
Gain (H) Kyys Torque Instruction Р = Kvus X X Speed Tolerance 1
Speed Control Speed control integral time constant when high-speed gear is 1000
C1—086 Integral Time selected (MGR and LGR are OFF) or when high-speed winding is | = _
Constant selected (CHW is OFF) in servo mode (SSC is ON). — Tas
(H) 7 vns Torque Instruction I = Speed Tolerance X Time,” 7 yus 5
росой Control Speed control proportional gain when low-speed gear is selected 255
C1—07 Gain (L) (LGR is ON) in servo mode (SV is ON). На | — Äz
Torque Instruction P = Kvis X Speed Tolerance
Kyis 1
Speed Control Speed control integral time constant when low-speed gear is 1000
C1—08 Integral Time selected (LGR is ON) in serbo mode (SV is ON).
Constant (L) Torque Instruction Iy = Speed Tolerance X ms
7 vLS Time, = VLS 5
Torque Instruc- Time constant of low-pass filter of torque instructions to be used 5.0
C1—09 | tion Filter Time in measures against gear c attering noise. ms
Increasing the time constant may cause run-away depending on
Constant 7 1 conditions. 0.0
Setting of required time for soft starter. Variations in speed
Soft Start Time | instructions are suppressed according to the speed change ratio of 180.0
C1—10 the set time. Starting time from at rest state is obtained as S РН
Tsrs follows: 0.1
Starting Time — Tsrs X Speed Instruction (%) /100
66
Table 7.4 User Constant List (Cont'd)
Upper Limit
Constant Constant Name Description Unit e Сл
No. Lower Limit
ope Jnstruction Offset adjustment value for analog speed instructions. 80
C1—11 ment V a ue Set the values of V1-15 when operating at speed instruction 0 for
SCors CII — 80
Constant for fine control of motor speed when analog speed
Motor Speed 1.1000
C1—12 | Adiust + instructions are used. Speed is increased in proportion to Sap. -
Justmen This parameter is invalid when digital speed instructions are
Value SADJ used. 0.9000
“1-13, ——— SA
С1-14 | ————= |=
*C1=15| = 11-000
Speedometer Constant for fine control of speedometer signal to match the 150
C1—16 Signal actual and indicated speeds. Increasing SM,,; makes the speed-
Adjustment ometer indicator travel farther. Standard value is 10V output at 0.90
Value SM an, the maximum speed.
Load Ratio Constant for fine contro! to match the commanded torque and 1.50
C1-17 Meter Signal indication on the load ratio meter. Increasing LMa», makes the -
Adjustment meter indicator travel farther.
Value ТМ ль, Standared value is 10V output at 120% of the 15-minute rating. 0.90
Load Ratio Setting of full-scale value of the load ratio meter expressed 350
C1—18 | Meter Full-scale | as a percent of continuous rating. Note that the full-scale %
Г/М вв value depends on specifications of the load machine. 120
Zero-speed . ; . 60
C1—19 | Detection Level Detection level of zero-speed signal (ZSPD) r/min
75 Standard setting is 30 r/min. 9
LVL
_ Speed-match : Detection width of speed-match signal at rated speed о 50
С1—20 | Signal Detection Standard setting is 15% 1
Width AGR sp В 5 10/0. 10
C1—21 speed Detection Speed detection signal (SDET) activation level % 100
SD Expressed as a percent of the motor rated speed. 0
LVL
Speed Detection | Hysteresis width adjustment level of speed signal detection. 10.00
С1—22 Signal Detection | During acceleratein, SDiv.. + SDruvs is detected. %
Signal! Width During deceleration, SDiv..— SDuys is detected. ©
SDurs Expressed as a percent of the motor rated speed. 0.00
C1-23 | —————
External Cont- a , 120
С1—24 rol Torque Torque limit using external torque limiting signals (TLIM). 9
Limiting Level Expressed as a percent of the 15-minute rated torque. 5
EXT
Select applicable motor from the motor codes stored in FF
_ Motor Code inverter memory.
C1—25 Selection MTR Expressed in 2-digit hexadecimals 0 to F. 01
Available after selecting the code and turning power ON again.
Rated speed set according to load machine specifications. Max.
Rated Speed ; Speed
C1—26 ; Must not be greater than the motor maximum speed. When | r/min |2P€€C
Setting S100 commanded speed 1s 100%, this speed 1s applied 100
Transmission Transmission ratio determined by mechanical specifications. 2.5000
C1—27 Ratio 1 R This parameter is valid when H gear (LGR is OFF) is selected. —
"GR Transmission Ratio = Spindle speed + Motor Speed 0.0500
C1-28 | —————
67
Table 7.4 User Constant List (Cont'd)
Constant
Constant N Description Unit Upper Limit -
No. | stant Name ptio — | Lower Limit
Transmission Transmission ratio determined by mechanical specifications. 2.5000
Ct—29 | Ratio 3 (L) This parameter is valid when L gear (LGR is ON) is selected. —
Rıcr 0 Transmission Ratio = Load Shaft Speed — Motor Speed 0.0500
Motor Flux | Е ВО 1100
C1—30 | Lower Limit Level limit motor flux reduction control lower. %
Level $ w. | | 15
Servo Mode | 100 ВЕ
C1—31 | Flux Level Motor flux level in servo mode (SV in ON). %
| ¢ svu 30
. 5.00
С1—32 2e Mode ha Base speed ratio in servo mode (SV in ON). |
R p Base Speed (Servo) = Res. X Base Speed (Motor)
BSH 1.00
C1-33 | ————
Cl—34| —————
Ci—35 Zero-speed | Time for generating braking force after deceleration and zero- s 100
Так ’ speed is reached to stop. | | | | 0
C1—36
| Select Signal 1
SEL1*
Setting signal for multi-functional selection. For further descrip-
tion, see Par.4.1, “SEQUENCE INPUT SIGNALS. ‚о
* Bits 1 and 0: 1CN, pin 41
00 : TLIM 01:——
10 : INC 11:——
» Bit3: 1CN, AE 40 | |
: SSC 1: SV
С1—37
Select Signal 2
SEL2*
Setting signal for multi-functional selection. For further
description, see Par.4.1 “SEQUENCE INPUT SIGNALS.”
Bits 1 and 0: Operation by speed instructions
00: Operation by speed instructions
11: Operation by the digital operator
Bits 3 and 2: Preparation for operation signal selection
00: Free run by current interruption
01: After deceleration stop, interrupts current and
| MC is OFF.
10: After deceleration stop, interrupts current and
MC is ON.
68
Table 7.4 User Constant List (Cont'd)
Constant
No.
Constant Name
Description
Unit
Upper Limit
Lower Limit
C1—38
Select Signal 3
SEL3*
Select signal for control mode and level.
* Bits 1 and 0: Load ratio meter filter
00: 2ms filter
01: 10ms filter
10: 100ms filter
11: 500ms filter
Torque limiting auto judgement
0: Not judged
1: Judged
Servo mode sensitivity
0: reference (10V/100%)
1: reference (10V/5000r/min)
Speed over-deviation protective (F800) operation
threshold
0: 1/2 or less of commanded speed
1: 1/4 or less of commanded speed
Speed limiting level
0: 105% of rating instruction
1: 110% of rating instruction
Speed agreed signal output select at zero-speed
0: Outputs (AGR is close)
1: Does not output (AGR is open)
Load ratio meter adjustment method
0: Qutputs 120% signal of 15-minute rating
1: Outputs 100% signal of continuous rating
* Bit 2:
* Bit 3:
+ Bit 4:
* Bit 5:
* Bit 6:
* Bit 7:
Select Signal 4
SEL 4*
Control mode select singnal
* Bit 0: Orientation method
0: Encoder
1: Magnetic sensor
С1—40
Select Signal 5
SEL 5*
Control mode select signal
» Bits 1 and 0:Speed over-deviation protective (F800) operation
delay time select
00: 0 sec
01: 0.3sec
10: 0.4sec
11: 0.5sec
* Bit 3: NC orientation selection
0: Invalid
1: Valid
Even if orientation signal (ORT) is input, Orienta-
tion operation does not start. The rotation direc-
tion of the motor is decided depending on the
polarity of analog speed reference.
- Bit 7: Load errorsdetection selection (Correspond to PROM
version or atter NSC620042.)
0: Invalid
1: Valid
* In explanation of select signals, 0 stands for “ , ” and | for
a 1»
69
Tabel 7.5 Encoder Orientation Constants
Constant | ts dure, | Upper Limit
“No. Constant Name Description Unit Lover Limit
Load Axis 4095
A Mechanical origin of the load axis. Set difference from
C2—01 | Positioning Pulses
Origin Porc encoder origin signal (phase-C) pulses. 0
Position Control | Position control proportional gain when high-speed gear is 99
Co—02 Proportional selected (LGR is OFF). 1/s
Gain Raising Kpy increases rigidity. —
(H) Ken Speed Reference (pps) =Kpy X Position Tolerance (pulses) 1
C2—03 —
position Control Position control proportional gain when low-speed gear is 99
С2—04 Gain selected (LGR is ON). Raising Kp, increases rigidity. 1/8
Speed Reference (pps) Kp, X Position Tolerance (pulses) 1
(L) Kp,
ppeed Cantro | Speed control proportional gain when high-speed gear is selected 255
C2-05 Cain (LGR is OFF) in orientation control (ORT is ON). %/HzZ— —
Torque Reference P = Kvuo X Speed Tolerance 1
(Н) Куно 100 о
speed Control Speed control Integral time constant when high- speed gear is 1000
02—06 Co nel ant (H) selected (LGR is OFF) in orientation control (ORT is ON). ms
> Torque Reference I = Speed Tolerance X Time / 7 уно 5
YHO
ppeed Control Speed control proportional gain when low-speed gear is 255
C2—07 Cain (M, L) selected (LGR is ON) in orientation control (ORT is ON). %/Hz-— —
Ко ’ 1 Torque Reference P = Kyo X Speed Tolerance | 1
а Speed control integral time constant when low-speed gear is | ‚ 1000
С2—08 | с 5 selected (LGR is ON) in orientation control (ORT is ON). ms
onstant — .
Torque Reference I = Speed Tolerance X Time / 7 vio
(L) 7 vio 5
Positioning “| Detection width for outputting completion signal when the spindle | 200
_ Completion |
C2—09 : reaches near the commanded stop position. Pulses
Detection
. Detection width is commanded stop position Æ Zrn 0
Width Zen
cositioning ‘ Set value for canceling completion signal when the spindle 200
C2—10 Cancel Width is moved after completion signal is output. Pulses
Zean Cancel width is commanded stop position + Zcan Zen
| JA. AE . 1 600
C2—11 Orientation Speed applied (after detecting encoder origin) until changing to r/min
Speed Sort the servo loop during orientation Inna ОЕ 40
2 180.0
С2—12 bb. Stop to mange set vaine per minimum increment of stop position BCD
Resolution Prep S S 0.5
Arbitrary Stop Stop position offset for smoothing stop operation when the | 100
C2—13 | Position Offset servo loop is used Pulses
Pimc When Zen is reached, offset becomes 0. 0
70
Table 7.5 Encoder Orientation Constants (Cont'd)
Upper Limit
Constant Constant Name Description Unit APPS CIE
o. Lower Limit
Orientation Speed change ratio for gradually reducing orientation speed to 100
C2—14 | Speed Change reduce gear noise when switching from orientation speed to servo
Ratio Resor loop speed 0
Starting Soft Soft start time for accelerating from at rest state to 50
C2—15 | Start Time orientation speed. Use this parameter to reduce gear noise at ms |
starting
Tsro Acceleration rate is (500 r/min.)/s. 0
С2—16 Flux Level Flux level at completion of orientation. Motor noise and 100
Фф окт torque changes in proportion to flux level. 15
Orientation 32767
С2—17 Speed Reduction | Reduction coefficient to set orientation speed in proportion to the
Coefficient angle of traveling for incremental positioning.
K sor 0
C2—18 ---
C2—19 ———
С2— 20 — — —
C2— 21 ———
Control mode setting signal for specifying the direction of rota-
tion in orientation control
* Bits 1 and 0: Positioning rotation direction
00: Automatically selected rotation direction
01: Same direction as the commanded operation direction
10: Fixed rotation direction
11: Automatically selected rotation direction
* Bit 2: Selection for fixed rotation direction
0: Forward rotation of the spindle
1: Reverse rotation of the spindle
* Bit 3: Stop position instruction code
Orientation 0: 12-bit binary
С2—22 Control Select » Bit 4: T | 3-digit BCD 0
Signal 1 1t 4: i une-up operation
SEL-El* 0: Tune-up available
1: Tune-up unavailable
* Bit 6: Encoder
0: Spindle encoder
1: Motor encoder
* Bit 7: Rotation direction of motor and spindle
(Automatically setting when tune-up)
0: Reverse
1: The same
* In explanation of select signals, 0 stands for” ¡ ” and 1 for “a
I »
71
Table 7.5 Encoder Orientation Constants (Cont'd)
| Upper Limit
Constant Constant Name ‘Description | Unit PRE — -
No. Lower Limit
Dither signal pattern and gain o
+ Bit 0: DB selection upon orientation completion
0: Invalid
1: Stops by braking torque orientation
completion
* Bit 1: Dither signal pattern
0: 6 steps (83Hz)
1: 2 steps (250Hz)
Orientati * Bits 4, 3, and 2: Dither signal level (H)
Orien а Lon ‘ | 000: 0.0% 011: 7.5% 110: 15.0%
C2—23 Sion 19 elec 001 : 2.5% 100: 10.0% 111:17.5% ———
SEL. E9* 010 : 5.0% 101:125% | о
- * Bits 7, 6, and 5: Dither signal level (L)
000 : 0% 011:3% 110:6%
001 :1% 100: 4% 111 : 7%
010 :2% 101: 5% |
Orientation Control parameters |
* Bits 5 and 4: Speed instruction differential compensation gain
00:10
01:15
10:23
11:34
* Bits 7 and 6: Flux level for positioning servo loop control
Ori . 00 : 100% |
rientation 01: 80% .
В ca—24 | Control Select 10: 60% ———
OE a | Signal 3 11: 40%
SEL-E3* E
* In expanation of select signals, 0 stands for “ ¡ ” and 1 for “| .” |
Table 7.6 Magnetic Sensor Orientation Constants
Upper Limit
Constant Constant Name Description Unit PAPE CITE
O. Lower Limit
i i- . . ; 2.00
_ Load Axis Posi Mechanical origin of the load axis.
C3—01 | tioning Origin : | a tema € ane
Set difference from megnetic sensor signal in degrees.
Porc — 2.00
o Position control proportional gain when high-speed gear 1s 99
Position Control | selected (LGR is OFF).
C3—02 | Proportional Boosting K,.;, increases rigidity. 1/S
Gain (H) Ken Speed Reference (pps) = Kru X Position 1
Tolerance (pulses)
C3—03 =
Position Control | Position control proportional gain when low-speed gear 15 99
_ Proportional selected (LGR is ON).
G3-04 Gain (L) Boosting K,,, increases rigidity. 1/8
Ken Speed Reference (pps) = K,, X Position Tolerance (pulses) 1
orton Speed control proportional gain when high-speed gear 1s selected 255
C3—05 ; (LGR is OFF) in orientation control (ORT is ON). 2% На
Gain (H) T Ref P= Kuo X Speed Toler:
Kono orque Reference P = Куно peed Tolerance 1
Speed Control Speed control integral time constant when high-speed gear 1s 1000
Integral Time Se с > DE
C3—06 selected (LGR is OFF) in orientation control (ORT is ON). ms
Constant 7e ; \
Torque Reference I = Speed Tolerance X time / 7 vuo 5
(H) 7 vHO
Speed Control Speed control proportional gain when low-speed gear 1s selected 255
Proportional . . : En о
C3—07 Gain (LGR is ON) in orientation control (ORT is ON). 2% HZ —
Torque Reference P = Kyvio X Speed Tolerance
(LIKvro 1
ppeed Control Speed control integral time constant when low-speed gear 1s 1000
C3—08 8 selected (LGR is ON) in orientation control (ORT is ON). ms
Constant Са .
Torque Reference = Speed Tolerance X time, 7410
(L) 7v1o 5
Positioning Detection width for outputting completion signal when the load 20.0
C3—09 Completion axis reaches near the commanded stop position —
Cancel Detection width is commanded stop position + Zin 0.0
Width Zi ` ;
Comoe Set value for canceling completion signal when the load axis 20.0
C3—10 Detection 1s moved after completion signal is output. E 7e
. ancel width is commanded at stop position = Zcan Len
Width Zcan
. 600
C3—11 Orientation Speed applied (after detecting magnetic sensor signal) r/min
Speed Sorr until changing to the servo loop during orientation 40
C3—12 — =
Arbitrary Stop Stop position offset for smoothing stop operation when the servo 10.0
C3—13 | Position Offset loop is used
Pvc
When Zn is reached, offset becomes 0.
73
Table 7.6 Magnetic Sensor Orientation Constants (Cont'd)
Constant eos | Upper Limit.
‘Description Unit ——
No. Constant Name ipti | Lower Limit
| Orientation Speed change ratio for gradually reducing orientation speed 100
C3—14 | Speed Change to reduce gear noise when swiching from orientation speed —
Ratio to servo loop speed 0
Starting Soft Soft start time for accelerating from stop to orientation 50
C3—15 | Start Time speed. Use this parameter to reduce gear noise at starting. ms
Tsro Acceleration rate is (500 r/ min) /s. | | 0
C3—16 Flux Level Flux level at completion of orientation. Motor noise and torque 100
ф окт change in proportion to flux level. 15
C3—17 ———
C3—18 —
с3—19 ---
Angle for standardizing magnetic sensor signal detection
sensitivity . 20.0
O sen =180% X Detected Range (in mm) = (Mounting Radius -
Sensor Signal (in mm) X x)
C3—20 | Standardization | Set 20.0 to Osren when @ зем > 20.0 | °
Angle д сем For detected range, check the magneto type and apply the follow: Co о
ing value. | 5.0
For type MG-1378BS, apply 15mm. ;
For type MG-1444S, apply 7mm.
c3—21 -——
Control mode setting signal for specifying the direction of
rotation in orientation control
* Bits 1 and 0: Positioning rotation direction
00: Automatically selected rotation direction =
01: Same direction as the commanded forward-
reverse rotation direction
10: Fixed rotation direction
| 11: Automatically selected rotation direction
* Bit 2 : Selection for fixed rotation direction |
| Orientation 0 : Forward rotation of the spindle
С3—22 Control Select 1: Reverse rotation of the spindle _
Signal 1 * Bit 4 : Tune-up operation
SEL-M1* | 0: Tune-up available
1: Tune-up unavailable
: Encoder
0 : Spindle encoder
1: Motor encoder
Rotation direction of motor and spindle |
0: Reverse —
1: The same
* Pit 6
* Bit 7:
74
Table 7.6 Magnetic Sensor Orientation Constants (Cont'd)
Upper Limit
Constant Constant Name Description Unit Peet JAP
No. Lower Limit
Dither signal pattern and gain
« Bit 1: Dither signal pattern
0: 6 steps (83Hz)
1: 2 steps (250 Hz)
Orientation * Bits 4, 3, and 2 : Dither signal level (H)
C3—23 Control Select 000 : 00% 011:75% 110: 15.0% 0
Signal 2 001: 2.5% 100: 10.0% 111: 17.5%
SEL-M2* 010 : 5.0% 101 : 12.5%
* Bits 7, 6, and 5 : Dither signal level (L)
000 : 0% 011: 3% 110 : 6%
001:1% 100 : 4% 111 : 7%
010:2% 101:5%
Orientation control! parameters
* Bits 5 and 4 : Speed instruction differential compensation gain
00 : 10
01 : 15
10 : 23
11 : 34
* Bits 7 and 6 : Flux level for positioning servo loop control
00 : 100%
01: 80%
Orientation 10 : 60%
. о
СЗ —24 Control Select 11: 40% De
Signal 3
SEL-M3*
* In explanation of select signals, 0 stands for “,” and 1 for “ 1 ”
75
7.5 PROTECTIVE FUNCTION DISPLAY
If an error occurs during operation, protective functions are activated depending on the failure and
operation is stopped. The activated protective functions are > indicated on the digital operator in F
codes as shown i in Table 7.7. a |
Table 7.7 Protective Functions
F Code No. Protective Function Explanation
: Operation was not stopped within 10 seconds: after emer -
F—001 | Emergency Stop Failure gency stop was not stopped
F--100 Inverter Output Overcurrent Output current exceeded set overcurrent value € or y grounding.
F—200 | Inverter Internal MC Operation Failure The magnetic contactor in the input block is not functioning.
F— 301 Braking Transistor Error Braking transistor operation failure
F—302 Cooling Fan Error Inverter cooling fan stops when power is ON.
F—400 Inverter Overvoltage (approx. o us voltage exceeded set overvoltage y value
F—500 | Motor Overspeed Motor speed exceeded 120% of max. set speed.
F—602 | Power Voltage Error 1 Dc main circuit voltage is lowered to 210V or less.
F—604 | Power Voltage Error 2 DC control circuit voltage was lowered.
_ Output current of 12095 of 15-minute ratin
F—700 Inverter Output Overload flowed for one minute ‘or longer. 5
F—800 [Excess Speed Deviation apecd dropped to 5076, or lower.
F—900 | Motor Thermal Error 1 Motor temperature exceeded upper limit.(Minor failure)
F—901 Motor Thermal Error ? Motor. temperature over upper limit continued for
B k e rred the motor tem erature
F—902 Motor Thermal Error 3 detection Mermisor Metected at - 10°C or less)
F— 904 Heat Sink Thermal Error Heat sink temperature over upper limit.
F—AOO | Initial Charge Failure 1 Charging for the main capacitor did not complete.
F—AO1 Blown Fuse DC circuit fuse has blown.
F—b00 | Controller Failure 1 Failure of the speed instruction AD converter
F—b01 Controller Failure 2 Failure of the AD converter with CPU
F—b02 | Controller Failure 3 Failure of the Phase-U current detection AD converter
F—b03 Controller Failure 4 Failure of the Phase- W. current detection AD
F—G00 Break in Speed Detection Break in wire or misconnection of the motor
Signal Cable encoder signal cable
F-—CO1 Load error Braking in wire of inverter output(U,V,W)
F—d00 Controller Failure 5 Memory (PROM) failure
F—d01 Software Version Mismatch Controller mismatched software version.
Encoder Phase-C signal was not detected when
... Method tuning up.
_ Position Detector eho Une ub
F—dn Failure 1 Magnetic . . . .
с 8 y Break in wire or misconnection of the
Metho d megnetic sensor signal cable when tuning up.
F—d12 | Position Detector Failure 2 Phase-C signal exceeded 100 pulses when tuning up.
Encoder Exceeds 4096 + 1 pulses per rotation when tuning up.
F—d13 Position Detector
Failure 2 magnetic
Sensor Motor pulse per rotation (4096/gear ratio) exceeds £69.
Method
76
Table 7.7 Protective Functuons (Cont'd)
F Code No. Protective Function Description
F—di4 Tune-up Incomplete Orientation instruction was input before tuning up.
F—d15 INC Signal Error Incremental signal timing error of INC signal
F—d16 Sreax in Position Detection ome, or misconnection of the position detection
е—ат | Brea fg, Masnetic Sensor Break in wire of iiwconnection of the magnetic
F—di8 | Orientation Card Mismatch Orientation scleciion (it 0 of C1-39)
F—E00 Controller Failure 6 Memory (NVRAM) failure
F—EOt Controller Failure 7 Memory (NVRAM) failure
F—E02 Controller Failure 8 Data in memory (NVRAM) exceeded upper or lower limit.
F—E03 | Controller Failure 9 Memory (NVRAM) failure
F—E05 | Unregistered Motor Code Motor code set to C1-25 do not register.
F—F00 I/O Error 1 Inter-CPU data transfer error
F—F03 | I/O Error 2 Inter-CPU data transfer error
CPFOO CPU Failure 1 Internal memory (RAM) failure or WDT
CPFO1 CPU Failure 2 Excessive time error
77
8. TEST RUN
Before turning power ON, do the following:
(1) Verify there is no physical obstacle to operation.
(2) Notify people in the adjacent area before starting.
Turn ON power to the drive system after confirming security around the machines.
8.1 CHECK AFTER TURNING ON POWER
After power is turned ON, LEDs on the digital operator of the inverter light and the cooling fans of
the motor and the inverter start rotation. Check the system as follows:
8.1.1 Checking the Motor
Verify that cooling air for the motor with cooling fan flows in the direction shown in Fig 8.1.
According to the standard specifications, cooling air is taken in from the drive end and exhausted
from the opposite drive end. If the flow direction is reversed, contact your YASKAWA representa-
tive.
(a) Flange-mounted Type (b) Foot-moundted Type
Fig 81 Motor Cooling Air Passage
8.1.2 Checking the Inverter
After power is turned ON, all the LEDs on the digital operator light, then ROM number is displayed,
and finally motor speed (V1-01) is displayed as described in Par.7.2.1, “Indication at Power-ON.”
If emergency stop signal (EMG) is connected, “CHARGE” lights brightly in red. If error indication
1s displayed or “CHARGE” is OFF, investigate the cause according to Par. 10, “TROUBLE-
SHOOTING”.
8.1.3. Checking Status Display
Status of the drive system including the inverter and the motor can be checked by monitoring the
contents of V1-01 to to V1-18 using the operation status display function.
After power is turned ON, motor speed (V1-01) is displayed. Check other status indications with
Table 8.1.
79
Table 8.1
Status Monitoring Functions
Display at Power ON
Remarks
Signal No. Content Unit
Vi—01 | Motor speed r/ min 0
Vi—02 | Speed reference % 0.00 1 100% = rated speed -
V1—03 | Output shaft speed r/ min. 0 a | |
V1—04 | Torque reference —% 0.0 100% =15-minute rating
V1—05 | Inverter output power kW 0.0 | Accuracy: = 10% nn
V1—06 | Inverter input current A 0.0 Effective value, accuracy: £3%
Vi—07 | Inverter output frequency Hz 0.0
V1—08 Inside signal condition ee
V1—09 Input signal condition | | | — — — — ——
Vi—10 Output signal condition | | ——————
V1—11 Inverter capacity kW Depends on unit -
V7—01 | Motor temperature С Ambient temperature | At cold start
Note: The digital operator display unit employs 7-segment LEDs. Status of operation. is indicated by “V” plus .a number,
ce bé
meaning a variable number. Actual display, however, looks like “ ¿y ” plus a number. (Example: V1-01-}f {- 0 {)
For the detail of display, refer to Par. 7.1, “FUNCTIONS OF THE DIGITAL OPERATOR” |
80
8.2 SETTING UP CONSTANTS
The inverter is set up and adjusted at the factory to fit the combined motor. As a rule, customers
do not need to adjust the inverter. If setting must be modified because of changes of operation
specifications, control constants can be changed. See Par. 7, “OPERATION OF THE DIGITAL
OPERATOR” and change the setting.
In the following, control constants are explained in the order of arrangement; however they do not
need to be set up in that order.
8.2.1 Soft Start Time Setup (Tsrs: C1-10)
This constant specifies the duration of changing inverter speed from Or min. to the rated speed or
vice versa. Fig. 8.2 shows the relation between instructions and the duration. Soft start time can
be set up from 0.1 to 180.0 seconds.
SPEED REFERENCE
9%: 7
100 J RATED SPEED
En
|
|
SPEED REFERENCE |
AND STANDARD |
SPEED STANDARD
|
|
0
|, 188 |
Fig. 8.2 Soft Start Time Setting
8.2.2 Load Meter Full-scale (LMrs: C1-18)
During operation, the load ratio meter indicates the ratio of output to motor rated output in percent.
Set full-scale value (expressed as a percent of the motor continuous rating) of the load meter for
control constant C1-18. 120% to 350% can be set.
8.2.3 Zero-speed Detection Level (ZS, v,: C1-19)
This constant sets the detection level for zero-speed signal. Standard value is 30 r/min. It is possible
to set 3 r/min. to 60 r/min. The operating point has a hysteresis of = 2 r/min. as shown in Fig.
8.3.
| CLOSE |
LIGHTS WHEN ZSPD 15 CLOSE
/ |
о SIGNAL |
р
| EL OUTPUT |
O1 | | OPEN
0 +} -—
(INDICATION OF V1-16) | li MOTORSPEED
| 242
! - )
a 18 |
Fig. 8.3 Zero-speed Signal Detection Level and Operation Indication
81
8.24 Speed Agreed Width (AGRsy,: C1-20)
This constant sets the operating level for speed agreed signal AGR (connected when speeds agree).
Range of speed agree can be set from 10% to 50%. Standard value is 15%.
50
|
LICHTS WHEN AGRIS CLOSE i o В
— 7 — SPEED ont e | 7 __— STANDARD SETTING
NA AT A) U a > xSpeed deviation
- | || || ||| 1 | р OPERATION RANGE E Exoresseg Sn
(S100= 100%)
(INDICATION OF VH+I0)
01? OPERATION RANGE
|
|
|
!
Ш
100
SPEED REFERENCE (%)
Fig.8.4 Speed Agreed Width Setting and Operation Indication
8.2.5 Speed Detection Level (SD.v1:C1-21, SDyys: C1-22)
If motor speed is reduced to or below any of these constans, output signal SDET ; is connected.
Fig.8.5 shows indication of operation status display V1-10 of the digital operator then.
Speed detection level can be set from 0% to 100%. Hysteresis width can be set from 0% to 10%.
LIGHTS WHEN SDET 18 CLOSE C1-22. |
/ close TH
N || ] | и | D SONAL |
| Tl
Toren |
(INDICATION ОЕ МО | ° С1-2] [NOTOR SPEED N
Fig. 8.55 Speed Detection Level and Operation Indication
82
8.2.6 External Operation Torque Limiting Level (TL: C1-24)
This control constant is used for external torque limiting. The constant is expressed as a percent
of 15-minute rated torque and can be set from 5% to 120%.
8.2.7 Motor Code Selection (MTR: C1-25)
The motor code is a label of the motor control constant stored in the inverter memory. Motor codes
are given in the factory setting list attached to the inverter. Before altering the set motor code,
verify that the inverter unit capacity is matched.
NOTE, After changing the motor code, turn OFF power and verify that the indications on the
digital operator go OFF, then turn ON power again.
Without the above procedure, changed motor code is invalid.
8.2.8 Rated Speed (S¡,,: C1-26)
Set up rated speed according to mechanical specifications. The motor runs at the rated speed when
speed instruction of 100% is input.
Rated speed can be set from 100 r/min to the motor maximum speed.
8.2.9 Transmission Ratio (Rusk: C1-27, R, x: C1-29)
These constants set the transmission ratio of spindle to motor shaft which is determined by
mechanical specifications.
Transmission ratio (spindle speed/motor speed) can be set from 0.05 to 2.5. When you set an exact
value, the ratio affects the orientation control characteristics.
83
8.210 Flux and Base Speed Ratio in Servo Mode ( ¢ svi: C1-31, Rgsy: C1-32) 0 ВЕ
These control constants are used to extend constant torque control range for solid tapping. Set the
flux levels (C1-31) and the base speed ratios (C1-32) in relation to each other as shown in Fig.8.6.
9%)
100 N oo
| a | NORMAL OPERATION
|
FLUX Ne |
SERVO MODE — y |
|
— |
C1-81 | |
_ | a.
0 | |
— BASE SPEED N
BASE SPEED xC1-3e
Fig. 8.6 Flux Level in Servo Mode
8.211 Positioning Completion Detection Width (Zrn: C2-09, C3-09) and
Positioning Completion Cancel Width (Zcan: C2-10, C3-10)
These constants must be set up while the system is stopped.
Orientation completion signal is connected when the difference between the commanded and actual
stop positions is within the completion detection width continuously for 10 ms or longer. If the
difference exceeds the completion cancel width after the completion signal i is output, the completion
signal is immediately disconnected.
Both completion detection width and completion cancel width can be set from 0 © C) to > 200 (17. 6° )
in encoder orientation control, and from 0.0° to 20.0° in magnetic sensor orientation control.
Completion cancel width must not be smaller than completion detection width. If a value greater
than completion cancel width is set for completion detection width after setting the cancel width, the
completion detection width value is automatically set for the cancel width.
~~ CANCEL WIDTH
—-— Pis Po
DETECTION WIDTH
COMPLETION SIGNAL |
-200 —Pe —Pi 0 +P; +P» +200
(—20) m cOMMANDED STOP POSITION! 20°
Numbers in parentheses are for magnetic
| SETTING RANGE — sensor orientation controi.
Fig. 8.7 Completion Signal Detection Position
84
8.2.12 Orientation Speed (Sorr: C2-11, C3-11)
Orientation speed must be set up while the system is stopped.
Orientation speed is determined by inertial momentum (including motor shaft) and torque. Calculate
for each machine the spindle inertial momentum and the spindle torque required when high-speed
gear is used, then obtain orientation speed from Fig. 8.8. The value is the upper limit, so lower
setting is possible.
(kgf-ri) (kg-mi) 30r/min 60r/min
we 100r/min
150r/min
| 200r/min
- Position loop gain)
300r/min
ИР .
46Gr/min
сое > 600r/min
J
>
(1 UN Ú 1
>
O
>
3
E
a
Ш
2
0
x
IF <
С)
<
O
—1
94 + 01
Note: Spindle torques are
determined by the gear ratio
0.2 F (spindie/Motor shaft] of motor
continuous toraue.
01 |
0.04 9.01
10 100 1000 (N-m)
SPINDLE TORQUE (T8)
Fig. 8.8. Orientation Speed Setting
85
8.2.13 Resolution of BCD Stop Position Instructions (Psp: C2-12)
This setting must be performed while the system is stopped. |
The resolution can be set from 0.5° to 180.0°. Stop position instruction must be within + 360°.
For example, when resolution is set to 90°, stop position instruction “1” translates into 90°, “2” into
180°, “4” into 0°, and “57again into 90”. |
Fig. 8.9 Stop Position Instruction and Stop Position
8.3 OPERATION
After checking, input operation signal to start operation. Gradually raise speed reference from 0%.
The motor starts rotation. | |
Verify that the motor turns in the proper direction. When forward run is commanded (by FWD) and
speed instruction is positive, the motor shaft turns counterclockwise (CCW) when viewed from the
load machine. If the rotation direction is reversed, or if the motor does not turn but only buzzes or
vibrates after the operation signal is input, phases of the power cable or encoder signal wire may be
connected wrong. Turn OFF power and check wiring. |
When the motor turns in the proper direction, change speed reference or switch forward and reverse
run and verify that acceleration and deceleration are smooth in both forward and reverse directions.
At the same time, check for excessive motor vibration or noise. Stationary sound at several
kilohertz is due to the control method and do not indicate any abnormality.
N “Speed Reference ® O
Operation CCW CW
| Signal || REV || CW | CCW
° 386-78
Fig. 810 Motor Rotation Direction
NOTE (1) Verify that the motor stands still before starting. Starting during free- -run may activate
e overvoltage protection (F400) or overcurrent protection (F100). .
(2) Don’t change wiring or put on/off connectors under the current conduction.
86
8.4 ADJUSTMENT PROCEDURE AND CONTROL CONSTANT SETUP
After verifying that the motor operates normally, adjust the speed control mode and position control
mode for orientation control according to the adjustment procedures. The following adjustment
must also be performed after replacing the motor, inverter, magnetic sensor or encoder.
8.4.1 Adjustment in Speed Control Mode
Refer to the following flow chart for adjustment.
Adjusting ltem and Procedure Content
Initial setting: Verify the setting according to
the factory setting.
Operation control (with 0-V common)
| Turn ON power switch. | ЗЕ
| Oo EMG
Initial setti = ROY
Turn emergency stop (EMG)
and operation ready (ROY). |
START 29
| COM
| Input rated speed reference |
| 2 scom
# ee
| Turn forward run (FWD) ON. | 0V
After accelerations completed. Input signal check
check motor speed in VI-01. * Input signal status (V1-09)
Is the actual
motor speed the same
as the instruction?
RDY, EMG, and FWD light.
Is the actual
motor speed higher than
Speed reference adjustment range (C1-12)
the reference ?
— À Make C!-12 [Sau] PU)
smaller than present value.
Г
Make Cl-12 (5401)
greater than present value, SPEED
| 0.9 ----
|
E
|
|
|
|
|
|
{
|
|
|
À
|
|
1
|
|
|
l
J
|
A |
|
i
a]
>
o)
1.0 1.1 (C1-12)
C1-12=Commanded Motor Speed.” Actual Speed
<Example> When 6000r.” min is commanded and actual
speed is 6060 r/ min,
С1-12 = 6000/6060 = 0.99
87
(Cont'd)
Adjusting Item and Procedure
Content
D
Are indications on the
speed meter correct?
YES
Ne indications of
the speed meter higher
han actual motor speed
Make Cl-16 (SMa)
smaller than present value. |
—
Make CI-16({SMA0u)
greater than present value.
|
Turn forward run signal (FWD)
ON and OFF to accelerate and
decelerate the motor.
Y
. : .
~~ Are indications on the
load ratio meter correct
in accel/decel?
| .
ES
Turn forward rotation signal
ON to stop the motor.
| |
Display C1-17 data on the
digital operator.
|
DATA
Depress the ENTER key and
>
the RESET key simultaneously.
Turn forward run
signal ON to stop the motor.
Are indications on
the load factor meter higher than
the actual figure?
Make C!-17 (Мн) smaller
than present value.
=
Make CI-17 (LMaos) greater
than present value.
|
=
Depress the [DSPL] key to return
to the initial status.
© Depress[ — key.
| Adjustment end |
88
Speedometer Adjustment Range (С1- 16)
(P.UD
SPEEDOMETER 1.0 ——————=
SIGNAL val
=”
|
|
|
|
|
|
|
|
I
|
!
|
|
1
(
|
|
|
|
И |
0 09 1.0 15 (C1-16)
С1-16 = actual motor speed, indication on speedometer
<Example> When motor speed is 6000 r 7 min and indi-
cation on the speedometer is 5940 r 7 min.
C1-16 = 6000/5940 = 1.01
Maximum Indication on the Load Meter
(12% of 15-minute rating)
Maximum Indication on the Load Meter Е
Capacity LM Capacity LM
0.402 | 240% | 2.271.5 | 176%
0.75/04 | 225% | 3.772.2 | 202%
1.50.75 | 240% | 5.5/3.7 | 178%
Signal Output for Load Meter adjustment
LOAD METER +
SIGNAL LM | SIGNAL OF 120% OF
|| 5-MINUTE RATING
— — ____ * Signal of 100% of
DATA!) > DSPL nti ti
ENTER RESET continuous rating
is output when bit
C1-38 is changed
| to “I”.
Load Meter Adjustment Range (C1-17)
LOADRATIO 1.0}
METER SIGNAL 0.9
|на не не ми = ен не ен не но == A
09 1.0 15 (С1-17)
C1-17 = (120% of 15-minute rating), indication on the
load meter
<Example> When capacity is 3.7 kW 2.2 kW and indi-
cation on the load meter is 190%.
C1-17 = 202/7190 =1.06
8.4.2 Adjustment in Encoder Orientation Control Mode
Adjust the system according to the flow chart below.
Adjusting item and Procedure
Content
| Turn ON power switch. |
initial setting.
Setting of gear
ratio correct?
YES
Correct controller
gear ratio and constant.
| (After the correction. turn OFF power switch.)
Select H-gear, |
|
Turn orientation signal (ORT) ON.
|
Tune-up incompiete
error FF-51 is displayed.
|
Depress the |STOP| and |RESET
keys simultaneously.
Turn the
motor in forward and
reverse directions to return the
spindie to the home position
Did the axis stop at the
home position”?
YES
AdJust according 10
troubleshooting method.
Select control constant display of
shindle positioning origin (C2-01].
Set positioning origin data. then
depress the |ENTER|key.
|
The spindle stops
at the new origin.
IS stop NO
position correct?
Initial setting: Changing constants with
operator
* Set orientation selection (bit 0) of selection signal 4
(CI-39) to “1”.
* Set tune-up operation selection (bit 4) of orientation
select signal (C2-22) to “1”.
the digital
Gear ratio constant
* C1-27--- H-gear ratio
* C1-29------ L-gear ratio 0.050 to 2.500
* When gear ratio was selected, the changed con-
stant is effective with turning off and on the
power.
Identifying input signal
* Interface input status (V1-09)
Lighting orientation signal
Tune-up operation
ORIENTATION
SIGNAL
STOPIS n
RESETIKEYS
FORWARD Vo
SPINDLE RUN / Ч
SPEED REVERSE \ NS
RUN к
Note: Orientation completion signal (ORE) is not
output at tune-up operation.
Spindle positioning origin
ORIENTATION
SIGNAL
{IN CASE I<P,<P,<P;)
ORIGIN DATA DC = X 5, X 5,
ENTER n N NN
KEY
A
SPNDLE 7 A 7
p REVERSE
SETTING RUN
Р;
Pa
SPNDLE ОР,
STOP
POSITION 0
89
(Cont'd)
Adjusting Item and Procedure
D
|
Turn orientation signal (ORT) OFF.
|
| | Turn-up completed. |
Adyust control constants depending
or mechanical specifications.
7
Turn orientation signal (ORT) ON-
Does it
stop smoothly?
Adjust arbitrary stop
position offset {C2-13)
Ie positional accuracy
sufficient or is hunting
YES
condition present?
| —
Drop
Addust position control
ortional gain, (C2-02)
Turn orientation
signal (ORT) OFF.
Select L-gear, |
Turn orientation signal ON.
"lc DOSItional accuracy
insufficient or is hunting
condition oresent> я
||
ACJust position control
droportional gain. (C?-04)
Turn orientation signal (ORT) OFF.
| End of adjustment |
90
1 Set tune-up operation selection (C2- 22, bit 4) to
Content
* In case of abnormality during tune-up, carry out
tune-up operations once again, after resetting.
“ln
Adjusting control constant
Adjustment of arbitrary stop position offset (C2-13)
» Adjust so that the final positioning is not too long or
overshoots.
OFFSET
SMALL
OFFSET
LARGE
STOT , -
POSITION | NS | TIME
* Identify the characteristics from H- and L-gear,
because the characteristics vary with load inertia.
Selection of H-gear
Adjusting proportional g gain (C2-02)
- If is not output in the region near the stop
position, increase the gain.
* Tf the spindle is unstable even if is output,
reduce the gain. | |
Note: If L-gear selection is not covered by equipment
specifications, omit adjustment.
Identifying selection of L-gear
* Interface input state (V1-09)
_— A
Lights when | -gear is selected.
Adjusting proportional gain (C2-04)
* Tf is not output in the region near the stop
position, increase the gain. |
* Tf the spindle is unstable even if is output,
reduce the gain.
8.4.3. Adjustment in Magnetic Sensor Orientation Control Mode
Adjust the system according to the flow chart below.
Adjusting Item and Procedure
| Turn ON power switch. |
“Initial setting.
Setting of gear
ratio correct?
YES
Correct controller
gear ratio and constant
(After the correction, tum OFF power switch.)
motor in the forward direction at
Input speed reference to run the
100 to 300r/min
Is there
indication of forward
run on the spindle NO
speed monitor?
| Change bit 7 of C4 to 1" ||
YES Change bit 7 of C322 to "+ |
| Select H-gear. |
| |
| Turn orientation signal “ORT. ON. |
|
Tune-up incomplete
error” £--/4 yis displayed.
Turn the motor in
forward direction to return
*ne spindle to the nome position
Did tre spindie Stop el
the home position’?
AdJust according to
troubleshooting.
Select contro! constant disnlay of
spindie positioning origin (C3-01].
|
Set positioning origin data. and
denress the [ENTER key.
BE
The spindle stops |
at the new origin.
15 5100
position correct”
Content
Initial setting: Changing constants with the digital
operator.
+ Set orientation selection (bit 0) of selection signal 4
(С1-39) 10 “1”.
Set standardized angle of sensor signal (C3-20).
Set tune-up operation selection (bit 4) of orientation
select signal 1 (C3-22) to “a”.
Gear ratio constant
* C]-27------ H-gear ratio ,
e (1-29 L-gear ratio | 0.050 to 2.500
* When gear ratio was selected, the changed constant
is effective by turning the power OFF and ON the
power.
+
Identifying input signal
* Interface input status (V1-09)
LIGHTING:
ORIENTATION SIGNAL
Tune-up operation
ORIENTATION
SIGNAL I
60 r:min
FORWARD 10r:min
| HUN
REVERSE
RUN
Note: Orientation completion signal (ORE) is not
output at tune-up operation.
Note: Normal if orientation completion signal ORESTS
of V3-01 lights.
Spindle positioning origin
ORIENTATION
SIGNAL
IN CASE 0<Р.<Р,<Р.;
ORIGIN CATA 0 X P, XxX DP, X P,
[ENTER] «er — О 1
FORWARD
SPINDLE q RUN Y >— 7
SPEED)
SETTING ~~ REVERSE
vv
91
(Cont'd)
Adjusting Item and Procedure
“Content
D * In case of abnormality during setup, carry out tune-
up operations once again, after resetting.
Set tune-up operation selection (C3-22, bit 4) to “1.
Tum orientation
signal (ORT) OFF.
|
Tune-up end
According to equipment
specifications, adjust control
constant.
|
Turn orientation
signal (ORT) ON.
Does it NO
stop smoothty?
YES Adyust erbirrary Stop position
offset. (C3-13)
|
is positional accuracy ~ YES a
insufficient or is hunting :
condition present’?
NO Adjust position control
proportional gain. (C3-02)
|
| Select L-gear | | Ш
|
Turn orientation signal ON.
Is positional accuracy
insufficient or is hunting
Condition present?
AdJust position control
proportional gain. [3-04]
Turn orientation signa! (ORT) ON. -
| End of adjustment |
Adjusting control constant
Adjustment of arbitrary stop position offset (C3-13)
* Adjust so that the final positioning is not slow and
that there is no overshoot.
SMALL
OFFSET
AE
POSITION | NS TIME
* Identify the characteristics from H- and L-gear,
because the characteristics vary with load inertia.
H-gear Selection
Adjusting proportional gain (C3-02)
* If is not output in the region near the stop
position, increase the gain.
* If the spindle is unstable even if if [ORE] 1s output,
reduce the gain.
Note: If L-gear selection is not covered by equipment
specifications, omit adjustment.
Identifying selection of L-gear
* Interface input state (V1-09)
№ еее = — = —
Lights when L-gear is selected.
Adjusting proportional gain (C3-04)
* If is not output in the region near the stop
position, increase the gain.
* Tf the spindle is unstable even if | is output,
reduce the gain.
92
9. MAINTENANCE
Plan and perform maintenance and management to keep the VS-626 VM3C Drives in good condition.
©
ge has been completed before starting maintenance.
At this time, the charge indicator lamp “CHARGE” is extinguished.
When an inspection is made on the VS-626VM3C, do not touch the inside at least 5 minutes
after the power supply is turned OFF. Verify that the smoothing capacitor electric dischar
9.1 DAILY CHECK LIST
Check daily the items listed in the following table.
Table 9.1
Daily Check List
Check Procedure
Classification Criteria Remedy
Check Item Method
Ambient Inverter: OC to +55€C Improve installation
temperature Thermometer | (above freezing) environment to meet the
Р Motor: 0°C to +40°C specification.
Ambient RO | ВЕ
Humidity Hydrometer or ower Keep to the specification.
Ventilation Visual check Entry and exhaust must not be Remove obstacles.
Adjust voltage within the
` о к
Voltage Voltmeter Must be : Tate 1. © specified range (by a tap chan-
Power o BE. ger).
Conditions Must not be greater than the
Current Ammeter rating. Must be free from | Adjust load.
cyclic fluctuations.
Dust and stains
(with dust, etc.)
Appearance on the Inverter. Visual check Must not be obstructing Clean if very dirty.
on the motor
shaft opening
Touch or use a Must be free from unusual If allowable limit is exceeded
Vibration vibrometer vibration or increase in stop operation and correct the
magnitude. cause.
Must be free from burning | Stop operation and correct the
Odor Smell. odor. cause.
Operation Abnormal Listen Must be free from unusual y оретасоп №5, hindered, Sop
Status sound sound or increase of noise. cause
Ri f Stop operation and cool the
verter or Touch or use a Must be free from excessive | system. Check for abnormal-
motor thermometer temperature rise over normal | ity in the cooling system (e.g.
я t “| oprating temperature. the fan).
emperature Repair them if damaged.
Bearing noise Listen or usc 2 Must be free from unusual
8 rod р sound or increase of noise.
Vibration Touch or use a Must be free from excessive Supply grease or replace the
Around vibrometer. vibration. bearing.
the Bearing Must be free from excessive
Bearing Touch or use a
temperature thermometer temperature rise over normal
В ; operating temperature.
Grease Visual check Must not be leakıng. Correct the cause and restore
the normal condition.
93
9.2 PERIODICAL MAINTENANCE
Clean the inverter periodically as follows.
(1) If an air filter is used in the control panel, clean the filter once a month. —
(2) Dust on electronic components can lead to overheating and insulation deterioration.
Remove dust periodically. Dust or oil on the heat sink placed on the back of the controller may
impair heat dissipation and result in a failure. Clean the heat sink once every six ‘months by
blowing compressed air or with a dry cloth. (Clean more frequently if necessary.)
94
9.3 PERIODICAL CHECK LIST AND ACTION TO BE TAKEN
Refer to Table 9.2 to plan a maintenance schedule for periodical inspection.
Table 9.2 Periodical Inspection
Check Procedure
Classification Criteria Remedy
Check Item Method
Daily ; , 2
ion : he information in
inspection enr © Visual _ seriodical inspection
Conditions р p
Tightening bolts
Installation 5 В bolts . , _. x;
rs of the inverter | Visual Must not be loose. Tighten the bolts.
Conditions , |
and the motor
Grounding pins ее не
5 Restore the initial condition
Grounding of the inverter | Visual Must be grounded securely. re the
and tighten.
and the motor I
. Must be free from damage,
. Peeling and . . | , , , .
Coating ? Visual discoloration, peeling, and | Apply anti-corrosion coating.
Corrosion
corrosion.
Loose connec- Must be free from loose con-
Cables and tion, break in Visual nection or break. Must be free | Restore the initial condition
Connections wire cover, ter- from deterioration or defor-| and tighten.
minal box mation, BN
Feel Must be free from unusual
Vibration ; vibration or increase in
Cooling manually. ue
Fan magnitude. — | Replace the cooling fan.
Abnormal Check by Must be free from unusual
sound hearing. sound or increase of noise.
Must be free from abnormal-
Leak and Ru ve . , PO
, : Visual check ities such as leak of liquid or
Electrolytic expansion anal |
expansion. | Replace the parts.
Capacitor ; UE ST OUTRE
(Capacitance (Capacitance measure- | (Must be within the specifica-
measurement) | ment instrument) | tions.) ВЕ
Abnormal ;
Relays and Або! when Listen Must be free from chattering Replace the parts
Contactors A. 7 ; noise. р b
functioning a a ren mm
Cracks in insulat- Must be free from abnormal-
: Visual check e
Ing material ities.
Resistors — DU, Replace the parts.
B . Circuit tester | Must be within the range of
reak in wire | Er be
and the like specifications.
st be free from abnormal | y ,
PC Board Discoloration Visual Must e Нес BN a Replace the PC board.
or partial discoloration.
Control Operation Inverter stand- | Output voltage phases must be | Adjust the PC board or repair
Circuit check alone operation | balanced well. —— the inverter.
Inverter (Between
the main circuit о Repair.
| , Insulation . ;
nsulation and ground) resistance Must be above the
Resistance Motor (Between meter specifications. Dry the stator windings.
the stator and
ground)
If insulation is not within
specs, repair it.
Motor Connec-
tion Conditions
Run-out
See Fable 10.2.
See Table 10.2.
Readjust direct coupling and
positioning.
1. Shaft
Coupling
2.V-belt
Sunk keys
Shaft coupling
without key
Tightening
reamer bolt
Abrasion
Visual
Must be free from damage
and deformation. I
Replace parts.
Alignment marks must match.
Restore initial conditions.
Must not be loose.
Tighten the bolt.
Abrasion must De slight.
Replace the parts.
95
9.4 INSULATION RESISTANCE TEST (INVERTER)
Perform insulation resistance test for the main circuit using an insulation resistance meter (500V) as
explained below.
(1) Remove wiring from the pins of the inverter main and control circuits. Check insulation
resistance between the main circuit pins and the ground (Grounding pin GE).
(2) Normal indication is 1MQ or greater. -
VS-828VM3C
BI/P
Li Le 13 TI Te My
mE mN | Buy Ww ©
TZ
Note: Do not perform the test on control circuit pins.
Fig. 15.1 Insulation Resistance Test (Inverter)
10. TROUBLESHOOTING
If a trouble or an abnormal phenomena occurs in VS-626VM3C Drives, protective functions are
activated and operation is stopped in some cases. In other cases, protective functions remain
inactive and abnormal status is continued. Tables 10.1 and 10.2 list possible fault causes, checking
procedures, and actions to be taken in the two situations. Observe the tables and take necessary
action. If the remedy cannot recover normal status or parts need to be replaced, contact your
YASKAWA representative and send the following data. (A list of YASKAWA service centers is on
the back cover.)
(1) Abnormal symptoms or activated protective functions
(2) Status at the time of fault (at power ON, at the start of operation, when operation is halted,
during acceleration, during deceleration, etc.)
(3) Ambient conditions such as temperature and vibration
(4) Type and serial number of both inverter and motor
97
Tables 10.1 and 10.2 are organized as follows:
Table 10.1
indication of
activated protective
function .
|
Possible cause of
the fault
Fault Cause and Action to be Taken
If “Contact your |
YASKAWA representative”
is shown in this column,
contact him immediately.
O
=
MI
D
=
—+
_ Situation
Troubleshooting
Activated | 3 2/3 5 5
Protective | 5 SIE 55 = Fault Cause Remedy
Furcton | =| 58/8 #8 2,7 _ | |
@ © |5 | ее 5 Checking Procedure Result
Z| 888 3 2 a |
о TLIM| was com- Modify the |
Braking torque + [Check control con-manded when tion cuit to pre.
|star - lemergency stop!” * pres
O was reduced by stant C1-24. Also 5 d y Plyent [TLIM being
TE check whether TLIM occurred. :
Emer- torque limiting. was commanded activated at emer-
gency y Torque Was | gency stop.
Stop not limited
Failed Disagreed with
(FOO1) g
Motor code selec-
tion error
Check control con-
stant C1-25 on the
parameter list.
in the list.
р
control constant
Correct the control
constant.
Agreed.
+e
e „’
“и
| Situations where the
98
fault may occur are
marked with O.
Use the data to narrow
down possible causes.
Take action
described in the
right column.
Proceed to the
next step.
Table 10.1
Fault Cause and Action to be Taken
Situation of Fault
= Troubleshooting
Activated |& | £ 12 S18
Protective | 5 | = | 2 | 2 = Fault Cause —- Remedy
Function | = 615 8 8 ©
CE $ | е е| Checking Procedure Result
Z| 8 8332
LIM] was com-
Braking torque Check control con-imanded when o to pre.
orque ло, , outs -
stant Cl 24. Also |emergency stop :
e e TLIM
re Ihmiting. eheck whether [TLIM] occurred, ted at ome
> was commanded. Torque was J
A - ency stop.
not limited «= SCHCY STOP
Disagreed with
Motor code selec- Check control con-fcontrol constant Correct the control
Emer- © tion error | stant C1-25 on the[in the list. constant
nc parameter list. -
Stop y i Agreed. «=
Failed Check if accel/decel
(РОО?) time to reach the|l0 seconds or lon-| « Reduce inertial
Excess load rated speed is 10 sec-| ger momentum.
inertial momentum |onds or longer. * Increase inverter
(Set 0.1 second for Less than capacity.
С1-10.) 10 seconds | md
, . Reproduced. Replace the
OOO OOO ¡Controller fault Check if the fault controfier.
can be reproduced. Not reproduced Continue operation
р ° |\у1 саге.
О Erroneous wiring in|Check wiring on the Erroneous wiring [Correct wiring of
the main circuit connection diagram.\,, Ш the main circuit.
Proper wiring «=!
Inverter ... Check resistance]. 2 Replace the motor.
Output Laver short circuit between motor ter- Short-circuited [Contact your
Over- in minals. [A circuit N Y ASKAWA
current 5 tester is necessary.] |“ OT ma + representative.!
(F100) © OOO Check of an input or
output pin of thelGround fault Repair short-
Ground fault inverter is short- circuited vortion
curcuited with the р ;
ground. Normal <
99
10.1 Fault Cause and Action to be Taken (Cont'd)
Situation of Fault
Controller fault
Check if the fault
jcan be reproduced.
ole Troubleshooting
Activated | 5 | € | S 1515 o
Protective | 5 25 |= | ® | ® | ® Fault Cause ‘Remedy
: = | & O ; o
Function >| 5815/38 2 =| - Co
© 5 Sip PE Checking Procedure Result
2 5183/1815 E | o
| Check for abnormal
ВЕ ¡changes of motor |Speed is Replace the encoder
| Motor encoder speed on the speed-|abnormal. [Contact our
fault ometer or operation! VASK AV A
|. status display | | ;
(V1-01) Normal | ud representative]
| Check | Disagreed with |
| eck control con- control constant |
Motor code stant С1-25 оп the in the list. | Correct the control
selection error . . -— constant.
parameter list. |
Agreed. 4
Check th | Disagreed with | |
Inverter Ca | | eck the control|control constants th trol
Output Control constant con stants on the in the list. Correct the control
setting error | — constants.
Over- parameter list. Agreed | I
current — - 5
‚ (Р100) |Connection error or | L |
— |disconnection in the |Check if connector| 00% Insert the pins and
|current detection | 7CN is loose. connectors securely.
signal wire. as | Normal eed | | |
| Abnormal Replace the IGBT
Damage of the Check resistance of norma module. (Contact
IGBT module the IGBT module. | Within spec- your YASKAWA
| Y —— lifications <l representative)
| Reproduced. Replace the control-
С …. - ¡Check if the fault| | ler. E
~ontroller fault or El ; —
— - |can be reproduced. Not 1 Continue operation
oo 7 .| Not reproduced. with care. =
Fault of the main|Check whether the о + A
; , ORTA a Te =. | Repair the inverter.
circuit magnetic MC ‚15 activated | Not activated. (Replace the MC) —
Icontactor (MC) |within several sec- [Contact your
internal (Wire break in the|onds after emer-|_ ——IVASK AWA repre-
© coil or loose con-|gency stop is can- ; | : |
Operation tact) — celed. Activated. | al |sentative.]
(F200) Check if the fault Reproduced. Replace the control
Controller fault ес au — ,
- can be reproduced. Not reproduced Continue operation
° [with care. |
Repair the inverter.
Check the resistance | Abnormal (Replace the IGBT
IGBT fault value of the IGBT for braking.)
for braking. . [Contact your
Braking module for braking hs
Transistor ' Within spec- YASKAWA repre-
Error fications «= sentative. ]
(F301) Replace the control-
С {Check if the fault Reproduced. ler.
ontroller fault ; ;
can be reproduced. Continue operation
Not reproduced. with care
: Check the cooling |Cooling fan fault Replace the cooling
Cooling fan fault an.
; . ¡fan mounted on the :
| (Capacity exceeding |: t ide i Cooling fan power
Cooling 1.5kW) iverter rear SiGe 18) cupply (19CN) is |Insert 19CN
Fan operating. 1pply
Error disconnected.
(F302) Reproduced. Replace the control-
ler.
Not reproduced.
Continue operation
with care.
100
Table 10.1 Fault Cause and Action to be Taken (Cont'd)
Situation of Fault
Troubleshooting
Activated | 5 2 2 515
Protective = | © £ ss = Fault Cause Remedy
Function | 218] 6| 83 ©
à S|É 2 2j# Checking Procedure Result
“| 856 2 #8
Voltage is out oflAdjust power volt-
Power voltage is too Check voltage the specification age within specifica-
high. between input pins. T478€- tion range by a tap
Normal ol changer.
c Disagreed with
heck control con-|control constant
Motor code stant C1-25 on the in the list. Correct the control
selection error A constant.
parameter list
Agreed. «=
Inverter O Disagreed with
Over- Control constant Check the contro control constants Correct the control
. in the list.
voltade setting error constant.
g parameter list.
(F400) Agreed. «=!
Fault of the main Check whether the | Repair the inverter.
circuit magnetic MC is activated Not activated. (Replace the MC.)
contactor (MC) |within several sec- Contact your
(Wire break in the|onds after _emer- VASKAWA repre-
cor or loose con- gency stop is can-| a tivated. ll sentative.
Replace the control-
Check if the fault Réproduced. ler.
O|O|O0 O|O O Controller fault :
can be reproduced. Not reproduced Continue operation
p ° {with care.
Malfunctionin Check encoder cable| Not a twisted pace the encoder
because of noise specifications pair shielded [Recommended
O ООО (Poor encoder cable (whether the cable 15 wire cable: KQVV-SW
characteristics) ed wire). р Normal manufactured by
«= FUJIKURA Ltd.]
Check for abnormal
changes of motor Speed is Replace the encoder
O O Motor encoder speed on the speed-|abnormal. [Contact our
Moter fault ometer or operation YASK es A repre-
Over- status display ive.] р
(F500) Disagreed with
Control constant Check the control control constants Correct the control
setting error constants on thelin the list. constants
8 parameter list.
01010 610 0 Agreed. «=
Replace the control-
Reproduced.
Controller fault Check if the fault? ler.
can be reproduced. Not reproduced Continue operation
p “ |With care.
101
Table
10.1 + Fault Cause
and Action to be Taken (Cont'd)
Situation
of Fault
Troubleshooting
Activated | 3 £ £1515 a. =
Protective | £15 EF 8 #5 Fault Cause Remedy —
Function |3 5 5 83 2/7 a Co |
à 8 822€ Chécking Procedure Result =
«< |5 68 8 2 | RE НЕ
Wide distortion of Check waveform of! There is a gap in| Modify power
power voltage .. ¡voltage between voltage wave- supply system.
| | — |input pins. (Must be! form” | |
Wide ree hom Large Correct the cause of
| | Ni И gaps) [An oscillo- IN | J power distortion.
| — scope is necessary.) | ° 22P- <>”
Power 17 Phase is missing
Voltage |Open phase in power or power loss Correct the
| | power
Error 1 BE current or power occurred. _ source.
Power |? O OOOO | Check voltage Normal pr |
Voltage [Power voltage is|between input pins. | Voltage is out of | д: EE
Error 2 low (because regen-| = [the specified ow od
(F604) erative performance range. ge WI Speciliec:
p g b {
is deteriorated by | range by a Lap.
| Normal ‘ ] changer.
voltage drop). , |
Ш В Керго duced. Replace the control-
Controller fault Check if the fault| = Je
| can be reproduced. Not reproduced | Continue operation
| | р —<l with care. |
| | Overloaded )
: Check load status on |
O {Motor overload the load ratio meter. 1. Reduce load.
| Normal «= |
| 3 Fre uent
Frequent accel/ Check frequency of N Reduce frequency of
O10 decel accel /decel from y accel/ decel
operation pattern. ) Normal : | -
| | Erroneous |
Erroneous wiring or Check wiring нае .
. | wirin |
connection in the between the inverter e Correct circuit of
main circuit and the motor. Proper wiring ‘ J © main circuit.
Check for abnormal - | _ Replace the encoder
| | —. |changes of motor |Speed is the n te ÉRCOCET
quero Motor encoder speed. on the speed-|abnormal. IC fact or.
utput [fault jometer or operation | ontact your
Over- : YASKAWA repre-
load status display Normal tative]
ra (V1-01). Norn tal sentative.]
о -| Disconnection, | Ш Erroneous E.
О O |erroneous connec-|Check wiring of the wiring Correct wiring of
| | tion, or loose con-lencoder signal — |the encoder signal
nector in the en-|wires. ' | wires.
coder signal wires Proper wiring Mr
Check . ¡Disagreed with| . =
eck control con-icontrol constant
Motor code stant C1-25 on the in the list. Correct the control
selection error parameter list constant.
Agreed. «=
Disagreed with
Control constant Check the control control constants Correct the control
; constants on the lin the list.
setting error parameter list constants.
Agreed. «=
102
Table 10.1
Fault Cause and Action to be Taken (Cont'd)
Situation of Fault
Troubleshooting
Activated |Z E|B| S| &
Protective | £|& | £| 8] 2 € Fault Cause Remedy
Function | = 8/8 $ # -
a SS > 2|£ Checking Procedure Result
> æ > = "= ===
Z| 8&8 =
Inverter R Replace the control-
. : eproduced. |
й ег.
Output. OlOlolololo [Controller fault Check if the fault
can be reproduced. Not reproduced Continue operation
(F700) р * IwIth care.
Check if load is!Overloaded
Motor overload excessive or a blade Reduce load.
is caught. Normal <
O Tor
; que was
Torque limiting Check if external limited. Cancel torque
operation torque limiting sig- limit;
p nal TLIM was input, | ! Orque was od re
not limited.
Disagreed with
Check the control control constants
О О Control constant constants on the lin the list Correct the control
setting error . constants.
parameter list.
Agreed. <=]
Erroneous wiring or |Check wiring Erroneous Correct wiri f
connection in the between the inverter IDE the main circuit ©
main circuit and the motor. Proper wiring at circtit.
Excess О OOO Disconnection, errone-| Chuck wiring of th Erroneous С _. {
Speed ous connection, or eck wiring of the \wiring orrect wiring ©
Deviation loose connector in the encoder signal the encoder signal
(F800) encoder signal wires | WU5- Proper wiring «= WITES.
o Check encoder Not a twisted | Replace the encoder
Malfunctioning signal wire pair shielded signal wire.
because of noise |specificaitons [ Recommended
O O >, wire
(Poor encoder signal | (Whether the signal cable: KQVV-SW
wire characteristics) | Wire is a twisted N manufactured by
pair shielded wire). omal «=| FUJIKURA Ltd]
Check for abnormal
changes of motor Speed is Replace the encoder
Motor encoder speed on the speed-|abnormal. [Contact your
fault ee or eration YASKAWA repre-
O O O O O O (V1-01) Normal < sentative.
Replace the control-
Reproduced.
Check if the Таш | ^°Р ler.
Controller fault b duced . .
can be reproduced. not reproduced Continue operation
" [with care.
. Motor Tempera-
u - a
. + tupper limit.
Motor Motor overload operation status dis- er 1 cool the motor.
Thermal play (V7-01) otor empera- <
ture is low.
Error 1 Erroneous
(F900) Disconnection in the ЩИ Ap Correct wiring of
OO |O|motor cooling fan Check wiring on the wiring the motor cooling
Motor power cable В "| Proper wiring | ‘ | fan power cable.
Thermal
FOOD Turn ON power and Cooling air coo oe or the
¡ ; flow.
Motor cooling fan |check if motor (4005 100 10%: | motor. [Contact
normal Normal «= your YASKAWA
representative]
103
Table 10.1
Fault Cause and Action to be Taken (Cont'd)
Situation of Fault |
Tal. = Troubleshooting |
Activated | 5 | E 2122| -
Protective | = 52 > 5 5 Fault Cause Remedy
Function | = 8 5 2 217 | о a |
a ® = 2 25 Checking Procedure Result
1 Clean the motor.
| [Disassembling and
Ш — |Excessive cleaning may be
| Deteriorated Check for dust and! dust/ oil required depending
Motor OO motor cooling oil in the passage of on extent of
Thermal performance motor cooling air. contamination.
Error 1 a | Contact your
(F900) Normal ‘ | io repre:
Motor - Check wiring of Erroneous Ce
Thermal | — |Thermistor signal [the motor ther- wiring Correct ining of
Foon) al wire disconnection |mistor signal Proper wiring for signal wires.
O О O O O | WITES. <ul
eo: Reproduced. Ren] th
Controller fault — [be © the oo Rn controller.
| D * | Not reproduced.
| | Warm the ambient
| | —10°C or lower |air to —10C or
ol lo ‘Motor temperature Check motor | higher. [Monitor the
is low. motor temperature
temperature .
| p | ~10C or ¡on operation status
Motor | ‚higher ta display (V7-1).1
Thermal Check motor tem- o a
<A —10C or lower 0:
Error 3 Thermistor signal | perature on the — . Correct wiring of
(F902) wire disconnection [operation status dis-| —10C or |
| | play (V7-01). “higher dual tor signal wires.
010101010 В o Replace the control-
ea Reproduced.
Controller fault Check if the fault| ler.
= can be reproduced. Not reproduced Continue operation
| |with care.
| | . , |Heat sink tem-
Comer pen sink perature is near
| N . |the upper limit. ti
Inverter overload — |operation status dis- "PP Stop A and
play (V1-13, heat Heat sink coo e inverter.
sink temperature). temperature «=!
is low. |
| Turn ON power and| Cooling air does|Replace the inverter
Inverter cooling check if inverter [not flow. cooling fan. [Contact
fan fault | cooling air flow is Normal your YASKAWA rep-
O10 normal. orma od resentative |
| Clean the heat sink
Hert I of the inverter.
Sink Excessive [Disassembling and
Th | Deteriorated heat dust ~ oil. cleaning may be
Error 2. sink cooling ón gor dust and > ei required depending
(F904) performance | - |on the extent of con-
| | tamination. Contact
your YASKAWA
| Normal <d representative]
Check wiring of the |Erroneous Correct wiring of
Thermoswitch signal |heat sink ther-|Wiring the heat sink ther-
wire disconnection moswitch signal |Proper moswitch signal
ololololo wires. | wiring <a wires.
| ; |Replace the contol-
| , Reproduced.
Controller fault Check if the fault ler.
| can be reproduced. Not reproduced. | Continue operation
Р [with care.
104
Table 10.1 Fault Cause and Action to be Taken (Cont'd)
Situation of Fault
, - a Troubleshooting
Activated | 5 E | S 2/2
Protective | $ DIT S|2 = Fault Cause Remedy
Function = 581518 % ©
2 |8 |8 | | е| = Checking Procedure Result
| 8 5332
Capacitor volt- .
Check whether the |age is not greater Repair the Inverter
Fault of the main circuit than 1.2 times of (Replace the charge
charge current capacitor is charged | the input voltage current (Contact
Initial suppression resistor jon operation status|{rms). our YASKAWA
Charging display (V1-14) : у |
Incom- |O voltage is <l representative. ]
plete normal.
(FAO) Reproduced Replace the control-
Controller fault Check if the fault ler.
can be reproduced. Conti
Not reproduced. ontinue operation
with care.
Repair the inverter.
Check the Not conducted. |(Replace the fuse
Blown fuse conduction of 2nd [GBT
the fuse (FU1). . ontact your
Blown Conducted. «dl YASKAWA repre-
Fuse ОО ОО ОО sentative. ]
(FAO1) Reproduced Replace the control-
‘ . nu ler.
Controller fault Check if the fault
can be reproduced. Conti eG
Not reproduced. ontinue operation
with care.
Controller
Replace the
Fi
1 100 Reproduced. controller.
(Fb00 to
03
FdOO.FEOO
Check if the fault
to 03) OOOO IO LO ¡Controller fault can be reproduced.
1/0
Error
Во Continue o
peration
Ca to Not reproduced. | ah care
105
Table 101 Fault Cause and Action to be Taken (Cont'd)
Situation of Fauit
т
2 | Troubleshooting
Activated | O ® 8 |5 |5 В
Protective | 512 2 EE ES Fault Cause Remedy
Function | 2|5|5|8|8|2
£ EE ÉSE | Checking Procedure Result
= | ее’ | +
= 22/2 EE
< | OO | OL Als Z|
Ш -|Disconnection, erro- Erroneous
Discon- “Ineous connection, or ¡Check wiring of the Wiring Correct wiring of
nection - | |. Hoose connector inlencoder signal the encoder signal
in Speed | | the encoder signal|wires. |Priper wires.
petec- 010 0 0 Ojwires e wirmg <
ion ‹ | _
Signal a Reproduced Replace the
Wire Controller fault Check if the fault | controller.
(FCOO) | can be reproduced. Not reproduced Continue operation
| Р SC. | with care.
(Inverter output wir-| | _ .¡Erroneous |
ing (U,V,W) discon- Check inverter De wiring Correct inverter out-
nection, or erroneous motor Proper ] put wiring.
connection wiring |
| Check for the detec speed not Replace encoder and
| tion of motor speed |
detected. motor. | Contact your
Load | Motor encoder fault {on speedometer or
| N . YASKAWA repre-
Error O| (10/10/01 | operation status dis- sentative. ] |
(FCO1) | play (VI-01). Normal pr UT
| | Reproduced. Replace controller.
. Check if fault can be| _
Controller fault reproduced. = | )
Not reproduced Continue operation
with care.
Compare controller| Replace with proper
Controller and code number and|Mismatched. applicable PROM.
PROM versions PROM "number to [Contact your
Soft unmatch. check applicable YASKAWA repre-
Version version. Normal a sentative. ]
Unmach
(FdO1) - Replace the .
| Check if the fault? Produced. controller. —___
Controller fault | 7 ;
can bereproduced. \Notrenroduced, [Continue operation
Р “ | with care. |
¡Disconnection in the Check wiring of the Wiring — Correct wiring of the
N load axis encoderiload axis encoder load axis encoder
Position phase-C signal wire signal wire. Proper «ad | Signal wires.
Detector WINDE |
Fault 1 Turn the load axis
(Fd11) by hand and monitor Remains OFF. Replace the load
| . operation status dis- ;
Discon- road axis encoder play (V1-10) to
nection O auit check whether [ORG]
mn. signal lights onceper Lights. Tune up again.
Position rotation. |
Detector
Sianal Check phase-A,-B,| Phase -A, -B, and . |
Woes and -C pulses at the|-C phases are nor- Керасе (he orienta
(Fd16) Orientation card check pins on the|mal.
fault orientation card.
[An oscilloscope is Pulses are Replace the load
necessary, | missing axis encoder.
106
Table
10.1
Fault Cause and Action to be Taken (Cont'd)
Situation of Fault
= Troubleshooting
Activated | O ® ® |5 |5
Protective | $ |5 £15 3 Z Fault Cause Remedy
Function 2 5 |5 8 |8 | ©
о | ® | ® > 7 £ Checking Procedure Result
8838 2
N Check phase-A,-B, Pulses are
Position and -C pulses at the|missing or
Detector Load axis encoder|check pins on the|pulse width is Replace the load axis
Saul fault orientation card. abnormal. encoder.
[An oscilloscope is Pulses are
(Fd12) O necessary, | normal. «=!
Position
Detector Reproduced Replace the control-
Fault 3 С Check if the fault ler.
ontroller fault ; po -
(Fd13) can be reproduced. N Continue operation
ot reproduced. with care
Adjust according to
Tune-up Par.8.4,
Incom- O aba as — — "ADJUSTMENT
plete completed - PROCEDURE AND
(Fd14) pleted. CONTROL CON-
STANT SETUP.”
O eae on Modify the circuit so
: INC error that is com-
[INC |was turned О o manded after abso-
INC OOO! ON while the mo- Run again using the|occurred again. lute positioning is
(Fd15) rameters to repro-
INC |was turned duce the fault.
ON before abso- ; Continue operation
О lute positioing is Normal with care.
performed.
| n- ; ; - . Erroneous CL.
DISCO Disconnection in the Check wiring of the wiring Correct wiring of
in magnetic sensor magnetic sensor TT the magnetic sensor
Magnetic signal wire signal wire. ope dal signal wire.
Sensor :
Signal Turn the load axis 1
Wire O by hand and monitor ¡Remains OFF. A the or
(Fd17) Magnetic sensor operation status dis-
i" fault play (V 1-10) to
Position au Lo
check whether | ORG |
Detector Е 1 lights once D rit; ;
Fault1 signal lights once per Lights. Tune up again.
(Fd11) rotation.
Mismatched orienta- ¡Check the orienta- Disagreed = with Set th al
tion card and orien-|tion card type and in the list ты th E ontrol e ue
tation selecting pa-lorientation selecting tant. contro! con-
signal (bit 0 of C1-39 ;
rameter signal ( 0 ) Matched. |
Orienta- shecle à ; a
tion Defective mounting C ec that the con- .oosened. Insert the connector
Card O f orientation card nector (22CN) is ın-
Mismatch ob orie serted securely. securely.
(Fd18) Normal tai
Reproduced Replace the orienta-
Orientation card er- Check if the fault tion card.
ror can be reproduced. ; .
| Continue operation
Not reproduced. with care
107
— Table 10.2 Cause of Troubles and Action to be Taken
Situation of Fauit
Zl= 1» Troubleshooting |
Q ® |5 |5 | |
Trouble | 5 5 SEI Fault Cause Remedy
2|5I5/81 8/12
© EE >> Checking Procedure Result
z & 85 225 НИ
| | Check | Disagreement
Motor code selecti eck control con- ¡with control con-|Change the control
| error code seiection stant “les in the |stant in the list. | constant to the proper
ha parameter list. В
| | Matched value
Unregis- Controll d PROM | Check the applica- Mismatched Replace the Proper
tered | ont и ica ;| ble PROM version applicable PROM.
Motor |O |Versions disagreement| ;n the list. - [Contact your YASK-
code | Normal AWA representative. ]
(FEOS)
Rep ro duced Replace the control-
Check if the fault ler.
Controller fauit can be reproduced. -
+ | ontinue operatio
Notreproduced with care. |
e Check that the conn- Loosened
Digital operator CON-| ector (3CN) is in- |. —— Insert the connector
| - serted securely. Normal again securely.
Fault 1 Disconnection in the| Check the wiring |. И o
(CPF 00) reference voltage (+ | of reference volt- Erroneous wiring | Correct wiring of the
15V) signal for ana-| age (+15V) signal | reference voltage
CPU — O10 1010100 |log speed reference. | (ICN-1). (Normal (+15V) signal.
Fault 2 | -
(CPF 01) Rep roduce а Replace the control-
N Check if the fault | | ler.
Controller fault can be reproduced. — —
- Not re produced Continue operation
| with care. |
108
Tabel 10.2 Cause of Troubles and Action to be Taken
Situation of Fault
z-|3 els sg Troubleshooting
G|5 2 #15
Trouble | 5 |5 |= | $ | © 8 Fault Cause Remedy
35858228% |
с |8 |8 | е| =| Checking Procedure Result
Z| 8 & 5,83
Check for errors on Protective une. Start troubleshoot-
; __ _ |the digital operator|tion Nas been ing according to
Protective function in protective func- activated. Table 10.1 “Fault
tion operation dis- cause and action
play mode. Normal. <a | tO be taken.”
Disconnection or Check wirin Erroneous
erroneous 8 wiring. Correct wiring of
connection in the between the inverter Pre the main circuit
a and the motor. roper od
main circuit WIring
Check operation status
display (V1-09) to see
whether the following
sequence input signals
are input:
+ Operation ready Control Modify the circuit
. . LADY] signals are odily the circu
Control signal 1s not fr ency stop missing so that control
functioning. EMG a - signals are input
- Operarion | FWD ] or properly.
| REV |
The Also check operation
motor status display (V1-02)
does not O O to see whether the
rotate. speed instruction
COM 15 input. Normal I
. Torque 1s
Check if external limited Cancel torque
Torque limiting touque limiting : limitin q
FTLIMJ is input. Torque 18 1Imiting.
«=
not limited.
Break in wire in
motor windings
Check resistance
between motor pins.
[A circuit tester is
necessary. |
Winding resistance
is abnormal.
(Infinity)
Normal
«+
Replace the motor.
[Contact your
YASKAWA
representative]
Motor fault
- The rotor and the
Turn the motor
The shaft does
not rotate.
Replace the motor.
stator are in con- ; Contact your
tact with each Shaft by hand to see| The shaft Contact
other. if it moves. rotates «=! representative]
- Bearing is broken. easily.
Reproduced. Not reproduced.
Controller fault
Check if the fault
can be reproduced.
Replace the
controller.
Continue operation
with care.
109
Table 10.2 Cause of Troubles and Action to be Taken (Cont'd)
Situation
of Fault
=|® || Е! Е Troubleshooting
6152 58 Bra
Trouble 5 5 5 5 = Fault Cause Remedy
5 | 5| 5 | 8 | &| = |
CSS E | Checking Procedure Result
Xx |5 |5 |8 |8 |=
Disconnection or|m. о Erroneous
erroneous connec- Check wiring rter wiring Correct wiring of
tion in the main d he — the main circuit.
circuit and the motor. Proper
| о wiring +.
Disconnection, erro- | Erroneous | -
neous connection, or | Check wiring of wiring Correct wiring of
loose connector in |the encoder signal — the encoder signal
the encoder signal |wires. Proper wires,
wires. | wiring «=
The Check for abnormal |
motor changes in motor |Speed is Re piace the encoder
rotates Motor encoder speed on the speed-|abnormal. [Contact your
slowly, fault | ometer or operation Y ASKAW A
or only status display :
vibrates O O (V1-01). Normal. <al representative. |
but Disconnection or| -
| | | Erroneous os
does not |erroneous connec-|Check wiring of the wiring Correct wiring of
rotate at tion in the speed|speed instruction = the speed instruction
alt. instruction signal [signal wire. Proper signal wire.
wire wiring «+
Torque is
Check if external |ı;mited
Torque limiting torque limiting sig- Torque те ne
nal TEM) is input. LUC |
PU | hot limited. «=
Replace the
| . Reproduced.
Controller fault Check if the fault” controller.
can be reproduced. ; ;
| P [Not reproduced. Continue operation
Erroneous connec- | .
The motor tion in the signal Check wiring Erro Correct 1 ire: of
O in th : ding to th rroneous e signal wires o
reverse res I tor en. connecte, dia © m, | WITiNg the main circuit
direction. о CH-[CON on diagrati. a motor encoder.
coder.
Check speed instruc-| Commanded speed Readiust speed com-
Speed instruction |tions on operation |is abnormal. just Speed
. ; manding function of
signal error status display | the high +
LS Disagreed with
. heck -|control constant
Erroneous setting of Check CL trol the in the list Correct the control
motor rated speed на : constant.
| parameter list.
The Agreed. < |
me Motor spe
rotate at O O | Motor speed Check motor speed disagrees with 4 |Adjust motor speed
com- adiustment error — |9N operation status 1 coMmanced | using control
manded ) display (V1-01). value. constant C1-12.
speed. Normal | <ul |
Check if external jp ordue is
Ca torque limiting limited. Cancel torque
T ] , , a
orque limiting signal TLIM | 1s Torque is limiting.
input. not limited. |<
Reproduced Replace the control-
Controller fault Check if the fault| ler.
| can be reproduced. 1 i
р Not reproduced. Continue opération
110
Table 10.2 Cause of Troubles and Action to be Taken (Cont'd)
Situation of Fault
Е 3 slsg Troubleshooting
Trouble | £15 | £| 8 : ® Fault Cause Remedy
= 8825 = ;
© 3 6 | © | е| Checking Procedure Result
Z| 8&3 3
Disagreed with
Soft starter time set-|Check control con-|control constant С E th trol
ting error (Set time|stant C1-10 on the in the list. sta + © contro
is too long.) parameter list. constant.
Agreed. <td
Disagreed with
Check control con-|control constant
Motor code stant C1.25 on the |in the list. Correct the control
selection error parameter list constant.
Agreed. td
Extended T .
Accel / orque is
O OO Check if external |jimited
decel Torque limiting torque limiting sig- _ Cancel torque
Time nal | TEIM) is input. | Torque is - | y |miting
not limited.
Check load status on|] pad is Keduce loss and iner-
the load ratio meter | ou mea. tial momentum of the
Excess load on the for loss and inertial excessive. load machine. Increase
load machine momentum of the drive capacities of the
load machine Normal pinverter and the
` motor.
Replace the
: Reproduced.
Check if the fault Р controller,
Controller fault . .
can be reproduced. Continue operation
Not reproduced. with care
Check wiring Erroneous
Disconnection in the between the wiring Correct wiring in
main circuit inverter and the Proper the main circuit.
motor wiring <a
Check continuity of Grounding i
. S .
Grounding error of|the motor and the |; ng Use pin E and
| insufficient.
the motor or the linverter to see if securely ground the
inverter they are securely equipment.
grounded. Normal «=
o Check encoder cable| Not a twisted Replace the encoder
м alfunctioning specifications pair shielded cable [Recommend-
(whether the cable is | WITE ed cable: KQVV-SW
Motor (Poor encoder cable De
noise characteristics) a twisted pair shield- Normal manufactured by
and о! loolo ed wire). <el FUJIKURA Ltd]
vibration Control constant Disagreed with
are high. setting error Check control con- [control constant de control
(especially the speed |stants on the in the list. constants
control proportional parameter list. Agreed
control gain) 8 «=
| ‚ Loose , .
Motor installation|Check for loose Tighten mounting
error mounting screws. Normal I SCrews.
Not dynamically | Replace the motor
Unbalanced motor Check. balance of ¡balanced [Contact your
the rotor «| YASKAWA
Normal representative. ]
111
Table 10.2 Cause of Troubles and Action to be Taken (Cont'd)
Situation of Fault
=|8|=| Е| Е Troubleshooting a
Trouble | { & 213 5 « Fault Cause Remedy
=12 2 2 & © | a
c|S5 5 225 Checking Procedure Result
Run single motor Out of | u
ton bearing alone, and check if specifications Replace the motor.
fault noise and vibration ——— YASKAWA
. Rotor fault are within the speci-| Within tative]
0 a fications. specifications «=! representative
| . Coupling or
| Check coupling and positioning
| Positioning or load-{positioning accord- precision was Readjust coupling
Imachine coupling ¡ing to Par. 3.1.3, insufficient. and perform
error “Connection МВ — positioning again.
Motor Load Machine.” Normal |
noise —
and O ООО | a Check. for deforma- Deformation "e
vibration | 5 Insufficient strengthi{tion or resonant resobant PON! | Reinforce the
are high. of the load machine. point on the load was ound. load machine.
| machine. Normal <a
| ВЕ | Loose bolt was
| Loose foundation Check fo r loose found. Tighten the
bolt | foundation bolt . E foundation bolt
` on the load machine. | Normal | 6 | u on Jos.
— |Replace the
‚ Reproduced.
Controller fault ¡Check if the fault. — controller.
| can be reproduced. | i i
| | р | Not reproduced. Continue operation
Check that opera- : Change the refer-
| tion signal (FWDjor Operation ence circuit so that
| . — 2 signal is not . : с
Control signal [REV ) is open open. operation signal will
Motor “does not operate. according to opera-| be open without fail
| — [tion status display Norm - when the spindle is
ormal. |
сое not © (V1-09). 0 «=! stopped.
: В | Replace the
| a Repr ed.
Controller fault [Check if the fault| oP oduc controller.
o can be reproduced. |... — |Continue operation
ll Not reproduced. and check the status.
| Check that orienta-! Cont o LL
| : . : ntrol 1
| Orientation signal Vo" signal 18 not input. © о that the control
le not input. | closed according tol nal will be i о
PU operation status dis-|y, но signal will be input
| play (V1-09) | Normal dead Normally. |
Verify selection sig- |
nal setting to com-|
Motor pare it to the settin Does not match
and. |with control con-
does not | Improper selection C1-39 bit 0 |stant in setting Change the control
stop at © signal setting 0:Encoder type list constant to a proper
orienta: 1: Magnetic value. |
Ion. sensor type
C2-22 bit 6
0: Spindle encoder |
1: Motor encoder | Matches. «=
Encoder signal PE Improper |
Check wiring of |...
. disconnection, to lencoder signal. wiring Correct the encoder
[encoder type] "lines. [Normal | signal line wiring.
| wiring «=
112
Table 10.2 Cause of Troubles and Action to be Taken (Cont'd)
Situation of Fault
< || = | = Troubleshooting
55258
Trouble | £ | | £| = i 8 Fault Cause Remedy
2 1 5168 8 =
© 88 > 2 Checking Procedure Result
< E58 5315
Varify that the motor |Speed indicates |Replace the encoder
Encoder fault speed changes nor-[an abnormal or motor.
[encoder type] mally by speedometer | Value [Contact your
yp indication or operation YASKAWA
status display (V1-01). | Normal «dl representative. ]
Magnetic sensor signal Improper
disconnection, improper |Check the wiring of wiring Replace the
connection, removal of| magnetic sensor sig- orientation card or
Motor connector [magnetic sen-{nal lines. Normal controller.
does not sor type! wiring «=
stop at O Rotate the spindle
опеп- Fault of magnetic |and verify that the|p li
tation sensor or magneto signal lights oes not light. Replace the vor
[magnetic sensor | once per rotation by or © a9neto
type | operation status dis- Lights 8
play (V1-01). «=
Replace the orienta-
Reproduced. tion card or control-
Fault of orientation|Check if the fault ler.
card or controller ¡can be reproduced.
Continue operation
Not reproduced. :
with care.
Check whether the Improper posi-
Improper setting of | position reference iS | +ion referec .
ВЕ : e
stop position refer-|correct by operation Give a proper stop
ence status display position reference
(V2-04). Normal «dl
Improper selection Verify the control Does not match the
constant setting and ;
of binary/ BCD ref- compare it to the control constant in Change the control
erence or improper cettin list the setting list. constant to a proper
setting of BCD refer-|", 02.99 bit3 value.
stop ence resolution . 09.12 Matches. ti
position Improper setting of Perform positioning |Zero-point Perform adjusting
differs а na die zero. = nt at zero-point posi-|position differs. |operation again and
from В Ол р tion to measure the set the spindle zero-
the Р position accuracy. |Matches. td point again.
com- ©
manded Encoder signal line Improper
postion discomection, | Check the wiring of Wiring Correct the wiring
type.) removal of con- encoder signal lines. Proper lines.
nector Wiring
. e Twisted pair Replace the encoder
Maifunction by Check the specifica- shielded cable is|cable. [Recommended
noise [encoder sig-|tions of the encoder | +" cod cable: KQVV-SW
nal line characteris-| cable (if it is twisted - made by FUJIKURA
tics fault] pair shielded cable.) | Normal «= Lid]
Replace the
Reproduced.
Controller fault Check if the fault ’ controller.
can be reproduced. ; i
p Not reproduced. Continue operation
with care.
113
Table 10.2 Cause of Troubles and Action to be Taken (Cont'd)
Situation of Fault
> 3 elsls Troubleshooting ВЕ
Trouble | &|2 3 à 8 Fault Cause ~~ Remedy -
21515 2 LL, SEE
CEE > 25 | Checking Procedure Result
< |8 |888 & | |
(Check that the sen-
sor or magnetizer is M ted in th
a: mounted properly, {Mounted in the
Magnetic sensor or referring to Par opposite direc- ;
magnetizer is nn à ' ti Perform tuning
Stop mounted in the Mon Magn oper a d von operation again.
position opposite direction. |Mountin g” and Par.
differs 5.2.7, “Mounting
from Points”. Normal <À
e —
com 12 M ti ig- Improper |
manded an Magnetic connec. Check the wiring of wiring Correct the: wiring
position tion. removal of con- the magnetic sensor of the magnetic sen-
(magnetic hector signal lines. | Proper sor signal lines.
sensor о | wiring «| | ВЕ
‘уре) В “ ; )
Replace orientation
Ori . . Reproduced. card or controller,
rientation card or|Check if the fault | |
controller fault can be reproduced. Not reproduced Continue operation
| | Р ° [with care.
Check that orienta- Control signal is en
Orientation signal thon Signal [ORT] is not input. ° с “hat the Control
is not input. | Gosh display N signal ‚will be input
| 1 v1-09), ormal «ul normally.
|Improper setting of Check that selection Bit 4 is not set to
selection signal signa | 22, C3-2211 after comple-| Set the selection sig-
(Completion signal ot 4) is set correct- tion of tuning. |nal (C2-22, C3-22) to
is not output at tun- 0-Tuni “1”
RL int : Tuning enabled. | Normal - |
ing of intial setting.) 1: Tuning disabled. Norma tal
Check that speed Machine specifi-
changing ratio (Cl- cations do not|.
Improper setting of 27 to 29) are set to! match the speed Change and set the
speed changing ratio proper values by changing ratio. speed changing ratio
SY comparing them to to a proper value.
Ш | the machine specifi-|_ | Е
Orientation cations. Р Matches. «al
completion O — |
signal is | Check that no vibra-| y: Е
not output. Position control tion occurs in the Vibrates. Decrease position
. 2, control proportional
proportional gain is forward and reverse ain unless vibra-
high. directions near the Does not Con disa ears.
stop position. vibrate. «=! ppeats.
— |Check that the spin- Stop reference Decrease position
| osition is not ;
Position control ~|dle has reached the D hed — [control proportional
rovortional gain is STOP position by | ace gain so that position
low a Le operation status dis-| control proportional
play (V2-03 or gain reaches the ref-
V3-03). Reached. «=! erence position.
o Reproduced, era e
Orientation card or ¡Check if the fault] e _
controller fault can be reproduced. Contin ti
| Not reproduced. munue operation
with care.
114
11. SPARE PARTS
It is recommended that friction parts to be replaced for safe use of the VS-626 VM3C for a long time
span. Refer to Table 11.1 and 11.2 for list of spare parts.
Contact YASKAWA CONTROL Co., Ltd. about spare parts.
Table 11.1 Common Spare Parts
Spare Part Names
Control Board Power Supply Board Digital Operator
Specifications
Model — — JVOP-100
Code No. ETC62201 -S —— ETC67010 CDR000070
Quantity 1 1 1
Table 11.2 Spare Parts
Soc Names | Power Supply | Main Circuit | Main Circuit Fuse Cooling Fan
VS-626VM3C Model Board Transistor Diode
Model — 6MBI15L-060 10L6P44 CR2LS-10/UL —
CIMR-VMC20P4 i Code No. | ETP67002. . | STR000417 51D000429 FU000823 —
В Q'ty 1 1 1 1 —
Model — 6MBI20L-060 20L6P44 CR2LS-10/UL —
CIMR-VMC20P7 | Code No. | ETP67023 | STR000418 SID000433 FU000823 —
Q'ty 1 1 1 1 —
Model — 6MBI30L-060 | 6RI30E-080 |CR2LS-20/UL| 4710NL-05W-B49
CIMR-VMC21P5 Code No. | ETP67024: : | STRO000419 SID000430 FU000799 FAN000175
Q'ty 1 1 1 1 1
Model — 6MBI50L-060 | 6RI30E-080 !CR2LS-30/UL_ 4710NL-05W-B49
CIMR-VMC22P2 Code No. | ETP67025.. | STR000420 SID000430 FU000791 FAN000175
Q'ty 1 1 1 1 1
Моде! — MA75J2YS1 ¡6RIS0E-080M5 CR2LS-50/UL 4710NL-05W-B49
CIMR-VMC23P7 Code No. | E TP67026 STR000339 512000431 FU000797 FAN000175
Q'ty 1 3 1 1 1
Model — MG100J2YS1 6RI75E-080 CR2LS-50/UL | 4710NL-05W-B49
CIMR-VMC25P5 Code No. | E TP67027 STR000340 S1D000432 FU000797 FAN000175
Q'ty 1 3 1 1 1
Note : Spare parts in] are recommended to be replaced by units, to maintain the quality.
115
E
Varispeed-626VM3C DRIVE
INSTRUCTION MANUAL
TOKYO OFFICE New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo 105 Japan
Phone 81-3-5402-4511 Fax 81-3-5402-4580
YASKAWA ELECTRIC AMERICA, INC.
Chicago-Corporate Headquarters 2942 MacArthur Blvd. Northbrook, IL 60062- 2028, U.S.A,
Phone 1-847-291-2340 Fax 1-847-498-2430
Chicago-Technical Center 3160 MacArthur Blvd. Northbrook, IL. 60062-1917, U.S.A.
Phone 1-847-291-0411 Fax 1-847-291-1018
MOTOMAN INC.
805 Liberty Lane West Carroliton, OH 45449, U.S.A
Phone 1-937-847-6200 Fax 1-937-847-6277
YASKAWA ELETRICO DO BRASIL COMERCIO LTDA.
Avenida Brigadeiro Faria Lima 1664-5" CJ 504/511, S3o Paulo, Brazil
Phone 55-11-815-7723 Fax 55-11-870-3849
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone 49-6196-569-300 Fax 49-6196-888-301
Motoman Robotics AB
Box 504 S38525 Torsás, Sweden
Phone 46-486-48800 Fax 46-486-41410
Motoman Robotec GmbH
Kammerfeidstrage 1, 85391 Allershausen, Germany
Phone 49-8166-900 Fax 49-8166-9039
YASKAWA ELECTRIC UK LTD.
Unit2 Centurion Court Brick Close, Kin Fam, Milton Keynes MK11 3JA, United Kingdom
Phone 44-1908-565874 Fax 44-1908-565891
YASKAWA ELECTRIC KOREA CORPORATION
Paik Nam Bldg. 901 188-3, 1-Ga Euljiro, Joong-Gu Seoul, Korea
Phone 82-2-776-7844 Fax 82-2-753-2639
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone 65-282-3003 Fax 65-289-3003
YATEC ENGINEERING CORPORATION
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan
Phone 886-2-563-0010 Fax 886-2-567-4677
BENING OFFICE Room No. 301 Office Building of Beijing Intemational Club, 21
Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-532-1850 Fax 86-10-532-1851
SHANGHAI OFFICE 27 Hui He Road Shanghai 200437 China
Phone 86-21-6553-6060 Fax 86-21-6553-6060
YASKAWA JASON (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone 852-2803-2385 Fax 852-2547-5773
TAIPEI OFFICE Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan
Phone 886-2-563-0010 Fax 886-2-567-4677
YASKAWA ELECTRIC CORPORATION
YASKAWA
MANUAL NO. TOE-S626-5B
© Printed in Japan June 1997 93-11 0.52 @
185-2441
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