YASKAWA VS-616PS5 Series Programming Manual

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VS-616PS5 Series

Programming Manual

Brushless Motor Drive

2 VS-616PS5 Programming Manual

WARNING

YASKAWA manufactures component parts that can be used in a wide variety of industrial applications.

The selection and application of YASKAWA products remains the responsibility of the equipment designer or end user. YASKAWA accepts no responsibility for the way its products are incorporated into the final system design.

Under no circumstances should any YASKAWA product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all controls should be designed to detect faults dynamically and fail safely under all circumstances. All products designed to incorporate a component part manufactured by YASKAWA must be supplied to the end user with appropriate warnings and instructions as to that part’s safe use and operation. Any warnings provided by YASKAWA must be promptly provided to the end user.

YASKAWA offers an express warranty only as to the quality of its products in conforming to standards and specifications published in YASKAWA’s manual. NO OTHER WARRANTY, EXPRESS OR

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

VS-616PS5 Programming Manual 3

READ THIS ENTIRE MANUAL BEFORE INSTALLING OR OPERATING THE VS-616PS5!

WARNING!

The PS5 motor uses permanent magnets. HIGH VOLTAGE is generated by the motor whenever the rotor is turning, with or without a power supply. Make sure the motor is not turning before performing ANY service on the motor or on the inverter.

If there is a possibility that the motor can be turned by the load while inverter power is off, install a contactor or a manual disconnect to open the motor leads while servicing the inverter. Interlock the disconnect with the control circuits of the drive.

ONLY PERSONNEL WHO ARE EXPERIENCED IN WORKING WITH HIGH VOLTAGE, HIGH

POWER EQUIPMENT SHOULD INSTALL OR SERVICE THIS EQUIPMENT.

Turn off the supply power to the VS-616PS5 AND make sure the motor is stopped AND the internal capacitors are discharged before connecting or disconnecting wires or touching any internal parts.

The VS-616PS5 internal capacitors remain charged even after the power supply is turned off. Wait at least five minutes after removing power. Make sure all LED’s are off before servicing the inverter.

Do not use a Megger or other type of high withstand voltage tester on the VS-616PS5. Higher voltages can damage the semiconductors used in the inverter.

Do not connect or disconnect the operator or a computer while the VS-616PS5 is running.

FAILURE TO OBSERVE THE WARNINGS AND PRECAUTIONS IN THIS MANUAL CAN EXPOSE THE USER TO HIGH

VOLTAGES, RESULTING IN DAMAGE TO EQUIPMENT, SERIOUS PERSONAL INJURY, OR EVEN DEATH.

POWER SUPPLY LIMITATIONS

The VS-616PS5 is suitable for use on a circuit capable of delivering not more than 65,000 RMS symmetrical amperes at 480 VAC maximum (for

460 VAC class units) or 240 VAC maximum (for 230 VAC class units).

The information contained within this document is the proprietary property of Yaskawa Electric America,

Inc. This information may not be copied, reproduced, or transmitted to other parties without the expressed written authorization of Yaskawa Electric America, Inc.

No patent liability is assumed with respect to the use of the information contained herein.

Yaskawa is constantly improving its high-quality products. The information contained in this manual is subject to change without notice.

Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

VS-616PS5 Programming Manual

Section

Description Page

I NTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

VS-616PS5 P ARAMETER T REE . . . . . . . . . . . . . . . . . . . . . . . . .8

I NITIALIZATION P ARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

Initialization Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

A PPLICATION P ARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . .10

Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

Zero Speed Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

Magnetic Pull-in Current . . . . . . . . . . . . . . . . . . . . . . . . . .15

Delay Timers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

Reference Hold. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22

Droop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

T UNING P ARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

Accel/Decel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

PG Origin Pulse Compensation . . . . . . . . . . . . . . . . . . . .27

Voltage Limitation Control. . . . . . . . . . . . . . . . . . . . . . . . .28

ASR Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

Carrier Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

R EFERENCE P ARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . .35

Preset References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35

Reference Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37

Jump Frequencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38

Hold Reference Memory. . . . . . . . . . . . . . . . . . . . . . . . . .39

Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40

M OTOR P ARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44

Motor Constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44

O PTION P ARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49

PG Option Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49

AI-14 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52

DI-08/DI-16H Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53

AO-08/AO-12 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . .44

DO-02 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56

DO-08 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57

CP-916 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59

C ONTROL C IRCUIT T ERMINAL P ARAMETERS . . . . . . . . . . . . . . .61

Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61

Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67

Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74

Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78

P ROTECTION P ARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . .82

Power Loss Ridethrough . . . . . . . . . . . . . . . . . . . . . . . . .82

Stall Prevention. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83

Reference Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

Fault Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86

Torque Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88

Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91

VS-616PS5 Programming Manual 5

Section

Appendix

Description Page

Hardware Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

O PERATOR P ARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Monitor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Key Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

TUNING P ARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Auto-tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

VS-616PS5 P ARAMETER L IST . . . . . . . . . . . . . . . . . . . . . . . . 101

6 VS-616PS5 Programming Manual

Introduction

The Model VS-616PS5 is a series of high quality, general purpose, inverters designed to control the current in a permanent magnet (PM) brushless motor. In the PM motor, current is directly related to torque.

With power outputs ranging from 0.5 to 500 horsepower (HP), the VS-616PS5 series is suitable for any application. The inverters provide full start-up torque, smooth low speed operation, and precise speed control from zero to full speed. The proprietary auto-tuning function allows the inverters to get the best performance from PM motors manufactured worldwide.

Some of Yaskawa’s proprietary features of the VS-616PS5 inverter include torque control, automatic tuning to the motor characteristics, UL recognized electronic thermal motor overload, energy saving operation, PID loop control, and low noise operation. Also available is a digital operator for simple programming. The design team has used the latest in microprocessor technology to produce the ultimate drive for any application.

Use the Parameter Tree on the following page to determine which control mode and access level each parameter is available in.

The VS-616PS585 ships preset to the Quick-start access level. This publication describes all Quick-Start, Basic and Advanced parameters. For installation and simplified Quick-Start parameters, please refer to YEA-TOA-S616-10.22

VS-616PS5 Programming Manual 7

VS-616PS5 Parameter Tree

VS-616PS5 Parameter Overview

U Monitor

A Initialize

B Application

C Tuning

D Reference

E Motor

F Option

H Terminal

L Protection

O Operator

T Tuning

Group Function

Monitor

Fault Trace

Fault History

Initialize

Sequence

Zero Speed Level

Magnetic Pull-in

Delay Timers

Pid Control

Reference Hold

Droop Control

Accel/decel

PG Origin Pulse Comp.

Voltage Limit Control

Asr Tuning

Carrier Frequency

S-Curve Characteristics

Preset Reference

Reference Limit

Jump Speed

Hold Reference Memory

Torque Control

Motor Constant

PG Option Set-up

AI-14 Set-up

DI-08, 16 Set-up

AO-08, 12 Set-up

DO-02 Set-up

DO-08 Set-up

Speed Feedback Selection

CP-916 Set-up

Digital Inputs

Digital Outputs

Analog Inputs

Analog Outputs

Serial Communications

Power Loss Ridethrough

Stall Prevention

Reference Detection

Fault Restart

Torque Detection

Torque Limit

Hardware Protection

Monitor Select

Key Select

Auto-tuning

* User Selectable

Quick-start

01-03, 05-14

01-14

01-08

01, 03, 04

01-03

01, 02

01-04, 09

01-13, 17

01,05

02,03

Parameter No.

Basic Advanced

15-19

15,16

20-22,27-33,41-47, 49,50,53,54,55

17-22

03, 04,

01-04

05-08

01, 02

15,16

02-04

01-06

01-03

01-07

01, 02

01-03

01-04

01-03

01, 02,

05-06

02, 04, 05

01, 02

01-08

01-04

01, 02

05-08, 10, 11

05-07

01-04

01-06

08-11, 13

01-06

01, 02

01-06

04-12

01-05

03-05

04-06

01, 02, 03, 05, 07, 10

05-08

8 VS-616PS5 Programming Manual

Section A: Initialization Parameters

A1 Initialization Set-up

Main Menu:Initialize <ENTER>

A Initialization Parameters

A1 Initialization Set-up

A1-01 Parameter Access Level Q

This parameter allows the “masking” of parameters according to user level. See the following table:

Setting

Description

Operation Only

Quick Start Level (factory default) - For maintenance-level programming.

Basic Level - For basic programming in most applications.

Advanced Level - For advanced programming in special applications.

A1-03 Operator Status Q

Use this parameter to reset the inverter to its factory default settings. Initialize the inverter after changing the control PCB, or after selecting inverter capacity (O2-04) .

Setting

2220

3330

Description

No Initialization (factory default) .

2-Wire Initialization - terminal 1 becomes FWD run command and terminal 2 becomes REV run command. All other parameters are reset to their original factory default settings.

3-Wire Initialization - terminal 1 becomes run command, terminal 2 becomes stop command and terminal 3 becomes FWD/REV run selection. All other parameters are reset to their original factory default settings.

A1-04 Password Entry

This parameter allows password entry to view masked parameters.

VS-616PS5 Programming Manual 9

Section B: Application Parameters

B1 Initialization Sequence

Main Menu: Programming <ENTER>

B Application Parameters

B1 Sequence

B1-01 Frequency Reference Selection

B1-02 Operation Method Selection

Setting Range: 0 to 4

Factory Default: 1

Frequency reference and run command can be set independently as shown below:

Setting

Description

Run by digital operator reference

Run by external terminal reference (factory default) .

Run by serial communication

Option card (run by CP-916 B/G, 216 I/F references

Run by personal computer (CP-717) reference

Pulse Train reference (valid for B1-01 only, used with PG-P2)

By depressing the LOCAL/REMOTE key on the digital operator, the operation mode can be selected as shown below:

Local: Frequency reference and run command from digital operator. (Remote

SEQ and REF LEDs off)

Remote:Operation according to frequency reference and run command set by B1-

01 & B1-02, respectively.

The Control Method is reset to remote operation when power is cycled.

B1-03 Stopping Method Selection

Setting Range: 0 to 3

Factory Default: 0

This function selects the stopping method suitable for the application.

Setting

Description

Ramp to stop (factory default) .

Coast to stop.

Coast to stop with timer.

10 VS-616PS5 Programming Manual

Section B: Application Parameters

B1 Sequence

• Ramp to Stop ( B1-03 = “0”)

Output Frequency

Decel time 1 (C1-02)

Zero Speed Level

Factory Default 0.5Hz

Run Command

OFF

Figure 1 Stopping Method - Ramp to Stop

Upon removal of the FWD (REV) run command, the motor decelerates at a rate determined by the time set in deceleration time 1 (C1-02) and baseblocks upon reaching the zero speed level (B2-01) or minimum speed (E1-08), whichever is higher. If the deceleration time setting is too short or the load inertia is large, an overvoltage fault (OV) may occur during deceleration. In this case, increase the deceleration time or install an optional braking transistor and/or braking resistor (braking transistors are provided as standard for units 230V 7.5kW and smaller, 460V 15kW and smaller).

Braking torque: without braking resistor, approximately 5% of motor rated torque with braking option, approximately 150% of motor rated torque

• Coast to Stop ( B1-03 = “1”)

Output frequency Inverter output is shut OFF when stop command is given.

Run command

OFF

Figure 2 Stopping Method - Coast to Stop

Upon removal of the FWD (REV) run command, the motor starts to coast. Upon reapplying the run command operation will resume after the minimum baseblock time

(L2-03) elapses.

Coast to Stop with Timer 1 ( B1-03 = “3”) should be used to prohibit the inverter from starting into a rotating motor. When setting B1-03=3, the deceleration time (C1-02) is used as the timer during which operation is prohibited.

VS-616PS5 Programming Manual 11

Section B: Application Parameters

B1 Sequence

• Coast to Stop with Timer 1 ( B1-03 = “3”)

Output Frequency

Decel Time 1

(C1-02)

Coasting

Accel Time 1

(C1-01)

Time

FWD (REV)

Run Command ON ON ON

Run Command Disabled

Figure 4 Stopping Method - Coast to Stop w/Timer

Upon removal of the run command, a new run command is blocked until the coast to stop timer has elapsed (same as Decel 1). After the timer elapses, the user must enter another run command for the inverter to begin acceleration. This stopping method is disabled during flux vector control.

B1-04 Reverse Operation Enable/Disable

Setting Range: 0 to 1

Factory Default: 0

A “reverse run disabled” setting does not allow a reverse run command from the control circuit terminal or the digital operator. This setting is used in applications where a reverse run command is undesirable.

Setting

Description

Reverse run is enabled (factory default).

Reverse run is disabled.

B1-05 Operation Selection at Zero Speed A

Select an operation mode to be used when the speed reference (analog input) drops below the minimum speed setting (El -08) .

Setting

Description

E1-08 is ignored, run according to speed reference .

12 VS-616PS5 Programming Manual

Setting

Section B: Application Parameters

B1 Sequence

Description

Baseblock (factory default)- No output to motor

Run at minimum output speed (E1-08).

Zero-speed operation (internal speed reference is set to “0”)

B1-06 LOCAL/REMOTE Run Select A

This parameter determines how the inverter will function when switching from local to remote operation when the external run command is applied.

Selection

Description

Operation is disabled if the external run command is applied prior to switching from local to remote. The run command must be removed and re-applied to start operation.

Operation is enabled if the external run command is applied prior to switching from local to remote.(factory default).

VS-616PS5 Programming Manual 13

Section B: Application Parameters

B2 Servo Speed Level

B2 Zero Speed Level

B2-01 Zero-speed Level (Baseblock level)

Setting Range: 0.0 to 20.0%

Factory Default: 0.5%

Sets the speed at which the inverter baseblocks upon deceleration. 20% equals 20% of the maximum speed setting as entered in parameter E1-06.

The initial value is 0.5%. The units can be changed by O1-03.

14 VS-616PS5 Programming Manual

Section B: Application Parameters

B3 Magnetic Pull-in

The magnetic pull-in (Synchronization) feature is used only during the PG orientation auto-tuning process. During normal operation this function is not performed.

During PG Orientation Auto-Tuning, the following parameters are used to gradually ramp up the motor current to a desired level to allow a “soft” rotor pole alignment.

Once the magnetic pull-in is completed, the PG Orientation feature is performed.

B3-02 Magnetic Pull-in Current

Setting Range: 0 to 150%

Factory Default: 50%

The current level during initial magnetic pull-in is set in units of 1%.

A setting of 100% generates Motor rated current (E1-04). Increasing this value increases the motor torque during the pull-in process.

B3-04 Current Ramp-up Time

Setting Range: 0.0 to 5.0s

Factory Default: 1.0s.

Sets the rate at which the current is increased during the magnetic pull-in process.

Too short a setting will result in abrupt rotor movement.

VS-616PS5 Programming Manual 15

Section B: Application Parameters

B3 Magnetic Pull-in

B3-05 Magnetic Pull-in Time

Setting Range: 0.0 to 5.0s

Factory Default: 1.0s

This parameter sets the time to allow the rotor to pull in (align) with the magnetic field at initial excitation. Pull-in waiting time is set in units of 0.1s.

The current vs. time plot during the magnetic pull-in process is as follows:

Current Value

B3-02

Time

0 1

B3-04 B3-05

Operation Status

Slow Start

Insufficient torque, and

“STO” is output

B3-02 Adjustment

Increase set value.

B3-04 Adjustment

Decrease set value

B3-05Adjustment

Decrease set value

16 VS-616PS5 Programming Manual

Section B: Application Parameters

B4 Delay Timers

Use the inverter input (multifunction inputs) and output (multifunction outputs) in place of an external timer. When a multi-function contact input ( H1-XX = “18”) is closed, a multi-function contact output ( H2-XX = “12”) can be set to close after the

On-delay time ( B4-01 ) has expired. This function operates independently of any concurrent inverter activity.

B4-01 On-delay Timer

Setting Range: 0.0 to 300.0s

Factory Default: 0.0s

Sets the ON-delay time in units of 0.1 second. The multi-function input must be

“closed” for longer than the ON-delay timer for the multi-function output to close.

B4-02 Off-delay Timer

Setting Range: 0.0 to 300.0s

Factory Default: 0.0s

Sets the OFF-delay time in units of 0.1 second. The multi-function input must be

“open” longer than the OFF-delay timer for the multi-function output to open.

Multi-function Contact

Input: Timer Function

ON ON ON

ON ON

Multi-function Contact

Output: Timer Function

B4-01 B4-02 B4-01 B4-02

Figure 8 Timing Diagram of Timer Function

VS-616PS5 Programming Manual 17

Section B: Application Parameters

B5 PID Control

The Proportional, Integral, and Derivative (PID) control function provides closed-loop control and regulation of a system variable such as temperature or pressure. A control signal based on the difference (or error) between a feedback signal and a desired setpoint is produced. Integration and derivative calculations are then performed on this signal, based upon the PID parameter settings (B5-01 to B5-08), to minimize deviation, for precise control.

B5-01 PID Control Mode Selection A

To enable PID control, set PID control mode selection to “1” or “2”, according to the description below. Also be sure to set terminal 16 function selection (H3-05) to PID feedback (Set Value: “B”).

Setting

Description

PID is disabled (factory default).

PID is enabled (deviation signal is put through derivative control).

PID operates with feed forward (feedback signal is put through derivative control).

Notes:

PID with feed forward applies control much quicker than normal PID, without waiting for the deviation signal to build up.

A PID inverse feedback signal can be selected by inverting the settings for terminal 16 gain and bias.

Then select the PID control intended value (setpoint) and detected value (feedback) setpoint as follows:

Detected Value (Feedback)

Set the PID feedback value with the control circuit terminal 16 voltage signal (0 to

10V, -10 to 10V) or multi-step speed parameters H1-03 to H1-06 .

Control circuit terminal 16 voltage signal:

Set reference selection (B1-01) to “1” and set H3-05 = “B” .

Multi-step speed parameters via multifunction inputs ( H1-01 to H1-06 ):

Set reference selection (B1-01) to “0.”

Set multifunction inputs to ( H1-01 to H1-06 ) set value 3,4 and/or 5.

(allows combination of multi-step speed references and jog frequency reference as entered in parameter D1-01 thru D1-09 )

Intended Value (Setpoint)

The control circuit terminal 14 current signal (4 to 20mA) or voltage signals (0 to 10V,

-10 to +10V) can be used to set the PID setpoint value.

Control circuit terminal 14 accepts 4-20 MA current signal:

Set terminal 14 signal selection (H3-08) to “2.”

18 VS-616PS5 Programming Manual

Section B: Application Parameters

B5 PID Control

Control circuit terminal 14 accepts voltage signal:

Set terminal 14 signal selection (H3-08) to “0” for 0-10 VDC input signal or “1” for -

10 to 10 VDC input signal. The J1 jumper must also be cut to set-up terminal 14 to accept a voltage signal.

Intended

Value (Deviation) -

B5-02

Detected

Value

H3-06

Feedback

Calibration

Gain B5-01

B5-05

B5-03

Limit

B5-04

B5-06

Limit

B5-05

Offset

B5-07

B5-08

Output

Delay Time

1 or 2

B5-01

Frequency

Reference

B5-01

Figure 9 PID Control Block Diagram

Notes:

I value is reset to ”0” when operation stops.

The upper limit of the I value can be set by parameter B5-04 .

Increase the value of parameter B5-04 to upgrade control capability by integration. If the control system is unstable and it cannot be stopped by adjusting the integral time, output delay time, etc., decrease the set value of parameter B5-04 .

PID control can be canceled by a multi-function contact input signal.

By setting any of parameters H1-01 to H1-06 to “19” and by closing the contact during running PID control is disabled and the intended value signal itself is used as a frequency reference signal.

B5-02 PID Control Proportional Gain

Setting Range: 0.00 to 25.00

Factory Default: 1.00

The proportional gain is the value by which the deviation signal is multiplied to generate a new frequency reference. Too high a setting will result in oscillations (instability).

Too low a setting will result in a sluggish response.

VS-616PS5 Programming Manual 19

Section B: Application Parameters

B5 PID Control

B5-03 PID Control Integral Time

Setting Range: 0.00 to 360.0s

Factory Default: 1.00s

The integral calculation sums the deviation over time which forces the deviation to become zero. Thus, the feedback will match the desired setpoint. The integral time determines how quickly the integral gain increase is added to the control loop. Too high a setting will result in slow response. Too low a setting may result in rapid oscillations (instability).

B5-04 PID Control Integral Limit

Setting Range: 0.0 to 100.0%

Factory Default: 100.0%

The integral limit is used to limit the range of the integral term. In some applications it may be desirable to limit the integral term to improve system response. Otherwise, the integral value may become large and overshoots may result when the integral value takes a long time to integrate in the opposite direction. This value is set as a percentage of maximum motor speed (E1-06) .

B5-05 PID Control Derivative Time

Setting Range: 0.00 to 10.00s

Factory Default: 0.00s

The derivative calculation attempts to control the remaining overshoot left over after the proportion and integral calculations. If the system is approaching the intended value very rapidly, the derivative control produces a strong braking action to prevent overshoot. If the system is already stable with very little deviation change, derivative control has very little effect. The derivative time is used to dampen oscillations and reduce overshoot, thus improving stability. Setting the derivative time to a larger number produces more braking action in the control system.

B5-06 PID Control Limit

Setting Range: 0.0 to 100.0%

Factory Default: 100.0%

The PID limit places a limit on the PID signal output, limiting the output frequency reference. Normally this is set to 100% to allow unrestrained operation of the PID function. This value is set as a percentage of maximum motor speed (E1-06) .

20 VS-616PS5 Programming Manual

Section B: Application Parameters

B5 PID Control

B5-07 PID Control Offset

Setting Range:

100.0%

Factory Default: 0.0%

The PID offset adds a bias to the calculated PID value.

B5-08 PID Control Output Primary Delay Time

Setting Range: 0.00 to 10.00s

Factory Default: 0.00s

The output delay time builds in a delay to changes in the calculated PID value, which can prevent oscillations and improve stability. Use the PID Delay Time when transients occur in the system and it is undesirable to have the PID respond.

Parameters B5-04 thru B5-08 are preset at the factory to optimum values for most applications, and hence, do not need to be changed.

When tuning a system, first increase the proportional gain until oscillations occur.

Then, reduce the proportional gain slightly until the oscillations stop. Next, reduce the integral time slowly until oscillations begin. Then, increase the integral time slowly so that the oscillations cease. Test the system under all conditions, observe the stability and verify that the desired operation is generated. Fine tune the proportional and integral times, along with any other PID parameter as needed.

VS-616PS5 Programming Manual 21

Section B: Application Parameters

B6 Reference Hold

The reference hold or dwell function is used to temporarily hold the output frequency at a set reference, for a set time, during the acceleration and deceleration process.

Use this function when driving a permanent magnet motor, or a motor with a heavy starting load. The pause in acceleration allows the magnets in a permanent magnet motor to synchronize with the stator field of the motor, thus reducing traditionally high starting current.

B6-01 Dwell Reference at Start

Setting Range: 0.00 to 100.00%

Factory Default: 0.00%

Sets the dwell frequency reference during acceleration in units of 0.01%.

B6-02 Dwell Time at Start

Setting Range: 0.0 to 10.0s

Factory Default: 0.0s

Sets the amount of time that the frequency reference “dwells” during acceleration in units of 0.1s.

B6-03 Dwell Reference at Stop

Setting Range: 0.00 to 100.00%

Factory Default: 0.00%

Sets the dwell frequency reference during deceleration in units of 0.01%.

B6-04 Dwell Time at Stop

Setting Range: 0.0 to 10.0s

Factory Default: 0.0s

Sets the amount of time that the frequency reference “dwells” during deceleration in units of 0.1s.

22 VS-616PS5 Programming Manual

Section B: Application Parameters

B7 DROOP Control

B7 Droop Control

Droop Control is a function that allows the speed of a motor to decrease in proportion to load torque. This can be used to insure load sharing between drives on multiple drive systems.

B7-01 Droop Capacity

Range:0.0 to 100.0%

Factory Default: 0.0%

Droop amount (%)

=

(

B 7 –

100

)

x 100

A setting of 100% allows the speed to drop 100% of the maximum speed value

(when the torque is 100%).

Droop response time is set with parameter B7-02.

B7-02 Droop Delay Time

Setting Range: 0.00 to 1.00s

Factory Default: 0.10s

When B7-02 is decreased, drooping response becomes quicker, but the motor hunts more easily.

Torque

Load

Motor

Speed

B7-02

63% Droop Amount (B7-01)

= Torque (%) x B7-01

VS-616PS5 Programming Manual 23

Section C: Tuning Parameters

C1 Accel/Decel

C Tuning Parameters

C1 Accel/Decel

C1-01 Acceleration Time 1

C1-02 Deceleration Time 1

C1-03 Acceleration Time 2

C1-04 Deceleration Time 2

C1-05 Acceleration Time 3

C1-06 Deceleration Time 3

C1-07 Acceleration Time 4

C1-08 Deceleration Time 4

Setting Range: 0.00 to 6000.0s

Factory Default: 10.0s

The acceleration parameters set the time necessary for the output speed to accelerate from 0 to the maximum Speed (E1-06). Deceleration parameters set the time needed for the output Speed to decelerate from the maximum speed to 0. .

Output

Frequency

Accel Time 1

(C1-01)

Decel Time 1* (C1-02)

Accel Time 2 (C1-03)

Decel Time 2*

(C1-04) Accel Time 3

(C1-05)

Decel Time 1*

(C1-02)

Decel Time 3* (C1-06)

Accel Time 4 (C1-07)

Decel Time 4*

(C1-08)

Decel Time 1*

(C1-02)

Time

FWD (REV) Run Command ON OFF ON ON OFF ON

Accel/Decel Time Selection 1

(Terminals 3 to 8, Setting = “7”)

Accel/Decel Time Selection 2

(Terminals 3 to 8, Setting = “1A”)

ON OFF

* When “ramp to stop” is selected ( B1-03 = “0”)

Figure 13 Timing Diagram of Accel/Decel Time Adjustment

Use the multifunction inputs to select up to four accel/decel times. When any of the multi-function contact input selections ( H1-01 to H1-06 ) are set to “7”and “1A”, up to four accel/decel times can then be selected by opening or closing the appropriate accel/decel time selection commands (terminals 3 to 8).

24 VS-616PS5 Programming Manual

Section C: Tuning Parameters

C1 Accel/Decel

Accel/decel Time Selection 1

Multi-function Input

Setting = “7”

Open or not set

Closed

Open or not set

Closed

Accel/decel Time Selection 2

Multi-function Input

Setting = “1A”

Open or not set

Closed

Accel Time

C1-01

C1-03

C1-05

C1-07

Decel Time

C1-02

C1-04

C1-06

C1-08

C1-09 Fast-stop Time

Setting Range: 0.00 to 6000.0s

Factory Default: 10.0s

When a Multi-function contact input is set to fast-stop command (setting = “15”), and the contact closes the fast stop feature is executed.

It may be necessary to install a braking unit to achieve the desired stopping rate and eliminate over-voltage from occurring.

C1-10 Accel/Decel Time Setting Units A

Setting

Description

Accel/decel time (C1-01 to C1-09) setting range is in units of 0.01s.

Accel/decel time setting range: 0.00 to 600.00s

Accel/decel time (C1-01 to C1-09) setting range is in units of 0.1 second.

Accel/decel time setting range: 0.0 to 6000.0s (factory default).

If any of the parameters C1-01 to C1-09 is set to 600.1 seconds or more, C1-10 cannot be set to “0.”

C1-11 Automatic Accel/Decel Time Switching Speed Level

Setting Range: 0.0 to 100.0%

Factory Default: 0.0%

Accel/decel times can be changed automatically, without using the multi-function contact inputs. This feature is active anytime C1-11 is not equal to 0.

Use accel/decel times set in parameters C1-01 and C1-02 when output frequency

≥

C1-11 .

Use accel/decel times set in parameters C1-07 and C1-08 when output frequency <

C1-11 .

Multi-function contact inputs which are set for accel/decel selection have priority over

VS-616PS5 Programming Manual 25

Section C: Tuning Parameters

C1 Accel/Decel the automatic change of accel/decel.

Accel/Decel Switching Level

(C1-11)

Output Frequency

C1-07 C1-01 C1-02 C1-08

Figure 14 Accel/Decel Switching Level Adjustment

26 VS-616PS5 Programming Manual

Section C: Tuning Parameters

C2 PG Origin Pulse Compensation

C2-13 PG Origin Pulse Compensation Value

Setting Range: ± 180

Indicates the angular displacement between the magnetic pole and the marker pulse from the hall sensor or encoder feedback devices. This value is used to control the commutation to insure optimum performance.

This value is automatically set when performing PG origin auto-tuning.

Do not change after setting.

This value is not initialized at initialization.

VS-616PS5 Programming Manual 27

Section C: Tuning Parameters

C3 Voltage Limit Control

C3-05 Voltage Limit Control Selection

This parameter sets the voltage limit control.

Set Value

Description

• Voltage limitation control is not performed (factory default).

• Voltage limitation control is performed limits the output voltage to 230 (460) by reducing the d-axis current level.

28 VS-616PS5 Programming Manual

Section C: Tuning Parameters

C5 ASR Tuning

The Automatic Speed Regulator (ASR) provides closed loop motor speed control so that optimum performance during changes in motor speed or load can be achieved .

Torque Limit

Speed Reference

C5-01, C5-03

1 + ST

C5-05

Secondary Current Reference

Speed Feedback I

C5-02, C5-04

L7-01 ~ L7-04

Figure 20 ASR Block Diagram (Flux Vector Control)

C5-01 ASR Proportional Gain 1

Setting Range: 0.00 to 300.00

Factory Default: 5.00

The ASR proportional gain 1 adjusts the speed in response to the speed deviation signal. Speed response increases as the proportional gain is increased. However, the load may become unstable if the ASR proportional gain is set too high.

C5-02 ASR Integral Time 1

Setting Range: 0.000 to 10.000s

Factory Default: 0.500s

The ASR integral time 1 adjusts the inverter’s response time to changes in load.

Response increases as the integral time is decreased. However, the load may become unstable if the ASR integral time is set too low.

C5-03 ASR Proportional Gain 2

Setting Range: 0.00 to 300.00

Factory Default: 5.00

The ASR proportional gain 2 is an additional proportional gain adjustment that can be enabled by a multi-function contact input ( H1-XX = “77”).

ON OFF

Proportional Gain According to Motor Speed

(see Figure 22)

C5-03 Proportional Gain

Multi-function Input

( H1-XX = “77”)

OFF ON

C5-02 C5-02

Figure 21 ASR Multi-function Input Timing Diagram

VS-616PS5 Programming Manual 29

Section C: Tuning Parameters

C5 ASR Tuning

C5-04 ASR Integral Time 2

Setting Range: 0.000 to 10.000s

Factory Default: 0.500s

The ASR integral time 2 is an additional integral time adjustment.

C5-05 ASR Output Primary Delay Time

Setting Range: 0.000 to 0.500s

Factory Default: 0.004s

Mechanical backlash in an application causes secondary current (I

) reference variations in the motor’s rotor. This condition can undesirably limit the adjustment of ASR parameters. The output delay time constant is used to control these secondary current (I

) reference variations.

C5-06 ASR Switching Speed Level

Setting Range: 0.00 to 100.00%

Factory Default: 0.00%

Sets speed at which C5-01 and C5-02 are achieved. When C5-06 is set to any setting other than 0, both sets of proportional and integral values are used (See Figure

22).

C5-01

C5-02

0 C5-06

C5-03

C5-04 f

Motor Speed f

P · N

120 where . . .

P = Number of Motor Poles

N = Motor RPM

* When C5-06 =”0”, proportional gain 1 (C5-01)

and integral time 1 (C5-02) are selected.

Figure 22 ASR Switching Speed Level

Notes:

When C5-06 =” 0”, proportional gain 1 (C5-01) and integral time 1 (C5-02) are selected.

C5-07 ASR P Gain at Start

Setting Range: 0.00 to 300.00

Factory Default: 5.00

This parameter sets the ASR P gain applied at magnetic pole pull-in. It is set to a unit of 0.01.

30 VS-616PS5 Programming Manual

Section C: Tuning Parameters

C6 Carrier Frequency

This function sets the inverter output transistor switching frequency (carrier frequency). Increase the carrier frequency to reduce motor noise and decrease it to reduce leakage current. When increasing the carrier frequency above the factory default values, current derating is necessary.

C6-02 Carrier Frequency Upper Limit

Factory Settings:

230 Volt Models

Carrier Frequency Model Number

PS5U20P4

PS5U20P7

PS5U21P5

PS5U22P2

PS5U23P7

PS5U25P5

PS5U27P5

PS5U2011

PS5U2015

8kHz

460 Volt Models

Carrier Frequency Model Number

PS5U40P4

PS5U40P7

PS5U41P5

PS5U42P2

PS5U43P7

PS5U45P5

PS5U47P5

PS5U4011

PS5U4015

PS5U4018

PS5U4022

PS5U4030

PS5U4037

PS5U4045

PS5U4055

PS5U4075

PS5U4110

PS5U4160

8kHz

4kHz

VS-616PS5 Programming Manual 31

Section C: Tuning Parameters

C6 Carrier Frequency

Model Number

PS5U4185

PS5U4220

PS5U4300

460 Volt Models

Carrier Frequency

2kHz

Pulse

Reference 1/100

C6-14

C6-13

Speed Reference

32 VS-616PS5 Programming Manual

Section C: Tuning Parameters

C6 Carrier Frequency

C6-13 Pulse Reference Ratio Denominator Value

Setting Range: 0 - 1000

Factory Default: 0

Sets the denominator portion of the pulse reference multiplication block. Used when

B1-02=6 (Pulse Train reference mode).

C6-14 Pulse Reference Ratio Numerator Value

Setting Range: 0 - 1000

Factory Default: 0

Sets the numerator portion of the pulse reference multiplication block. Used when

B1-02=6 (Pulse Train reference mode).

Pulse

Reference 1/100

C6-14

C6-13

Speed Reference

VS-616PS5 Programming Manual 33

Section C: Tuning Parameters

C7 S-Curve Accel/Decel

An S-curve pattern is used to reduce shock and provide smooth transitions during machine acceleration and deceleration. S-curve characteristic time is the time it takes to reach the set accel/decel rate during a speed change.

C7-01 S-Curve Time at Acceleration Start

C7-02 S-Curve Time at Acceleration End

C7-03 S-Curve Time at Deceleration Start

C7-04 S-Curve Time at Deceleration End

Setting Range: 0.00 to 2.50s

Factory Default: 0.00s

Frequency Reference

Output Frequency

Time

S-curve Characteristic

Time (Tsc)

Figure 15 S-curve Characteristic Timing Diagram

The following figure shows FWD/REV run switching with deceleration to stop.

FWD Run Command

REV Run Command

C7-02 C7-03

C7-04

DC Injection Braking

Time at Stop

B2-04

Output Frequency

C7-01

C7-01 C7-04

C7-02 C7-03

Figure 16 S-curve Characteristics - FWD/REV Operation

Time to accelerate from the minimum frequency to the maximum frequency (total acceleration)

= C1-XX + ( C7-01 + C7-02 )/2

VS-616PS5 Programming Manual

Section D: Reference Parameters

D1 Preset References

D Reference Parameters

D1 Preset References

D1-01 Preset Reference 1

D1-02 Preset Reference 2

D1-03 Preset Reference 3

D1-04 Preset Reference 4

D1-05 Preset Reference 5

D1-06 Preset Reference 6

D1-07 Preset Reference 7

D1-08 Preset Reference 8

Setting Range: 0.00 to 100.00%

Factory Default: 0.00%

Up to 9 preset speed references (including jog) with the multi-function contact input function selections. When using the multi-step speed references, set the reference selection (B1-01) to “0,” and set terminal 16 selection (H3-05) to “1F.” See the following table for programming preset speed references.

Terminal 5

H1-03 = “3”

Open

Terminal 6

H1-04 = “4”

Open

Terminal 7

H1-05 = “5”

Open

Terminal 8

H1-06 = “6”

Open

Speed Reference

Closed

Open

Closed

Open

Closed

Open

Closed

Open

Closed

Open

Closed

Open

Closed

Open

Closed

Speed Reference 1 - Set Reference Source

(B1-01) to “0.”

Speed Reference 2 - Set Terminal 16 Selection

(H3-05) to “1F.”

Speed Reference 3

Speed Reference 4

Speed Reference 5

Speed Reference 6

Speed Reference 7

Speed Reference 8

Jog Speed Reference

D1-09 Jog Frequency Reference

Setting Range: 0.00 to 100.00%

Factory Default: 10.00%

The jog frequency reference can be set in this parameter. Depress the JOG key on the digital operator, or close terminal 7 to use this function. The jog command always has priority over other reference commands. When using the multi-step speed references as indicated in the table above, change the jog command from terminal 7 to terminal 8 ( H1-06 = “6”). Selecting the jog frequency reference via a multifunction input selects the jog frequency reference only. A separate run command also needs to be applied to start the unit.

VS-616PS5 Programming Manual 35

Section D: Reference Parameters

D1 Reference Limits

Frequency

Reference

D1-01

10.0Hz

D1-02

20.0Hz

D1-03

30.0Hz

D1-04

40.0Hz

D1-05

45.0Hz

D1-06

50.0Hz

D1-07

55.0Hz

D1-08

60.0Hz

D1-09

6.0Hz

Time

FWD (REV) Run/Stop

Multi-step Speed Ref. 1

(Terminal 5)

Multi-step Speed Ref. 2

(Terminal 6)

Multi-step Speed Ref. 3

(Terminal 7)

Jog Ref.

(Terminal 8)

Figure 24 Multi-step Speed Operation - Timing Diagram

Note: Setting units for D1-01 to D1-09 are dependent upon the setting of digital operator display mode

(O1-03) . Possible setting units include Hz, percentage, RPM, or engineering units. See section

O1 , Monitor Selection , for more details.

36 VS-616PS5 Programming Manual

Section D: Reference Parameters

D2 Reference Limits

D2-01 Speed Reference Upper Limit

Setting Range: 0.0 to 110.0%

Factory Default: 100.0%

The speed reference upper limit is set as a percentage of the maximum output speed

(E1-06).

Limits the maximum output speed of the motor.

D2-02 Speed Reference Lower Limit

Setting Range: 0.0 to 100.0%

Factory Default: 0.0%

The speed reference lower limit is set as a percentage of the maximum output speed

(E1-06) . When a run command is input and the speed reference is less than the lower limit, operation continues at the speed reference lower limit. However, when the lower limit is set to less than the minimum output speed (E1-08) , operation discontinues.

100

Internal

Speed

Reference

D2-01

D2-02

Set Frequency Reference

E1-06

Figure 25 Setting Frequency Upper and Lower Limits

VS-616PS5 Programming Manual 37

Section D: Reference Parameters

D3 Jump Frequencies

D3-01 Jump Speed Reference 1

D3-02 Jump Speed Reference 2

D3-03 Jump Speed Reference 3

Setting Range: 0.0 to 200.0%

Factory Default: 0.0%

D3-04 Jump Speed Reference Bandwidth

Setting Range: 0.0 to 200.0%

Factory Default: 1.0%

These functions allow the prohibition or “jumping” of critical Speeds so that the motor can operate without resonant vibrations caused by some machine systems. They are also used for dead band controls. Setting the value to 0.0% disables each function.

D3-03

Output

Frequency

D3-02

D3-04

D3-01

D3-04

Set Frequency Reference

Figure 26 Jump Frequencies

38 VS-616PS5 Programming Manual

Section D: Reference Parameters

D4 Reference Memory (Memorize Last Reference)

D4-01 Reference Memory Selection - (Up/Down or Accel/

Decel Hold Feature)

Selects whether the reference memorization feature during, Up/Down or Accel/Decel

Hold operation is stored when operation is stopped (when power is removed or when the run command is cancelled or overridden).

Setting

Description

Reference memorization during Up/Down or Accel/Decel Hold operation not retained. If a stop command is given or if power is removed, the frequency reference is reset to 0Hz. If the inverter is decelerating when the run command is restored, operation resumes at the frequency reference which the inverter has ramped down to (factory default) .

Reference memorization during an Up/Down or Accel/Decel hold operation is retained. If a stop command is given, or if power is removed, operation resumes at the held frequency reference when run command is restored.

Note: Up/Down operation is set using the multi-function contact input function selections ( H1-01 to H1-

06 , setting = “10” and “11”). Accel/Decel Hold operation is set using multi-function contact input function selections ( H1-01 to H1-06 , setting = “A”). See section H1, Digital Inputs , for more information.

VS-616PS5 Programming Manual 39

Section D: Reference Parameters

D5 Torque Control

D5-01 Torque Control Selection A

Select either speed and torque control.

Setting

Description

Speed control enabled with torque limit (factory default)

Torque control enabled with speed limit

Speed/torque control selection can also be made by using a multi-function contact input function selection ( H1-XX = “71”). When using a multifunction contact input to switch between speed and torque control, set D5-01 = “0”.

D5-02 Torque Limit Primary Delay Time A

Setting Range: 0 to 1000ms

Factory Default: 0ms

Sets delay time constant for torque reference input in the torque control mode, in units of 1ms. This can be used to filter (smooth) a noisy/rapidly fluctuating torque reference signal so that abrupt torque changes do not occur.

D5-03 Speed Limit Input Selection

Select speed limit location in the torque control mode.

Setting

Description

Speed limit is the analog speed reference set by terminal 13 or 14 (factory default) .

Speed limit is the digital value set by D5-04.

D5-04 Speed Limit Value

Setting Range: ± 120%

Factory Default: 0%

Sets the speed limit value in the torque control mode as a percentage of the maximum output frequency. Used when D5-03 = “2.”

D5-05 Speed Limit Bias A

Setting Range: 0 to 120%

Factory Default: 5%

Sets the speed limit bias value in the torque control mode as a percentage of the maximum output frequency. See “Torque Control Operation” description on following page.

40 VS-616PS5 Programming Manual

Section D: Reference Parameters

D5 Torque Control

D5-06 Speed/Torque Control Changeover Delay Timer

Setting Range: 0 to 1000ms

Factory Default: 50ms

When using a multifunction input to switch between speed and torque mode, D5-06 can be used to allow the analog signals to be modified in preparation for the newly selected mode.

Upon a change in command (Speed/Torque) the analog input values are retained for the time set in D5-06 so the analog signals can be changed to accommodate the new mode. After the D5-06 time elapses the new analog signals are accepted.

Torque Control Operation

To select torque control, set torque selection (D5-01) to “1,” or close the multi-function contact input set to speed/torque control ( H1-XX = “71”) and set terminal 16 function selection to torque reference ( H3-05 = “13”).

Torque

Compensation

Torque Limit

Torque

Reference

1 + ST

T = D5-02

Speed Limit

SFS

Motor Speed

(D5-05)

Speed

Limiting

Circuit

Figure 27 Torque Control Block Diagram

*1: When speed limit selection (D5-03) is set to “1,” the master frequency reference input from terminal 13 or 14 becomes the speed limit; when speed limit selection (D5-03) is set to “2,” the set value of D5-04 becomes the speed limit.

*2: When terminal 14 function selection is set to torque compensation ( H3-09 = “14”), the terminal l4 set value can be used as the torque compensation value.

When torque reference > 0 and speed limit > 0 (winder application sequence), the following sequence is activated:

• When [-1 × speed limit bias (D5-05) ] < motor speed (%) < [speed limit + D5-05 ], torque control is activated using the set torque reference.

• When motor speed > [speed limit + D5-05 ], speed limiting circuit outputs a negative torque reference to prevent the motor speed from increasing.

• When motor speed < [-l × D5-05 ], the speed limiting circuit outputs a positive torque reference to prevent the motor speed from increasing in the reverse direction.

VS-616PS5 Programming Manual 41

Section D: Reference Parameters

D5 Torque Control

Therefore, when torque reference > 0 and speed limit (%) > 0, the torque control range is:

[-l × D5-05 ] < motor speed < [speed limit + D5-05 ]

Refer to the following table for more details on the relationship between torque reference, speed limit, and motor speed.

Winder Control Unwinder Control

Configuration

Line Direction Line Direction

N T T

Direction of Motor

Rotation

Reference

Polarity

Torque

Reference

(TREF)

Speed

Limit

(NLIM)

Torque Profile

Forward

Torque

Limit

TREF

M Motor

Reverse

Torque

Limit

Torque

Limit

Torque

Forward

Motor

Reverse

Torque

Limit

TREF

D5-05

NLIM Speed

Torque

Limit

NLIM

TREF

Speed

D5-05

NLIM

Speed

D5-05

Torque

Limit

NLIM 0

Speed

D5-05

Torque

Limit

Speed/Torque Control Switching

• Speed control or torque control can be selected “on the fly” by using the multifunction input speed/torque control selection command ( H1-XX = “71”).

Terminal No.

Parameter No.

H1-06

B1-01

D5-03

H3-05

Setting

Description

Speed/torque control selection

Frequency reference selection (terminals 13, 14)

Speed limit selection (terminals 13, 14)

Torque reference

42 VS-616PS5 Programming Manual

Section D: Reference Parameters

D5 Torque Control

Speed/Torque

Selection Command

(Terminal 8 Input)

Run Command

STOP

OFF

Control Method

RUN

OFF ON

Speed Control Torque Control Speed Control Torque Control Speed Control (decel to stop)

Terminal 13 Input Speed Reference Speed Limit Speed Reference Speed Limit

Terminal 16 Input

Sequence

Torque Limit Torque Reference Torque Limit Torque Reference

• ‚ • ‚ ƒ

Figure 28 Speed/Torque Control Selection Timing Diagram

Sequence Description

• When the speed/torque control selection contact is OPEN, speed control is activated:

• Speed reference during speed control depends on the frequency reference selection (B1-01) setting. To use terminal 13 or 14 as the master frequency reference, set Bl-0l to “l.”

• Torque limit during speed control is the smaller of the absolute value of terminal

16 torque limit (H3-05 = 13) , or the values set in the torque limit parameters ( L7-

01 to L7-04 ).

• When a stop command is given during speed control, speed control is maintained and the smaller of the absolute value of terminal l6 torque limit, or the values set in the torque limit parameters ( L7-01 to L7-04 ), is used as the torque limit. Then the motor decelerates to stop.

‚ When the speed/torque control selection contact is CLOSED, torque control is activated:

• Speed limit during torque control is:

• the master frequency reference at terminal 13 or 14 when speed limit selection

(D5-03) is set to “1”

• the speed limit value (D5-04) when D5-03 = “2,” regardless of the frequency reference selection (B1-01) setting.

• During torque control, the terminal 16 analog input value becomes the torque reference.

ƒ By giving a stop command during torque control, operation changes to speed control automatically, and the motor decelerates to stop. The torque limit during deceleration to stop becomes the values set in the torque limit parameters ( L7-01 to L7-04 ).

Note:The control mode actually changes after the speed/torque control selection command changes and after the reference delay timer (D5-06) elapses. The terminal 13 speed reference/speed limit and the terminal 16 torque limit/torque reference are stored in the inverter until the time set to D5-06 passes.

VS-616PS5 Programming Manual 43

Section E: Motor Parameters

E1 V/f Pattern

E Motor Parameters

E1 Motor Constant

E1-01 Inverter Input Voltage Setting

Setting Range: 180 to 230V (360 to 460V)

Factory Default: 230V (460V)

Set E1-01 to the nominal expected line voltage (exact setting is not required)

This setting adjusts the overvoltage level, the braking transistor turn on level, and the stall prevention level during deceleration.

Inverter

Voltage

230

460

E1-01

Setting

150 - 255

>400

<400

Overvoltage Trip

Trip

400V

Reset

380V

800V

720V

760V

680V

Braking Transistor

380V

OFF

375V

760V

660V

750V

650V

Stall

Level

380V

760V

670V

Only built-in type braking transistors will be affected, not CDBR units.

E1-02 Motor Capacity Selection

Setting Range: 1000 to 1239

Factory Default: 0

Used in conjunction with the motor connection selection (E1-17) to automatically load the motor parameter (E1-03 thru E1-13) from a pre-programmed look-up table. When setting E1-02 to any setting other than 1000, be sure to set E1-17 to the proper connection setting first. Then, set E1-03 to the proper motor winding type. When set to

1000, manual entry of parameter E1-03 - E1-13 is required.

Do not change the value after it has been set as the motor parameters will be modified.

E1-03 Motor Rated Voltage

Setting Range: 0.0 to 255.0V (0-510.0 V)

Factory Default: 230.0 (460.0)

Sets the motor rated voltage. Set to 230.0 for 320VDC nameplated motors and 460.0 for 640VDC nameplated motors.

44 VS-616PS5 Programming Manual

Section E: Motor Parameters

E1 V/f Pattern

E1-04 Motor Rated Current

Setting Range: 0.0 to 605.0

Factory Default: 0.00 (E1-02=1000)

Set to the motor rated current as indicated on the motor nameplate for motor capacity

7.5kW or less is set in units of 0.01A, and for motor capacity 11kW or greater, in units of 0.1A.

Q E1-05 Number of Motor Poles

Setting Range: 2, 4, 6, or 8

Factory Default: 4 (E1-02=1000)

Use this parameter to set the number of motor poles.

E1-06 Maximum Motor Speed

Setting Range: 0 to 6000rpm

Factory Default: 1 (E1-02=1000)

Set the maximum motor speed with this parameter in units of 1rpm. Avoid the constant horsepower range due to lack of field weakening control in the brushless DC machine.

Q E1-07 Base Motor Speed

Setting Range: 0 to 6000rpm

Factory Default: 1 (E1-02=1000)

Base motor speed is set in units of 1rpm.

E1-08 Minimum Motor Speed

Setting Range: 0 to 6000rpm

Factory Default: 30 (E1-02=1000)

The minimum motor operating speed is set in units of 1rpm.

VS-616PS5 Programming Manual 45

Section E: Motor Parameters

E1 V/f Pattern

E1-09 Motor Terminal to Terminal Resistance

Setting Range: 0 to 65.535

Ω

Factory Default: 0.000 (E1-02=1000)

Set the terminal to terminal resistance of the motor in units of 0.001

Ω.

E1-10 Motor d Axis Inductance

Setting Range: 0.00 to 6

00.00

Factory Default: 0.00 (E1-02=1000)

The d Axis inductance is set in units of 0.01mH.

E1-11 Motor q Axis Inductance

Setting Range: 0.00 to 6

00.00

m Η

Factory Default: 0.00 (E1-02=1000)

This parameter sets the q Axis inductance in units of 0.01mH at the time the motorrated load is established. Set this value equal to the setting in parameter E1-10 for surface magnet PM motors.

E1-13 Induced Voltage Constant

Setting Range: 20.0 to 500.0 V/1000 RPM

Factory Default: 0.0 (E1-02=1000)

This parameter sets the induced voltage RMS value for the motor in units of 0.1V/

1000 RPM. Enter the induced voltage generated at 1000 RPM motor speed. Make sure the induced voltage at the maximum speed (E1-06 does not exceed the voltage rating of the inverter.

Do not change the value after it has been set.

E1-15 Motor Mechanical Loss

Setting Range: 0.0 to 10.0%

Factory Default: 0.0

The motor’s mechanical loss is set in units of 0.1%. Used to improve torque linearity

The motor’s rated output is 100%.

46 VS-616PS5 Programming Manual

Section E: Motor Parameters

E1 V/f Pattern

E1-16 Motor Feeder Resistance

Setting Range: 0.0 to 10.0%

Factory Default: 1.0

Wiring resistance between the inverter and the motor is set by a percentage value of the inverter’s rated voltage.

R feed

R f

I m ×

100

Where:

R feed

R f

= Percent wiring resistance between inverter and motor

= Feeder resistance (

Ω) m

V b

= Rated current (E1-04) (A)

= Inverter rated voltage (E1-03) (V)

E1-17 Motor Connection Selection

Setting Range: 0 to 3

Factory Default: 0

Sets the winding connection configuration for the connected motor. Used only when using the winding data look-up tables, E1-02 is not equal to 1000 (see Installation &

Quick Start Manual). Set E1-17 to the proper configuration first, then set E1-02 to the proper winding code. This parameter is not used if E1-02=1000.

0: 1

∆

Connection:

· T

· · T

VS-616PS5 Programming Manual 47

Section E: Motor Parameters

E1 V/f Pattern

1: 2

∆

Connection:

Y Connection:

· ·

· T

· ·

· T

48 VS-616PS5 Programming Manual

Section F: Option Parameters

F1 PG Option Set-up

F Option Parameters

F1 PG Option Set-up

These parameters set up the Speed feedback pulse generator (PG).

F1-01 PG Pulses per Revolution

Setting Range: 0 to 10000

Factory Default: 30

This parameter sets the number of PG pulses per motor revolution (pulses/rev). Enter the PPR of the hall sensor signals HS4 & HS5 for Hall sensor only feedback (F8-

01=1). Use the encoder PPR for motors using encoders (F8-01=0) . Consult the factory when using encoders with greater than 4096 PPR.

B F1-02 PG Disconnection Detection Stopping Method

Selects the stopping method when a disconnected PG is detected.

Setting

Description

Ramp to stop - according to C1-02. (Declaration time 1).

Coast to stop (factory default) .

Fast-stop - according to C1-09.

Alarm flashes, operation continues.

B F1-03 Overspeed Detection Stopping Method

Selects the stopping method when an overspeed condition is detected.

Setting

Description

Ramp to stop - according to C1-02 (Declaration time 1).

Coast to stop (factory default) .

Fast-stop - according to C1-09.

Alarm flashes, operation continues.

F1-04 PG Deviation Detection Stopping Method

Selects the stopping method when excessive speed deviation is detected.

Setting

Description

Ramp to stop - according to C1-02 (Declaration time 1).

Coast to stop.

Fast-stop - according to C1-09.

Alarm flashes, operation continues (factory default).

VS-616PS5 Programming Manual 49

Section F: Option Parameters

F1 PG Option Set-up

F1-05 PG Rotation Selection Q

Sets the relationship between the motor rotation direction and PG polarity. (Hall sensor HS4 & HS5 or encoder channel A & B).

Setting

Description

HS5 leads HS4 (channel B leads A) in FWD direction.

HS4 leads HS5 (A leads B) in FWD direction ( factory default) .

The motor’s rotation direction applies when viewing the motor shaft from the load side.

F1-08 Overspeed Detection Level

Setting Range: 0 to 120%

Factory Default: 115%

This parameter sets the motor overspeed detection level as a percentage of maximum output speed (E1-06) . Used in conjunction with parameter F1-09 to sense an overspeed condition.

F1-09 Overspeed Detection Time

Setting Range: 0.0 to 2.0s

Factory Default: 0.0s

Sets the elapsed time from when an overspeed condition is detected to when a fault

(or alarm) occurs.

Overspeed Level (F1-08)

| Motor Speed |

Overspeed Fault Signal

OFF ON

F1-09

Figure 29 Overspeed Detection Timing Diagram

A fault signal is output to stop operation after the absolute value of the motor speed exceeds the set value of F1-08 for the time set to F1-09 . The stopping method is set by F1-03 .

50 VS-616PS5 Programming Manual

Section F: Option Parameters

F1 PG Option Set-up

F1-10 PG Deviation Detection Level

Setting Range: 0 to 50%

Factory Default: 10%

This sets the excessive speed deviation detection level as a percentage of maximum output speed (E1-06) . Used in conjunction with parameter F1-11 to sense a speed deviation condition.

F1-11 PG Deviation Detection Time

Setting Range: 0.0 to 10.0s

Factory Default: 0.5s

This parameter sets the elapsed time for which a speed deviation condition must exist, before a fault (or alarm) is generated.

Speed Reference

Motor Speed F1-10

Speed Deviation

Fault Signal

OFF ON OFF

F1-11

Figure 30 Overspeed Detection Timing Diagram

A fault (or alarm) signal is output after the deviation between speed reference and the actual motor speed exceeds the set value of F1-10 and after the time set to F1-11 elapses. The stopping method is set with F1-04 . Also, detection is not activated while accelerating/decelerating or during torque control.

F1-13 PG Open Detection Delay Time

Setting Range: 0.0 to 10.0s

Factory Default: 3.0s

This sets the time for which a PG open condition must exist, before a fault (or alarm) is generated.

• The stopping method, when a “PGO” condition is detected, is selected by parameter F1-02 .

VS-616PS5 Programming Manual 51

Section F: Option Parameters

F2 AI-14B Set-up

F2-01 AI-14B Function Selection

Sets CH1 to CH3 input functions when AI-14B option is connected.

Setting

Function

3-channel individual input (factory default)

3-channel additional input

CH1 (TC1 to TC4) CH2 (TC2 to TC4) CH3 (TC3 to TC4)

Substitute for terminals 13 & 17

Substitute for terminals 14 & 17

Substitute for terminals 16 & 17

Sum of CH1 to CH3 input values is used as the speed reference value. (Reference the AI-14B instruction manual for details).

When the 3CH individual input selection is used, set parameter B1-01 to “1” (frequency reference from control circuit terminal). The option/inverter reference selection, which is selected by a multi-function contact input ( H1-XX = “2”), is disabled when using the AI-14B option.

52 VS-616PS5 Programming Manual

Section F: Option Parameters

F3 DI-08/DI-16H Set-up

F3-01 Digital Input Option A

This parameter selects the setting mode of the frequency reference input from the DI-

08 and DI-16H options.

Setting

Frequency Reference Setting Mode

BCD 1% unit (factory default)

BCD 0.1% unit

BCD 0.01% unit

Not used

Binary

DI-08:

DI-16H, 12-bit selection:

DI-16H, 16-bit selection:

255/100%

4096/100%

30000/100%

VS-616PS5 Programming Manual 53

Section F: Option Parameters

F4 AO-08/AO-12 Set-up

F4-01 Analog Output Channel 1 Selection A

Setting

Setting Range: 1 to 53

Factory Default: 5

Selects the analog output monitors for channel 1 of the AO-08 and AO-12 options.

Possible settings are as follows:

Description

Speed reference

Output frequency

Inverter output current

Motor speed (factory default)

Output voltage

DC bus voltage

Output power

Torque reference (internal)

External terminal 13 input voltage

External terminal 14 input voltage

External terminal 16 input voltage

Motor secondary current (Iq)

Motor excitation current (Id)

Primary frequency after SFS

Speed controller ASR input

Speed controller ASR output qAxis current control reference dAxis current control reference

Voltage limit control output qAxis current control output dAxis current control output

Output voltage reference (V q

)

Output voltage reference (V d

)

External torque reference

Torque compensation value

Control section software number

Speed detection PG counter value

PID feedback

54 VS-616PS5 Programming Manual

Section F: Option Parameters

F4 AO-08/AO-12 Set-up

F4-02 Analog Output Channel 1 Gain

Setting Range:

300.0

Factory Default: 1.0

Sets the channel 1 output gain for the analog output monitors. To obtain the output level, multiply the monitor output level by the gain value set in this parameter (F4-02) .

F4-03 Analog Output Channel 1Bias

Setting Range:

109.2%

Factory Default: 0.0%

Sets the channel 1 output bias for the analog output monitors. To determine the output level, add the bias value set in F4-03 to the monitor output level.

F4-04 Analog Output Channel 2 Selection

Setting Range: Same as F4-01

Factory Default: Inverter output current (setting = “3”)

Select the analog output monitors for channel 2 of the AO-08 and AO-12 options.

Select from the table included in parameter F4-01.

F4-05 Analog Output Channel 2 Gain

Setting Range:

300.0

Factory Default: 1.0

This parameter sets the channel 2 output gain for the analog output monitors. To determine the output level, multiply the monitor output level by the gain value set in this parameter F4-05 .

F4-06 Analog Output Channel 2 Bias

Setting Range:

109.2%

Factory Default: 0.0%

Sets the channel 2 output bias for the analog output monitors. To determine the output level, add the bias value set in F4-06 to the monitor output level.

VS-616PS5 Programming Manual 55

Section F: Option Parameters

F5 DO-02 Set-up

F5-01 DO-02C Digital Output Channel 1 Selection

Setting Range:

0 to 37

Factory Default: During run 1 (setting = “0”)

Selects the multi-function output selections for channel 1 of the DO-02C option.

Setting

Description

During run 1 (factory default)

Zero speed

Sref/Sout agree 1

Sref/Sset agree 1

Speed detection 1

Speed detection 2

Inverter ready

DC bus undervoltage

Baseblock 1

Option reference

Remote operation

Torque detection 1 (N.O.)

Loss of reference

DB overheat

Fault

Not used

Minor fault

Reset command active

Setting

Description

Timer output

Agree 2

Speed detection 3

Speed detection 4

Torque detection 1(N.C.)

Torque detection 2 (N.O.)

Torque detection 2 (N.C)

Reverse direction

Baseblock 2

Regenerating

Restart enabled

Overload (OL1)

OH prealarm

Current/torque limit

Speed limit

During run 2

For detailed information on these settings, refer to section H2 , Digital Outputs .

F5-02 DO-02C Digital Output Channel 2 Selection

Setting Range: Same as F5-01

Factory Default: Zero speed (setting = “1”)

Use this function to select the multi-function output selections for channel 2 of the

DO-02C option.

56 VS-616PS5 Programming Manual

Section F: Option Parameters

F6 DO-08 Set-up

F6-01 DO-08 Digital Output Selection

Selects the multi-function output selections for the DO-08 option.

Setting

8-channel individual

(factory default)

1 binary output

Terminal No.

TD5/TD11

TD6/TD11

TD7/TD11

TD8/TD11

TD9/TD11

TD10/TD11

TD1/TD2

TD3/TD4

TD5/TD11

TD6/TD11

TD7/TD11

TD8/TD11

TD9/TD11

TD10/TD11

TD1/TD2

TD3/TD4

Description

Overcurrent (SC, OC, GF)

Overvoltage (OV)

Inverter overload (OL2)

Fuse blown (PUF)

Not used

Inverter overheat (OH1)

During zero-speed detection

During speed agree

Binary output *

During zero-speed detection

During speed agree

During run

Minor fault

* When F6-01 is set to binary output (setting = “1”), use the table below to read the DO-08 terminal 5,6,7 and 8 output .

TD8/TD11

(bit 3)

TD7/TD11

(bit 2)

TD6/TD11

(bit 1)

TD5/TD11

(bit 0)

Description

No fault

Overcurrent (SC, OC, GF)

Overvoltage (OV)

Inverter overload (OL2)

Inverter overheat (OH)

Overspeed (OS)

Fuse blown (FU)

Not used

External fault (EF3 ~ EF8)

Controller fault (CPF)

Motor overload (OL1)

Not used

Power loss (UV1, UV2, UV3)

Excessive speed deviation (DEV)

PG disconnection (PGO)

Not used

Note: When the terminal is open, the bit setting is “0”; when the terminal is closed, the bit setting is “1”.

VS-616PS5 Programming Manual 57

Section F: Option Parameters

F8-01 Speed Feedback Detection Method

F8 PG Option Set-up 2

F8-01 Speed Feedback Detection Method

Setting Range: 0,1

Factory Default: 1

Selects the speed feedback method (hall sensor or line drive encoder).

Setting

Description

Speed feedback comes from channels A & B on PG-P2 option

Speed feedback comes from channels HS4 & HS5 input on PG-P2 option

F8-01 Pulse Train Average Value

Setting Range: 0 - 50

Factory Default: 0

Sets the number of scans the Pulse Train reference is averaged. A larger number will provide a more stable speed reference signal, however, the inverter response to a rapid change in reference may be slower.

A setting of “0” or “1” means no moving average will be used, and the pulse train reference will be updated every scan.

58 VS-616PS5 Programming Manual

Section F: Option Parameters

F9 CP-916 Set-up

F9 CP-916 Setup

F9-01 External Fault Input Level from Communication Option A

This parameter selects the initial state for an external fault condition when the inverter is configured for serial communication using the CP-916.

Set Value

Description

Detection by N. O. (when closed, the inverter will trip), (factory default) .

Detection by N. C. (when open, the inverter will trip).

F9-02 External Fault Detection Selection from Communication Option A

This parameter selects the condition of detection for an external fault when using the

CP-916 option.

Set Value

Description

The fault will always be detected, even when the drive is stopped (factory default) .

The fault will be detected only when the drive is running.

F9-03 Operation at External Fault Input from Communication

Option

Setting this parameter selects the stopping method when an EFO fault is detected.

Set Value

Description

Ramp to stop according to C1-02 set value.

Coast to stop (factory default).

Ramp to stop according to C1-09 set value.

Alarm flashes, operation continues.

F9-04 Trace Sampling of Option A

This parameter sets the # of scans per each trace sample when using the CP-916B option card.

Setting Range: 0-6000

Factory Default: 0

Note: Setting F9-04 to zero executes a trace every scan.

VS-616PS5 Programming Manual 59

Section F: Option Parameters

F9 CP-916 Set-up

F9-05 Torque Reference Selection from Communication Option A

This allows the Communication option card (ex. Device Net) to set the torque limits when the inverter is in the speed control mode and to set the torque reference when operating in the torque control model.

Setting

Description

Torque reference by analog input.

Torque reference by Communication options (factory default).

F9-06 Operation at Bus Error Detection A

Setting this parameter selects the stopping method when a BUS fault is detected.

Setting

Description

Ramp to stop according to C1-02 set value.

Coast to stop (factory default) .

Ramp to stop according to C1-09 set value.

Alarm flashes, operation continues.

A BUS fault may occur when using the Communication option or the CP-916 communication options. The fault will occur after initial communication has been established, and when the connection has been interrupted.

60 VS-616PS5 Programming Manual

Section H: Control Circuit Terminal Parameters

H1 Digital Inputs

H Control Circuit Terminal Parameters

H1 Digital Inputs

The VS-616PS5 has six multi-function contact inputs for the set-up of numerous functions, including multi-step speed operation, PID, speed search, speed/torque control selection, and many others. This section includes descriptions of these functions.

H1-01 Multi-function Input Terminal 3 Selection

H1-02 Multi-function Input Terminal 4 Selection

H1-03 Multi-function Input Terminal 5 Selection

H1-04 Multi-function Input Terminal 6 Selection

H1-05 Multi-function Input Terminal 7 Selection

H1-06 Multi-function Input Terminal 8 Selection

The following table lists the function selections for the multi-function contact inputs

(terminals 3 to 8), and lists the reference page that provides a more detailed explanation of each.

Setting

Function

3-Wire Control

Local/Remote Selection

Option/Inverter Selection

Multi-Step Ref. 1 (factory default, H1-03)

Multi-Step Ref. 2 (factory default, H1-04)

Multi-Step Reference 3

Jog Speed Ref. (factory default, H1-05)

Multi-Accel/Decel 1

External Baseblock N.O. (factory default H1-06)

External Baseblock N.C.

Accel/Decel Hold Command

Inverter Overheat OH2 Alarm

Multi-function Analog Input Enable/Disable

Speed Control Integral Value Reset

Up Command

Down Command

Forward Jog

Reverse Jog

Fault Reset (factory default, H1-02)

Fast-Stop

Timer Function

PID Disable

Multi-Accel/Decel 2

Program Lockout

Analog Reference Sample/Hold Selection

Terminal 13/14 Selection

External Fault (factory default H1-01)

Speed/Torque Control Change

ASR Gain Switch

Reference Page

• Three-wire Control (setting: “0”)

Enable 3-wire control when H1-01 is set to “0”. The terminal set to “0” becomes the

FWD/REV run command.

VS-616PS5 Programming Manual 61

Section H: Control Circuit Terminal Parameters

H1 Digital Intputs

Stop

Run

Run Command

(Run when “Closed”)

Stop Command

(Stop when “Open”)

FWD/REV Selection

(FWD when “Open”

REV when “Closed”)

Figure 31 Terminal Function at 3-Wire Sequence Selection (H1-01 = “0”)

• Local/Remote Selection (setting: “1”)

Selects the operation mode, only when the inverter is stopped.

Local: Operation according to frequency reference and run command as entered from digital operator.

Remote: Operation according to frequency reference and run command set by

B1-01 & B1-02 , respectively.

Note: When local/remote selection is set by a multi-function contact input ter-

minal, local/remote selection from the digital operator key is disabled.

• Option/Inverter Selection (setting: “2”)

Selects whether operation is performed using a reference command from an option card or from the inverter. Changeover is effective only when the inverter is stopped.

Open: Runs by frequency reference and run command from inverter control circuit terminal or digital operator (B1-01 & B1-02 dependant).

Closed: Runs by frequency reference and run command from an option card.

• External Baseblock N.O. (setting: “8”)

Baseblock operation is performed when the contact input is closed. External baseblock operation differs, as described below, depending on the run command input status.

Inputting an external baseblock signal while the inverter is running, causes a “ BB ” indication on the digital operator display, and the inverter output is shut OFF.

After removing the external baseblock command, operation restarts at the previously referenced speed.

Inputting a stop signal along with an external baseblock signal while the inverter is decelerating, causes” BB ” to blink on the digital operator, the inverter output to shut

OFF, and the frequency reference to reset to 0.

• External Baseblock N.C. (setting: “9”)

Baseblock operation is performed similar to setting “8,” except that operation is performed when the contact input is open.

• Accel/Decel Hold Command (setting: “A”)

The accel/decel hold command is used to temporarily hold the output speed at its current level at the time the “Hold” command is applied. Upon entry of a stop command, the accel/decel hold condition releases and operation stops.

VS-616PS5 Programming Manual

Section H: Control Circuit Terminal Parameters

H1 Digital Inputs

Fwd Run

OFF

Accel/Decel

Hold Command

Frequency

Reference

OFF ON

OFF

Output

Frequency

Figure 32 Accel/Decel Hold Command Timing Diagram

Notes:

1. When both a hold reference memory selection ( D4-01 = “1”) and an accel/ decel hold command are input, a stop command followed by a run command will generate storage of the output frequency data until the accel/decel stop command is released. Operation resumes after the frequency storage.

2. When the power supply is turned OFF after the accel/decel hold command is input, the held output frequency is also stored.

3. When D4-01 is set to “0,” the held output frequency is not stored.

• Inverter Overheat OH2 Alarm (setting: “B”)

Inputting the inverter overheat alarm signal, “ OH2 ” blinks on the digital operator display (Alarm condition only). The user can connect the dry contact of an external heat sensor for indication of device over-temperature. To close an output contact under this condition, set a multi-function contact output (H2-XX) to “20”.

• Multi-function Analog Input Enable/Disable (setting: “C”)

This setting allows terminal 16 multi-function analog input to be enabled (accepted) or disabled (disregarded) via a digital input.

Open: Terminal 16 command is not accepted.

Closed: Terminal 16 command is accepted.

• Speed Control Integral Value Reset (setting: “E”)

This function allows the speed control integral value to be reset while the inverter is running.

Open: PI-control (adds the speed control integral values.)

Closed: P-control (resets the speed control integral values by the integral time constant).

VS-616PS5 Programming Manual 63

Section H: Control Circuit Terminal Parameters

H1 Digital Inputs

• Up/Down Command (settings: Up = “10,” Down = “11”)

Allows the motor speed to be increased (Up command) or decreased (Down command) via contact closures. Requires the run command to be applied.

UP command

DOWN command

Operation Status

Closed

Open

Accel

Open

Closed

Decel

Open

Hold

Closed

Hold

FWD Run

UP Command S5

DOWN Command S6

Upper Limit Speed

Lower Limit Speed

Output Frequency

D H U H D H U H D D1 H U U1 H D D1 H

Frequency Agree Signal

U: Up (accelerating) status

D: Down (decelerating) status

H: Hold (constant speed) status

U1: Up status, with clamping at upper limit speed

D1: Down status, with clamping at lower limit speed

Figure 33 UP/DOWN Command Timing Diagram

Notes:

1. Be sure to set Speed Reference Selection (B1-01) = “1.” When B1-01 = “0,”

Up/Down operation is disabled.

2. Upper limit speed = Maximum output speed (E1-06) × Speed Reference

Upper Limit (D2-01) , if used.

3. The lower limit value is the larger of either the master Speed reference from control circuit terminals 13 or 14, or the Speed Reference Lower Limit (D2-02) .

4. With Hold Reference Memory Selection is enabled ( D4-01 = “1”) and a hold command input, the output frequency stored even after the power supply turns OFF. When D4-01 = “0” the output frequency is not stored.

5. If the jog frequency reference is input during Up/Down operation, the jog frequency reference has priority.

• Forward and Reverse JOG commands (settings: Fwd Jog = “12,” Rev Jog = “13”)

Enables forward and reverse run jog frequency commands.

Setting

Description

When closed-run forward at jog frequency reference (D1-09).

When closed-run reverse at jog frequency reference (D1-09).

VS-616PS5 Programming Manual

Section H: Control Circuit Terminal Parameters

H1 Digital Inputs

Notes:

1. When either forward or reverse jog command is input during run, this command has priority.

2. When both the forward and reverse jog commands are closed for more than 500ms, the inverter stops according to the stopping method selection (Bl-03) .

3. The forward and reverse jog commands can be set independently.

• Fault Reset (setting: “14”)

Closing this contact resets a fault after the fault condition has been removed. The run command must be removed when resetting a fault.

• Program Lockout (setting: “1B”)

Opening this contact prohibits the changing of VS-616PS5 parameters.

• Analog Reference Sample/Hold Selection (setting: “1E”)

If the contact input closes for 100ms or longer, the analog speed reference is sampled once, after which the analog speed reference is held.

Analog Input

Fref

100ms 100ms

Closed

Open t1 t2 t3

Figure 34 Sample/Hold Selection - Analog Reference

Note:t1, t3 - Each reference is held for 100ms or longer.

t2 - Reference is held for less than 100ms, generating no frequency sampling.

• Terminal 13/14 Selection (setting: “1F”)

Open: Terminal 13 is used for the master speed reference.

Closed: Terminal 14 is used for the master speed reference.

Note: Terminal 14 Selection, Parameter H3-09, must be set equal to “1F” (not used) when setting a multifunction input to Value “1F”. Otherwise, an

OPE3 error occurs.

• External Fault (setting: “24”)

Closing this contact causes the inverter to indicate an external fault. Use the follow-

VS-616PS5 Programming Manual 65

Section H: Control Circuit Terminal Parameters

H1 Digital Inputs ing table to choose the desired response upon inputting an external fault command.

External Fault Selection

Input Level

Selection

Detection Method External Fault Action

N.O.

—

N.C.

—

Always

—

During

Run

—

Ramp to

Stop

—

Coast to

Stop

—

Fast-stop

—

Alarm Only

Notes:

1. N.O. = normally open contact; N.C. = normally closed contact

2. Setting “24” is the factory default.

3. Set up the external fault function according to the following tree.

—

Setting

Result

H1 XX = “24”

Depress the Data/Enter key.

Input Level Selection N.O. Contact

N.C. Contact

Depress the

∧

key.

Detection Method Always

During Run

External Fault Action Ramp to Stop

Coast to Stop

Fast-stop

Alarm Only

66 VS-616PS5 Programming Manual

Section H: Control Circuit Terminal Parameters

H2 Digital Outputs

The VS-616PS5 has three multi-function digital outputs for the indication of various conditions, including speed detection, speed agree, zero speed, overtorque detection, and many others. This section includes descriptions of these functions.

H2-01 Multi-function Output 1 Selection (terminal 9, 10)

H2-02 Multi-function Output 2 Selection (terminal 25, 27)

H2-03 Multi-function Output 3 Selection (terminal 26, 27)

The following table lists the function selections for the multi-function digital outputs

(terminals 9, 25 & 26), and indicates the control modes during which each function can be enabled.

Setting

Function

During Run 1 (factory default, H2-01)

Zero-speed (factory default, H2-02)

Speed Agree 1 (factory default, H2-03)

Desired Speed Agree 1

Speed Detection 1

Speed Detection 2

Inverter Ready

DC Bus Undervoltage

Baseblock 1 - N.O.

Speed Reference Selection

Run Command Selection

Overtorque Detection 1 - N.O.

Loss of Speed Reference

Dynamic Braking Resistor (DB) Overheat

Fault

Not used

Alarm (Minor fault)

Fault Reset

Timer Output

Speed Agree 2

Desired Speed Agree 2

Speed Detection 3

Speed Detection 4

Overtorque Detection 1 - N.C.

Overtorque Detection 2 - N.O.

Overtorque Detection 2 - N.C.

During Reverse Run

Baseblock 2 - N.C.

Monitoring/ Regenerating Mode

Automatic Restart

Overload (OL1) Pre-alarm

OH Pre-alarm

Current/torque Limit

Speed Limit

During Run 2

Reference Page

VS-616PS5 Programming Manual 67

Section H: Control Circuit Terminal Parameters

H2 Digital Outputs

• During Run (setting: “0”)

Closes after a run command is inputted or when the inverter generates output voltage.

• Zero-speed (setting: “1”)

Closes when the motor speed is less than the zero-speed level (B2-01).

• Speed Agree 1 (setting: “2”)

Closes whenever the output speed “agrees” with the speed reference plus or minus the speed agree detection width (L4-02) . This works in both forward and reverse operation.

Detection Width 1 (L4-02) Speed Reference

Output Speed

Speed Agree 1 Signal

OFF ON OFF

Figure 37 Speed Agree Signal 1 Timing Diagram

• Desired Speed Agree 1 (setting: “3”)

Closes whenever the output Speed “agrees” with the Speed Agree Detection Level,

(L4-01) , plus or minus the Speed Agree Detection Width, (L4-02) . This works in both forward and reverse operation.

Detection Width 1 (L4-02) Detection Level 1 (L4-01)

Output Speed

Desired Speed

Agree 1 Signal

OFF ON OFF

Figure 38 Desired Speed Agree 1 Signal Timing Diagram

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Section H: Control Circuit Terminal Parameters

H2 Digital Outputs

• Speed Detection 1 (setting: “4”)

Closes whenever the output speed is at or below the Speed Agree Detection Level

(L4-01) . During acceleration from below the detection level, the output speed increases through the Detection Bandwidth (L4-02) before the contact opens again.

This works in both forward and reverse operation.

Detection Width 1 (L4-02)

Detection Level 1 (L4-01)

Output Speed

Speed

Detection 1 Signal ON OFF ON

Figure 39 Speed Detection 1 Signal Timing Diagram

• Speed Detection 2 (setting: “5”)

Closes whenever the output speed is at or above the Speed Agree Detection Level

(L4-01) . During deceleration from above the detection level, the output Speed decreases through the Detection Bandwidth (L4-02) before the contact opens again. This works in both forward and reverse operation.

Detection Level 1 (L4-01) Detection Width 1 (L4-02)

Output Speed

Speed

Detection 2 Signal OFF ON OFF

Figure 40 Speed Detection 2 Signal Timing Diagram

• Inverter Ready (setting: “6”)

Closes when the inverter is ready for operation (no faults or alarms).

• DC Bus Undervoltage (setting: “7”)

Closes when the main circuit DC bus voltage or control circuit power supply is drops below the trip level, or when the main soft charge contactor (MC) is OPEN.

• Baseblock 1 - N.O. (setting: “8”)

Closes when the inverter output shuts OFF.

• Speed Reference Selection (setting: “9”)

Open when the speed reference is entered from the control circuit terminals or option. Closes when the speed reference is input from the digital operator.

• Run Command Selection (setting: “A”)

Opens when run command is entered from the control circuit terminals or option.

VS-616PS5 Programming Manual 69

Section H: Control Circuit Terminal Parameters

H2 Digital Outputs

Closes when run command is input from the digital operator.

• Overtorque Detection 1 - N.O. (setting: “B”)

Closes during overtorque detection 1 (L6-01, see section L6 , Overtorque Detection ).

• Loss of Speed Reference (setting: “C”)

Closes when the speed reference is reduced by 90% within 400ms. The inverter will respond according to the setting of reference loss selection (L4-05) . After reference loss, if L4-05 = “1,” then operation continues at 80% of the previous speed reference, and the contact closes.

Fwd Run Command OFF ON OFF

Master Speed Reference

80%

10%

400ms 400ms

Output Speed

Reference Loss Contact OFF ON OFF ON

Figure 41 Reference Loss Timing Diagram

80% Frequency

• Dynamic Braking Resistor Overheat (setting: “D”)

Closes during braking resistor overheating or a braking transistor fault.

• Fault (setting: “E”)

Closes when a fault occurs (except CPF00 and CPF01).

• Alarm (setting: “10”)

Closes while an alarm is displayed.

• Fault Reset (setting: “11”)

Closes while a fault is being reset.

• Timer Output (setting: “12”)

Closes when a timer contact input closes (after On-delay time elapses).

Opens when a timer contact input opens (after Off-delay time elapses).

• Speed Agree 2 (setting: “13”)

Closes whenever the output speed “agrees” with the Speed reference plus or minus the Speed Agree Detection Width (L4-04) . This is used for setting up an alternate detection width.

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Section H: Control Circuit Terminal Parameters

H2 Digital Outputs

Detection Width 1 (L4-04) Speed Reference

Output Speed

Speed Agree 2 Signal

OFF ON OFF

Figure 42 Speed Agree Signal 2 Timing Diagram

• Desired Speed Agree 2 (setting: “14”)

Closes whenever the output Speed “agrees” with the Speed Agree Detection Level

(L4-03) , plus or minus the Speed Agree Detection Width (L4-04) . Choose forward or reverse operation in L4-03 .

Detection Width 1 (L4-04) Detection Level 1 (L4-03)

Output Speed

Desired Speed

Agree 2 Signal

OFF ON OFF

Figure 43 Desired Speed Agree 2 Signal Timing Diagram

• Speed Detection 3 (setting: “15”)

Closes whenever the output Speed is at or below the Speed Agree Detection Level

(L4-03) . During acceleration from below the detection level, the output Speed increases through the Detection Bandwidth (L4-04) before the contact opens again.

Choose forward or reverse operation in L4-03 .

Detection Width 1 (L4-04)

Detection Level 1 (L4-03)

Output Speed

Speed

Detection 3 Signal ON OFF ON

Figure 44 Speed Detection 3 Signal Timing Diagram

• Speed Detection 4 (setting: “16”)

Closes whenever the output Speed is at or above the Speed Agree Detection Level

(L4-03) . During deceleration from above the detection level, the output Speed decreases through the Detection Bandwidth (L4-04) before the contact opens again. Choose forward or reverse operation in L4-03 . Choose forward or reverse operation in L4-03 .

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Section H: Control Circuit Terminal Parameters

H2 Digital Outputs

Detection Level 1 (L4-03) Detection Width 1 (L4-04)

Output Speed

Frequency

Detection 4 Signal OFF ON OFF

Figure 45 Speed Detection 2 Signal Timing Diagram

• Overtorque Detection 1 - N.C. (setting: “17”)

Opens during overtorque detection 1 (L6-01, see section L6 , Overtorque Detection , on page 81).

• Overtorque Detection 2 - N.O. (setting: “18”)

Closes during overtorque detection 2 (L6-01, see section L6 , Overtorque Detection , on page 81).

• Overtorque Detection 2 - N.C. (setting: “19”)

Opens during overtorque detection 2 (L6-01, see section L6 , Overtorque Detection , on page 81).

• During Reverse Run (setting: “1A”)

Closes during a reverse run command.

• Baseblock 2 - N.C. (setting: “1B”)

Opens when the inverter output shuts OFF.

• Monitoring/Regenerating Mode (setting: “1D”)

Closes during regenerative operation.

• Automatic Restart (setting: “1E”)

Closes during automatic restart operation.

• OL1 Pre-alarm (setting: “1F”)

Closes when the motor-calculated electronic thermal overload value increases to

90% of the internal fault detection level.

• OH Pre-alarm (setting: “20”)

Closes when the heatsink temperature exceeds the Overheat Temperature Level

(L8-02) , or when a multi-function contact input ( H1-XX = “B”) closes.

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Section H: Control Circuit Terminal Parameters

H2 Digital Outputs

• Current/Torque Limit (setting: “30”)

Closes during torque limit.

• Speed Limit (setting: “31”)

Closes when the Speed Limit Level as determined by parameter setting (D5-03) is reached during torque control. The speed limit is set by D5-04 or the analog input .

• During Run 2 (setting: “37”)

Closes during running (does not close during baseblock, injection braking, or initial excitation).

VS-616PS5 Programming Manual 73

Section H: Control Circuit Terminal Parameters

H3 Analog Inputs

The VS-616PS5 has three analog inputs (two multi-function and one fixed), for the external input of numerous references and limits, including speed, torque, PID, and others. This section includes descriptions of these functions.

B H3-01 Terminal 13 Signal Selection

Selects the type of voltage signal input at terminal 13.

Setting

Description

0 to 10V input (factory default)

-10 to +10V input

The resolution of terminal 13 is 11 bit, plus a sign bit.

H3-02 Terminal 13 Reference % Gain

Setting Range: 0.0 to 1000.0%

Factory Default: 100.0%

Sets the terminal 13 input gain level when the reference voltage is 10V.

H3-03 Terminal 13 Reference ±% Bias

Setting Range: ± 100.0%

Factory Default: 0.0%

Sets the terminal 13 input bias level when the reference voltage is 0V.

H3-02

(Gain)

% Reference

02=

100

H3-

H3-02=

50%

H3-02

(Bias) 0

10V

20mA

Figure 46 Analog Input Gain and Bias Adjustment

H3-04 Terminal 16 Signal Selection

Selects the type of voltage signal input at terminal 16.

Setting

Description

0 to 10V input (factory default)

- 10 to + 10V input

The resolution of terminal 16 is 11 bit, plus a sign bit.

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Section H: Control Circuit Terminal Parameters

H3 Analog Inputs

H3-05 Terminal 16 Multi-function Selection A

The following table lists the function selections for the multi-function analog inputs

(terminals 14 & 16).

Setting

Function

Auxiliary Speed Reference (factory default)

Speed Gain

Speed Bias

Overtorque Level

Reference Lower Limit

Jump Speed

PID Feedback

Forward Torque Limit

Reverse Torque Limit

Regenerative Torque Limit

Torque Reference

Torque Compensation

Forward/Reverse Torque Limit

Not Used

Setting Level

±100% / ±10V

100% / 10V

±100% / ±10V

100% / 10V

±100% / ±10V

100% / ±10V

±100% / ±10V

±100% / 10V

· Auxiliary Speed Reference (setting: “0”)

· Speed Bias (setting: “2”)

· PID Feedback (setting: “B”)

· Torque Reference (setting: “13”)

· Torque Compensation (setting: “14”)

100%

· Speed Gain (setting: “1”)

· Overtorque Level (setting: “7”)

· Jump Speed (setting: “A”)

· Reference Lower Limit (setting: “9”)

100%

-10V 0

-10V

0 10V

-100%

· Speed Torque Limit (setting: “10”)

· Reverse Torque Limit (setting: “11”)

· Regenerative Torque Limit (setting: “12”)

100%

0 10V

· Forward/Reverse

Torque Limit

(setting: “15”)

100%

10V

-100%

10V

Figure 47 Multi-function Analog Input Selection

VS-616PS5 Programming Manual 75

Section H: Control Circuit Terminal Parameters

H3 Analog Inputs

H3-06 Terminal 16 Reference % Gain

Setting Range: 0.0 to 1000.0%

Factory Default: 100.0%

Sets the terminal 16 input gain level when the reference voltage is 10V, (see Figure

46).

H3-07 Terminal 16 Reference ±% Bias

Setting Range: ±100.0%

Factory Default: 0.0%

Sets the terminal 16 input bias level when the reference voltage is 0V, (see Figure

46).

H3-08 Terminal 14 Signal Selection

Selects the type of signal input at terminal 14.

Setting

Description

0 to 10V input

-10V to +10V input

4 to 20mA (factory default)

The resolution of terminal 14 is 11 bit, plus a sign bit. (10 bit for 4-20mA input).

Note: To enable terminal 14 for a voltage signal (settings: “0” or “1”), cut jumper wire J1 on the control printed circuit board. J1 is located on the bottom left-hand corner of the control board directly behind terminal 13.

H3-09 Terminal 14 Multi-function Selection A

Selects the multi-function analog input function for terminal 14 (see Terminal 16 Multifunction Selection for details).

H3-10 Terminal 14 Reference % Gain

Setting Range: 0.0 to 1000.0%

Factory Default: 100.0%

Sets the terminal 14 input gain level when the reference current is 20mA, (see Figure

46).

VS-616PS5 Programming Manual

Section H: Control Circuit Terminal Parameters

H3 Analog Inputs

H3-11 Terminal 14 Reference ±% Bias

Setting Range: ±100.0%

Factory Default: 0.0%

Sets the terminal 14 input bias level when the reference current is 4mA, (see Figure

46).

H3-12 Analog Input Filter Time Constant

Setting Range: 0.00 to 2.00s

Factory Default: 0.00s

Sets up a filter time constant for terminals 13, 14, and 16. This filter can be used to filter a “noisy” or fluctuating analog signal. The same filter time applies to all 3 analog signals.

VS-616PS5 Programming Manual 77

Section H: Control Circuit Terminal Parameters

H4 Analog Outputs

The VS-616PS5 has two analog outputs, for the external monitoring of drive conditions such as output speed, output current, PID feedback and others.

H4-01 Terminal 21 Analog Output Selection

Selects the analog output monitors for terminal 21.

Setting

Description

Speed reference

Output Speed (factory default)

Inverter output current

Motor speed

Output voltage

DC bus voltage

Output power

Torque reference (internal)

External terminal 13 input voltage

External terminal 14 input voltage

External terminal 16 input voltage

Motor secondary current (Iq)

Motor excitation current (Id)

Primary Speed after SFS

Speed controller ASR input

Speed controller ASR output qAxis current control reference dAxis current control reference

Voltage limit control output qAxis current control output dAxis current control output

Output voltage reference (V q

)

Output voltage reference (V d

)

External torque reference

Torque compensation value

Control section software number

Speed detection PG counter value

53 PID feedback

The resolution of terminal 21 is 9 bits plus a sign bit.

H4-02 Terminal 21 Analog Output Gain

Setting Range: ±300.0%

Factory Default: 1.0

Sets the terminal 21 output gain for the analog output monitors. To obtain the output level, multiply the monitor output level % by the gain value set in this parameter, ( H4-

02).

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Section H: Control Circuit Terminal Parameters

H4 Analog Outputs

H4-03 Terminal 21 Analog Output Bias

Setting Range: ±109.2%

Factory Default: 0.0%

Sets the terminal 21 output bias for the analog output monitors. To obtain the output level, multiply the monitor output level by the gain value set in H4-02 , then add the bias value set in H4-03 .

+10

2.50

Gain

Bias (%) 0

1.00

Reference (%)

-10

Figure 48 Analog Output Gain and Bias Adjustment

H4-04 Terminal 23 Analog Output Selection B

Selects the analog output monitors for terminal 23 (see Terminal 21 Analog Output

Selection). The resolution of terminal 23 is 9 bits plus a sign bit.

H4-05

Terminal 23 Analog Output

Gain

Setting Range: ±300.0%

Factory Default: 1.0

Sets the terminal 23 output gain for the analog output monitors. To obtain the output level, multiply the monitor output level by the gain value set in H4-05 , (see Figure 48).

B H4-06 Terminal 23 Analog Output Bias

Setting Range: ±109.2%

Factory Default: 0.0%

Sets the terminal 23 output bias for the analog output monitors. To obtain the output level, multiply the monitor output level by the gain value set in H4-05 , then add the bias value set in H4-06 , (see Figure 48).

B H4-07 Analog Output Signal Selection

Selects the type of voltage signal output at terminals 21 and 23.

Setting

Description

0 to 10V output (factory default)

±10V output

VS-616PS5 Programming Manual 79

Section H: Control Circuit Terminal Parameters

H5 Modbus Communication Parameters

H Control Circuit Terminal Parameters

H5 Modbus Communication Parameters

The inverter uses communication port 6CN to communicate via MODBUS protocol .

A H5-01 Serial Communication Station Address

Setting Range: 0 to 1F

Factory Default:1F

Selects a station address for identification of the inverter during serial communication.

H5-02 Serial Communication Baud Rate

Selects the baud rate at which the inverter serially communicates with external devices.

Setting

Description

1200 Baud per Second

2400 Baud per Second

4800 Baud per Second

9600 Baud per Second (factory default)

19200 Baud

<1110>

H5-03 Serial Communication Parity Selection

Selects the transmission parity for the 6CN MODBUS port.

Setting

Description

No parity (factory default)

Even parity

Odd parity

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Section H: Control Circuit Terminal Parameters

H5 Modbus Communication Parameters

A H5-04 Stopping Method After Communication Error

Selects the stopping method after a transmission error is detected.

Setting

Description

Ramp to stop according to the time set in C1-02 .

Fast-stop according to the time set in C1-09 .

Coast to stop

Alarm only, continuous operation (factory default)

H5-05 MODBUS Time Out Detection A

H5-05 enables or disables the MODBUS time out detection function. After initial communication begins, if communication is interrupted for longer than 2 seconds, then a communication fault will occur.

During a communication fault, the following fault code will be displayed: “bus”.

Setting

Description

Disabled - Time out detection is disabled.

Enabled - Time out detection is enabled.

VS-616PS5 Programming Manual 81

Section L: Protection Parameters

L4 Power Loss Ride-through

L Protection Parameters

L2 Power Loss Ride-through

When momentary power loss occurs, Power Loss Ride-through function is disabled.

L2-01 Momentary Power Loss Ride-through B

Selects whether the inverter stops when power loss is detected or “rides through” a momentary power loss. When ride-through operation is selected, speed search starts from the current output Speed.

Momentary power loss ride-through is disabled (factory default) . When momentary power loss is detected, a fault contact trips, stopping the inverter.

L2-02 Momentary Power Loss Ride-through Time

Setting Range: 0.0 to 2.0s

Factory Default: Inverter model dependent

3.7~15

2.0

Sets the ride-through time allowed before the inverter trips, after momentary power loss. This setting is activated when L2-01 is set to “1.” If power is restored within this time, operation restarts automatically. If power is not restored within this time, a fault contact trips, stopping the inverter.

Maximum Acceptable values are indicated in the following tables.

200V Models

Capacity Kw

L2-02

0.4

0.7

1.0

1.5

1.0

400V Models

Capacity Kw

L2-02

0.4-2.2

1.0

3.7-300

2.0

2.2

1.0

L2-05 Undervoltage Detection Level

Setting Range: 150 to 210V (230V class), 300 to 420V (460V class)

Factory Default: 190V (230V class), 380V (460V class)

Sets the inverter’s main circuit DC bus undervoltage level.

When setting this value less than the factory default, it is necessary to install an AC reactor on the input side. The AC reactor reduces peak current input to the inverter and smooths out the DC bus current ripple when operating at low voltages.

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Section L: Protection Parameters

L3 Stall Prevention/Current Limit

This function automatically adjusts the output deceleration rate in order to continue operation without tripping (overvoltage avoidance function) when the motor is regenerating.

L3-01 Over-voltage Protection (Stall Prevention During Deceleration) B

If deceleration times are set too short for load conditions, the inverter automatically extends the deceleration time according to the main circuit DC bus voltage level.

When using an optional braking resistor for the VS-616PS5, set parameter L3-01 to

”0”.

Setting

Description

Stall prevention during deceleration is disabled. An excessively short deceleration time will generate an overvoltage fault (OV), and the motor will coast.

Stall prevention during deceleration is enabled (factory default) .

The DC bus voltage level is monitored, and the deceleration rate is automatically extended to prevent an overvoltage condition. This deceleration time may be longer than the set value (C1-

02).

Speed

Adjusts the deceleration time to prevent overvoltage fault (OV).

Time

Set Deceleration Time

Figure 52 Stall Prevention During Deceleration

VS-616PS5 Programming Manual 83

Section L: Protection Parameters

L4 Reference Detection

The VS-616PS5 utilizes three different functions for detecting output speed:

• When speed agree is enabled at the multi-function contact outputs ( H2-__ = “2” or

“13”), the contact closes whenever the output speed “agrees” with the speed reference, plus or minus the speed agree detection width.

• When desired speed agree is enabled at the multi-function contact outputs ( H2-__ =

“3” or “14”), the contact closes whenever the output speed “agrees” with the speed agree detection level, plus or minus the speed agree detection width.

• When speed detection is enabled at the multi-function contact outputs ( H2-__ = “4”,

“5”, “15” or “16”), the contact closes whenever the output speed is less than or more than the speed agree detection level, depending on which detection is selected.

Refer to section H2 , Digital Outputs , for more detailed information on setting these functions.

L4-01 Speed Agree Detection Level (without sign) B

Setting Range: 0.0 to 100.0%

Factory Default: 0.0%

Sets the detection level for the desired speed agree 1 and speed detection 1 & 2 functions. The set detection level is effective during both FWD and REV operation.

L4-02 Speed Agree Detection Width

Setting Range: 0.0 to 100.0%

Factory Default: 2.0%

Sets the detection width for frequency and desired speed agree 1 and speed detection 1 & 2 functions.

L4-03 Speed Agree Detection Level (with sign)

Setting Range: 0.0 to ±100.0%

Factory Default: 0.0%

Sets the detection level for the desired speed agree 2 and speed detection 3 & 4 functions. The set detection level is effective during either FWD or REV operation, depending on the set detection level (positive value for FWD operation, negative value for REV operation).

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Section L: Protection Parameters

L4 Reference Detection

L4-04 Speed Agree Detection Width

Setting Range: 0.0 to 100.0%

Factory Default: 2.0%

Sets the detection width, for desired speed agree 2, and for speed detection 3 & 4 functions.

L4-05 Operation when Speed Reference is Missing

Selects operation when the speed reference from the control circuit terminal is reduced by 90% within 400ms. (Reference loss condition).

Setting

Description

Stop (factory default) .

Run at 80% of the previous frequency reference.

VS-616PS5 Programming Manual 85

Section L: Protection Parameters

L5 Fault Reset

L5 Fault Restart

After a fault occurs, the inverter can be reset automatically. The automatic restart function allows the inverter to reset itself and continue operation after certain faults

(Provided the fault condition no longer exists.

L5-01 Number of Automatic Restart Attempts

Setting Range: 0 to 10

Factory Default: 0

Sets the number of automatic restart attempts. Setting to “0” disables this function.

Automatic Restart Operation

• When a fault is detected, the inverter output shuts OFF. The digital operator displays the fault while the inverter output is shut OFF.

• The fault is reset automatically and speed search starts from the motor speed as detected by the PG feedback.

• When the total number of faults exceeds the number of automatic restart attempts, the faults are not reset automatically and the inverter output remains OFF. At this time, a fault contact output is activated.

The inverter can be set to automatically restart after the following faults occur:

• Overcurrent (OC)

• Overvoltage (OV)

• Undervoltage PUV (UV1)

• Ground fault (GF)

• Regenerative transistor fault (rr)

Automatic restart is not available for the following faults:

• Control circuit undervoltage (UV2) • Excessive speed deviation (DEV)

• MC answer-back fault (UV3)

• Load short-circuit (SC)

• PG disconnection (PGO)

• Parameter setting error (OPR)

• Heatsink overheat (OH)

• Run command fault (EF)

• Overspeed (OS)

• Communication error (CE)

• External fault (EF3 to EF8)

The number of restart attempts is reset to 0 when:

• A fault does not occur for more than 10 minutes after the last restart has been performed.

• A fault reset command is input from the control circuit terminal or the digital operator.

• Power is cycled.

VS-616PS5 Programming Manual

L5-02 Automatic Restart Operation Selection

Selects whether a fault contact output is activated during automatic restart.

Setting

Description

No fault relay (factory default) .

Fault relay is active.

A setting of “0” will energize the fault relay only after the number of restart attempts as programmed in parameter L5-01 has been exhausted.

A setting of “1” will energize the fault relay upon every fault. Thus, the fault contact will energize and then de-energize as the restart procedure is occurring.

Section L: Protection Parameters

L5 Fault Reset

VS-616PS5 Programming Manual 87

Section L: Protection Parameters

L6 Torque Detection

The overtorque detection circuit activates when the motor load causes the motor current (or torque during vector control) to exceed the overtorque detection level (L6-02) .

When an overtorque condition is detected, an “OL3” indication is generated on the digital operator.

To output an overtorque detection signal, select torque detection 1 at either of the multi-function contact outputs ( H2-XX = “B” or “17”). Refer to section H2 : Digital

Outputs , for more details.

Inverter Rated Current

Motor Current

L6-02

* *

Time

Multi-function Contact

Output Signal

(Overtorque Detection Signal)

Terminal 9, 25, 26

L6-03

* Release width (hysteresis) during overtorque detection is 5% of the inverter rated current level.

Figure 54 Overtorque Characteristics Timing Diagram

L6-01 Overtorque Detection 1 Selection B

Activates overtorque detection, and selects whether detection generates an alarm or a fault.

Setting

Description

Overtorque detection is disabled (factory default).

Overtorque detection is enabled whenever at the speed agree level (when inverter is not accelerating or decelerating). Continue running after detection (OL3 alarm).

Overtorque detection is enabled always. Continue running after detection (OL3 alarm).

Overtorque detection is enabled whenever at the speed agree level. Coast to a stop after detection (OL3 fault).

Overtorque detection is enabled always. Coast to a stop after detection (OL3 fault).

Notes:

1. To detect torque during acceleration or deceleration, set to “2” or “4.”

2. To continue operation after overtorque detection, set to “1” or “2.” During detection, the digital operator displays an “ OL3 ” alarm (blinking).

3. To stop the inverter (fault) after upon overtorque detection fault, set to “3” or “4.”

During detection, the digital operator displays an “ OL3 ” fault.

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Section L: Protection Parameters

L6 Torque Detection

L6-02 Overtorque Detection 1 Level

Setting Range: 0 to 300%

Factory Default: 150%

Sets the overtorque detection level as a percentage of motor rated torque.

L6-03 Overtorque Detection 1 Time

Setting Range: 0.0 to 10.0s

Factory Default: 0.1s

The overtorque detection time sets the time for which the motor current (or torque) must exceed the overtorque detection level (L6-02) before the overtorque condition is acknowledged as a valid overtorque condition. The digital operator then displays

“ OL3 .”

L6-04 Overtorque Detection 2 Selection A

Activates overtorque detection 2, and selects whether detection generates an alarm or a fault.

Setting

Description

Overtorque detection is disabled (factory default).

Overtorque detection is enabled whenever at the speed agree level (when inverter is not accelerating or decelerating). Continue running after detection (OL4 alarm).

Overtorque detection is enabled always. Continue running after detection (OL4 alarm).

Overtorque detection is enabled whenever at the speed agree level. Coast to a stop after detection (OL4 fault).

Overtorque detection is enabled always. Coast to a stop after detection (OL4 fault).

Overtorque detection 2 functions the same as overtorque detection 1 (L6-01) , except that “ OL4 ” is displayed on the digital operator instead. This function is used when two levels of detection are required.

L6-05 Overtorque Detection 2 Level

Setting Range: 0 to 300%

Factory Default: 150%

Sets the second overtorque detection level as a percentage of motor rated torque.

VS-616PS5 Programming Manual 89

Section L: Protection Parameters

L6 Torque Detection

L6-06 Overtorque Detection 2 Time

Setting Range: 0.0 to 10.0s

Factory Default: 0.1s

The overtorque detection time sets the time for which the motor current (or torque) must exceed the overtorque detection level (L6-05) before the overtorque condition is acknowledged as a valid overtorque condition. The digital operator then displays

“ OL3 .”

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Section L: Protection Parameters

L7 Torque Limit

The torque limit function limits the amount of motor torque in all four quadrants of vector control operation:

• Forward Motoring

• Reverse Motoring

• Forward Regenerating

• Reverse Regenerating

Torque limit is activated in both the speed and torque control modes. When an analog input is programmed for torque reference, the lower of the analog signal on the L7 settings takes priority.

L7-01 Forward Torque Limit

Setting Range: 0 to 300%

Factory Default: 150%

Sets the motoring side torque limit value during FWD run.

L7-02 Reverse Torque Limit

Setting Range: 0 to 300%

Factory Default: 150%

Sets the motoring side torque limit value during REV run.

L7-03 Regenerative Forward Torque Limit

Setting Range: 0 to 300%

Factory Default: 150%

Sets the regenerating side torque limit value during FWD run.

L7-04 Regenerative Reverse Torque Limit

Setting Range: 0 to 300%

Factory Default: 150%

VS-616PS5 Programming Manual 91

Section L: Protection Parameters

L7 Torque Limit

Sets the regenerating side torque limit value during REV run.

Positive Torque Reference

REV Run Regeneration

Torque Limit (L7-04)

FWD Run Motor

Torque Limit (L7-04)

FWD Motor Rotation REV Motor Rotation

REV Run Motor

Torque Limit (L7-02)

FWD Run Regeneration

Torque Limit (L7-03)

Negative Torque Reference

Figure 55 Torque Limit - 4 Quadrant Operation

92 VS-616PS5 Programming Manual

Section L: Protection Parameters

L8 Hardware Protection

The VS-616PS5 comes equipped with a number of built-in functions designed to protect the inverter and its components from damage. This section describes set-up for these functions.

L8-01 Protection Selection for Internal DB Resistor A

When a Yaskawa-brand 3% duty cycle dynamic braking resistor is used, this function enables protection against overheating. The duty cycle of the braking resistor is monitored in the software so that it does not exceed 3%.

Setting

Description

DB resistor overheat protection is not provided (factory default) .

DB resistor overheat protection is provided.

If the duty cycle exceeds 3%, a DB overheat fault (RH) occurs, and the inverter coasts to stop.

A L8-02 OH Pre-Alarm Level

Setting Range: 50 to 110°C

Factory Default: 95°C

Sets the heatsink temperature level for protection against overheat (OH).

L8-03 Stopping Method Selection At OH Pre-Alarm

Selects the stopping method when heatsink overheat is detected.

Setting

Description

Ramp to stop according to C1-02 (Deceleration time).

Coast to stop

Ramp to stop according to C1-09 setting (fast-stop).

Operation continues, alarm only (factory default).

L8-05 Input Phase Loss Protection A

The input phase loss detection circuit monitors the DC bus voltage ripple and activates when one of the input phases is lost. The detection circuit calculates the maximum and minimum values of the DC bus voltage, and compares the difference (

∆

V) between these values with an internal detection level. If

∆

V reaches or exceeds the detection level, an input phase loss is detected, a PFfault occurs, and the motor coasts to stop.

Setting

Description

Input phase loss protection is disabled (factory default) .

Input phase loss protection is enabled.

VS-616PS5 Programming Manual 93

Section L: Protection Parameters

L8 Hardware Protection

Input phase loss detection is disabled in the following cases:

• A Stop command is input

• Magnetic Contact (MC) shuts OFF

• CPU A/D converter fault (CPF5)

• During deceleration

• Output current

≤

30% of Inverter rated current

L8-07 Output Phase Loss Protection

This parameter detects the inverter output open-phase.

Setting

Description

Inverter output open-phase detection is disabled (factory default) .

Inverter output open-phase detection is enabled.

An open phase condition may be erroneously detected at the output if inadequate motor capacity is applied to the inverter, or the load torque is low.

L8-10 Ground Fault Protection

The ground fault detection circuit monitors the output current and activates when excessive ground current is detected.

Setting

Description

Ground fault detection is disabled

Ground fault detection is enabled.

(factory default) .

A ground fault will occur when the inverter output grounding current has exceeded

50% of the inverter rated current.

94 VS-616PS5 Programming Manual

Section O: Operator Parameters

O1 Monitor Selection

O Operator Parameters

O1 Monitor Selection

O1-01 User Monitor Selection B

The operation menu allows simple viewing of four monitor variables (via the DSPL key). These are Speed ref, Speed out, I out

, and a user-selected monitor. Using the table below, set this parameter to the setting corresponding to the monitor item desired for the fourth (user monitor) selection.

Setting

Description

Motor speed

Output voltage (factory default)

DC bus voltage

Output power

Torque reference (internal)

Terminal 13 input voltage level

Terminal 14 input voltage or current level

Terminal 16 input voltage level

Motor secondary current (Iq)

Motor excitation current (Id)

SFS output frequency

ASR input

ASR output

Voltage reference (Vd output)

CPU ID number

Voltage limit control output qAxis current control output dAxis current control output

Output voltage reference (Vq)

Output voltage reference (Vd)

LED check

Internal control status 2

Command 1 from option

Command 2 from option

External torque reference

Torque compensation value

DO-08H output status

Momentary power loss decrease capacity

Control section software number

Speed detection PG counter value

PID feedback

DI-16H input status

VS-616PS5 Programming Manual 95

Section O: Operator Parameters

O1 Monitor Selection

O1-02 Monitor Selection After Power-up

Selects the monitor to be displayed on the digital operator immediately after the power supply is turned ON.

Setting

Description

Displays frequency reference (factory default) .

Displays output frequency.

Displays output current.

Displays the monitor set in O1-01 .

O1-03 Scale for Setting and Monitoring Frequency B

Units for parameters and monitors related to frequency can be scaled as shown below.

Setting

2 ~ 39

40 ~ 3999

Description

Unit: 0.01%. Speed reference is displayed as P

¨¨

• Unit: rpm

• Unit: 120 (Hz) frequency reference/(E1-05)

• The speed reference is displayed as n

¨¨¨¨

Digits: 5th 4th 3rd 2nd 1st

0 0 0 0 0

The 1st through 4th digits determine the set value at 100% output frequency.

The decimal point position is set with the 5th digit of O1-03, as follows:

5th digit = 0: displayed as ¨¨¨¨

5th digit = 1: displayed as ¨¨¨ .

5th digit = 2: displayed as ¨¨ .

¨¨

5th digit = 3: displayed as ¨ .

¨¨¨

(Example 1)

If 100% output frequency is equal to 200.0 units:

Set O1-03 = “12000”

100% of this reference is displayed as 200.0 and 60% of this reference is displayed as 120.0.

Example 2

If 100% output frequency is equal to 65.00:

Set O1-03 = “26500”

60% of this reference is displayed as 39.00.

96 VS-616PS5 Programming Manual

Section O: Operator Parameters

O2 Key Selection

O2-01 Local/Remote Key

Enables/disables the digital operator LOCAL/REMOTE key.

Setting

Description

Local/Remote key is disabled.

Local/Remote key is enabled (factory default) .

Depressing the Local/Remote key switches operation commands between the digital operator and the settings of B1-01 & B1-02 .

O2-02 STOP Key During External Terminal Operation B

Enables/disables the digital operator STOP key, during operation from the external terminals and during serial communication.

Setting

Description

The digital operator STOP key is disabled when Run command does not come from the digital operator (factory default) .

The digital operator STOP key is always enabled.

The STOP key is enabled even during external terminal operation and serial communication.

O2-04 Inverter Model Selection

Setting Range: 00 to FF

Factory Default: Inverter model dependent, kVA dependent

Sets the inverter capacity, according to the model number. Control parameters with defaults specific to the inverter’s capacity are set automatically (i.e. carrier frequency, motor data, etc.). This parameter does not need changing, unless the control board is replaced. When replacing the control board, set parameter 02-04 to the appropriate value per the following tables and re-initialize with parameter A1-03.

230 V Models

Model

02-04

C6-02

(KHz)

L2-02 (sec)

20P4 20P7 21P5 22P2 23P7 25P7 27P7 2011 2015

0 1 2 3 4 5 6 7 8

0.7

1.0

2.0

VS-616PS5 Programming Manual 97

Section O: Parameters

O2 Key Selection

460 V Models

Model 40P4 40P7 41P5 42P2 43P7 44P0 45P5 47P5 4011 4015 4018 4022 4030 4037 4045

02-04 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E

C6-02

(KHz)

L2-02

(sec)

1.0

2.0

Model

02-04

C6-02

(KHz)

L2-02 (sec)

4055 4075 4110 4160 4185 4220 4300

2F 30 32 34 35 36 37

2.0

O2-05 Digital Operator M.O.P. Mode Selection A

Selects whether the ENTER key is used when the frequency reference is set by the digital operator. The digital operator can simulate a motor operated potentiometer

(M.O.P.) by setting this parameter.

Setting

Description

The digital operator M.O.P. mode is disabled (factory default) . The inverter accepts the reference command when the ENTER key is depressed.

The digital operator M.O.P. mode is enabled. The inverter accepts the reference command as soon as changes are made with the arrow keys, without the ENTER key being depressed.

O2-06 Digital Operator Disconnection Detection A

If the digital operator is disconnected from the inverter, this parameter selects whether the inverter detects this condition.

Setting

Description

Detection is disabled. Operation continues (factory default) .

Detection is enabled. When the inverter detects that the digital operator has been disconnected while running, the inverter coasts to stop and the error message “ OPR ” is displayed on the digital operator, after it has been connected again.

This function can only be activated when the run command comes from the digital operator.

O2-07 Operator Time Setting

Setting Range: 0 to 65535 Hours

Factory Default: 0 Hours

Sets the initial value for the cumulative operation time. Operation time starts accumulating from the set value. Commonly used for preventive maintenance purposes.

98 VS-616PS5 Programming Manual

Section O: Operator Parameters

O2 Key Selection

O2-08 Cumulative Operation Time Selection

Defines the operation time that accumulates in the timer.

Setting

Description

Power-On time is the accumulated time (factory default) .

The timer counts the time while the inverter power supply is turned ON as operation time.

Running time is the accumulated time. The timer counts the time while the inverter is running as operation time.

After changing this setting, reinitialize the inverter in parameter A1-03 . This initialization affects application dependent parameter settings (motor-related parameters, carrier frequency, inverter rated current, etc.).

VS-616PS5 Programming Manual 99

Section T: Tuning Parameters

T1 Auto-tuning

T Tuning Parameters

T1 Auto-tuning

Auto-tuning is required at the time of commissioning to allow the drive to determine the angular displacement between the magnetic pole position and hall sensor/ encoder marker pulse position. This is necessary to insure optimum performance in the Pm machine.

T1-02 Tuning Mode Q

The tuning mode is set in this parameter. Tuning is performed in the drive mode by setting T1-02 = 2, and pressing the digital operator RUN key.

Setting

Description

Normal running mode (factory default)

Auto-tuning mode

After auto-tuning is completed, the setting automatically returns to “0.”

T1-03 Tuning Operation Selection

Setting

Description

Auto-tuning procedures are performed on all parameters (under development.

Only PG origin pulse adjustment is performed (factory default) .

100 VS-616PS5 Programming Manual

Appendix: VS-616PS5 Parameter List

No.

Parameter Description

Operation

U Operation

U1 Monitor

U1-01 Speed reference

U1-02 Output frequency

U1-03 Inverter output current

U1-05 Motor speed

U1-06 Output voltage

U1-07 DC bus voltage

U1-08 Output power

U1-09 Torque reference (internal)

U1-10 Input terminal status

U1-11 Output terminal status

U1-12 Internal control status 1

U1-13 Elapsed time

U1-14 Flash ID number

U1-15 External terminal 13 input voltage

U1-16 External terminal 14 input voltage

U1-17 External terminal 16 input voltage

U1-18 Motor torque current (I q

)

U1-19 Motor excitation current (I d)

U1-20 Primary frequency after SFS

U1-21 Speed controller ASR input

U1-22 Speed controller ASR output

U1-27 q Axis current control reference

U1-28 d Axis current control reference

U1-29 Voltage limit control output

U1-30 q Axis current control output

U1-31 d Axis current control output)

U1-32 Output voltage reference (V q

)

U1-33 Output voltage reference (V d

)

U1-41 LED check

U1-42 Internal control status 2

U1-43 Command 1 from option

U1-44 Command 2 from option

U1-45 External torque reference

U1-46 Torque compensation value

U1-47 DO-08H output status

U1-49 Control section software number

U1-50 Speed detection PG counter value

U1-53 PID feedback

U1-54 DI-16H input status

U1-55 Hall Sensor Status

VS-616PS5 Programming Manual

Appendix

VS-616PS5 Parameter List

Unit Setting Range Default

Access

Level

User

Setting

V ac

V dc kW

0.0~100.0

0.0

101

Appendix

VS-616PS5 Parameter List

No.

Parameter Description

U2 Fault Trace

U2-01 Existing detected fault

U2-02 Previous detected fault

U2-03 Frequency reference when fault was detected

U2-04 Output frequency when fault was detected

U2-05 Output current when fault was detected

U2-06 Motor speed reference

U2-07 Output voltage when fault was detected

U2-08 DC bus voltage

U2-09 Output power

U2-10 Torque reference at fault

U2-11 Input terminal status

U2-12 Output terminal status

U2-13 Drive status before fault was detected

U2-14 Elapsed time since fault was detected

U2-15 Motor magnetizing current (I q

) at fault

U2-16 Motor magnetizing current (I d

) at fault

U2-17 Internal control status 2 at fault

U2-18 Command 1 from option at fault

U2-19 Command 2 from option at fault

U2-20 External torque reference at fault

U2-21 Torque compensation at fault

U2-22 Speed controller ASR output at fault

U3 Fault History

U3-01 Most recent fault code

U3-02 2nd most recent fault code

U3-03 3rd most recent fault code

U3-04 4th most recent fault code

U3-05 Elapsed time since most recent fault

U3-06 Elapsed time since 2nd most recent fault

U3-07 Elapsed time since 3rd most recent fault

U3-08 Elapsed time since 4th most recent fault

Initialization

Initialization Set-up

A1-01 Parameter access level

0: Operation only

1: User program

2: Quick start level

A1-03 Operator status

0: No initialization

2220: 2-Wire initialization

A1-04 Password entry

3: Basic level

4: Advanced level

3330: 3-Wire initialization

Unit Setting Range

V ac

V dc kW

Default

Access

Level

User

Setting

0~4

0~9999

0000~9999

No.

Parameter Description

Programming

B Application

B1 Sequence

B1-01 Frequency reference selection

0: Operator

1: Terminals

2: Serial communication

3: Option PCB

4: CP-717

B1-02 Operation method selection

0: Operator

1: Terminals

2: Serial communication

B1-03 Stopping method selection

0: Ramp to stop

1: Coast to stop

3: Option PCB

4: CP-717

3: Coast with timer

B1-04 Prohibition of reverse operation

0: Reverse enabled 1: Reverse disabled

B1-05 Operation selection at zero speed

0: RUN at freq. ref

1: Stop

2: RUN at min freq.

3: RUN at zero rpm

B1-06 Local/Remote run select

0: Cycle extra RUN

B2 Servo Speed Level

1: Accept extra RUN

B2-01 Zero speed level (BB starting speed)

B3 Magnetic Pull-in

B3-02 Magnetic pull-in current

B3-04 Current ramp-up time

B3-05 Magnetic pull-in time

B4 Delay Timers

B4-01 On-delay timer

B4-02 Off-delay timer

B5 PID Control

B5-01 PID control mode selection

0: Disabled

1: Enabled D = feedback

2: Enabled D = feedfwd

B5-02 PID control proportional gain

B5-03 PID control integral time

B5-04 PID control integral limit

B5-05 PID control derivative time

B5-06 PID control limit

B5-07 PID control offset

B5-08 PID control output primary delay time

B6 Reference Hold

B6-01 Dwell reference at start (dwell level)

B6-02 Dwell time at start (dwell time)

B6-03 Dwell reference at stop (dwell level)

B6-04 Dwell time at stop (dwell time)

B7 Droop Control

B7-01 Droop capacity

B7-02 Droop delay time

VS-616PS5 Programming Manual

Unit Setting Range

Appendix

VS-616PS5 Parameter List

Default

Access

Level

User

Setting

0~4

% s s s s

0~3

0/1

0~3

0/1

0.0~20.0

0~150

0.0~5.0

0.0~300.0

% s

% s s

% s

0~2

0.00~25.00

0.00~360.0

0.0~100.0

0.00~10.00

0.0~100.0

±100.0

0.00~10.00

0.0~100.00

0.0~10.0

0.0~100.00

0.0~10.0

0.0~100.0

0.00~1.00

0.5

1.0

0.0

0.00

0.0

0.00

0.0

0.10

1.00

100.0

0.00

100.0

0.0

0.00

103

Appendix

VS-616PS5 Parameter List

No.

Parameter Description

Tuning Parameters

Accel/Decel

C1-01 Acceleration time 1

C1-02 Deceleration time 1

C1-03 Acceleration time 2

C1-04 Deceleration time 2

C1-05 Acceleration time 3

C1-06 Deceleration time 3

C1-07 Acceleration time 4

C1-08 Deceleration time 4

C1-09 Fast-stop time

C1-10 Accel/decel time setting units

0: 0.01 seconds 1: 0.1 seconds

C1-11 Accel/decel time switching speed level

C2 PG Origin Pulse Compensation

C2-13 PG origin pulse compensation value

C3 Voltage Limit Control

C3-05 Voltage limit control selection

C5 ASR Tuning

C5-01 ASR proportional gain 1

C5-02 ASR integral time 1

C5-03 ASR proportional gain 2

C5-04 ASR integral time 2

C5-05 ASR output primary delay time

C5-06 ASR switching speed level

C5-07 ASR p gain at start

C6 Carrier Frequency

C6-02 Carrier frequency

C6-13 Pulse Reference Ratio Denominator Value

C6-14 Pulse Reference Ratio Numerator Value

C7 S-Curve Accel/Decel Characteristics

C7-01 S-Curve characteristic time at start of acceleration

C7-02 S-Curve characteristic time at end of acceleration

C7-03 S-Curve characteristic time at start of deceleration

C7-04 S-Curve characteristic time at end of deceleration

D Reference Parameters

D1 Preset References

D1-01 Preset reference 1

D1-02 Preset reference 2

D1-03 Preset reference 3

D1-04 Preset reference 4

D1-05 Preset reference 5

D1-06 Preset reference 6

D1-07 Preset reference 7

D1-08 Preset reference 8

D1-09 Jog frequency reference

104

Unit Setting Range Default

Access

Level

User

Setting

5.00

0.500

5.00

0.500

0.004

0.00

5.00

0.00

10.0

0.0

0.00

10.00

kHz

s s s s

s s

s s s s s s s s s

% degrees

0.00~6000.0

0/1

0.0~100.0

±180 °

0/1

0.00~300.00

0.000~10.000

0.00~300.00

0.000~10.000

0.000~0.500

0.00~100.00

0.00~300.00

2,4,6,8,12

0~1000

0.00~250.0

0.00~100.00

VS-616PS5 Programming Manual

No.

Parameter Description

D2 Reference Limits

D2-01 Reference upper limit

D2-02 Reference lower limit

D3 Jump Frequencies

D3-01 Jump frequency reference 1

D3-02 Jump frequency reference 2

D3-03 Jump frequency reference 3

D3-04 Jump frequency reference bandwidth

D4 Hold reference memory

D4-01 Hold reference memory selection - Up/Down

0: Disabled 1: Enabled

D5 Torque Control

D5-01 Torque control selection

0: Speed control 1: Torque control

D5-02 Torque limit primary delay time

D5-03 Speed limit input selection

1: Analog Input

D5-04 Speed limit value

2: Program Setting

D5-05 Speed limit bias

D5-06 Reference delay time

Motor Parameters

Motor Constant

E1-01 Input voltage setting

E1-02 Motor capacity selection

E1-03 Motor rated voltage

E1-04 Motor rated current

E1-05 Number of motor poles

E1-06 Maximum motor speed

E1-07 Base motor speed

E1-08 Minimum motor speed

E1-09 Motor armature resistance

E1-10 Motor d axis inductance

E1-11 Motor q axis inductance

E1-13 Induced voltage constant

E1-15 Motor mechanical loss

E1-16 Motor feeder resistance

E1-17 Motor connection selection

0: 1D

1: 2D

F Option Parameters

F1 PG Option Setup

F1-01 PG pulses per revolution

2: 1Y

3: 2Y

F1-02 PG disconnection detection stopping method

0: Ramp to stop

1: Coast to stop

2: Fast-stop

3: Alarm only

F1-03 Overspeed detection stopping method

0: Ramp to stop

1: Coast to stop

2: Fast-stop

3: Alarm only

VS-616PS5 Programming Manual

% ms

Unit Setting Range

0.0~110.0

0.0~100.0

0.0~200.0

0/1

Appendix

VS-616PS5 Parameter List

Default

100.0

0.0

1.0

Access

Level

User

Setting

0/1

0~1000

1/2

±120

0~120

0~1000

180~230

1000~1239

0.0~255.0

0.0~200.0

rpm rpm rpm

Ω mH

2, 4, 6, 8

0~6000

0.000~65.535

0.00~600.00

mH 0.00~600.00

mV/rpm 20.0~500.0

0.0~10.0

0~3

230

1000

0~10000

0~3

105

Appendix

VS-616PS5 Parameter List

No.

Parameter Description

F1-04 PG deviation detection stopping method

0: Ramp to Stop

1: Coast to Stop

2: Fast-Stop

3: Alarm Only

F1-05 PG rotation selection

0: CCW

F1-08 Overspeed detection level

1: CW

F1-09 Overspeed detection time

F1-10 PG deviation detection level

F1-11 PG deviation detection time

F1-13 PG open phase detection delay time

F2 A1-14B Setup

F2-01 Bipolar or unipolar input selection

0: 3-channel individual 1: 3-channel additional

F3 D1-08/DI-16H Setup

F3-01 Digital input option

0: BCD 1%

1: BCD 0.1%

F4 AO-08/AO-12 Setup

2: BCD 0.01%

7: Binary

F4-01 Analog output Channel 1 selection

1: Speed reference

2: Output frequency

3: Inverter output current

5: Motor speed

6: Output voltage

7: DC bus voltage

8: Output power

9: Torque reference (internal)

15: External terminal 13 input voltage

16: External terminal 14 input voltage

17: External terminal 16 input voltage

18: Motor secondary current (I q

)

19: Motor excitation current (I d

20: Primary frequency after SFS

21: Speed controller ASR input

22: Speed controller ASR output

27: q Axis current control reference

28: d Axis current control reference

29: Voltage limit control output

30: q Axis current control output

31: d Axis current control output

32: Output voltage reference (V q

33: Output voltage reference (V d

45: External torque reference

46: Torque compensation value

)

49: Control section software number

50: Speed detection PG counter value

53: PID feedback

F4-02 Analog output channel 1 gain

F4-03 Analog output channel 1 bias

F4-04 Analog output channel 2 selection

(same as F4-01)

F4-05 Analog output channel 2 gain

106

% s

% s s

Unit Setting Range

0~3

0/1

0~120

0~2.0

0~50

0~10.0

0.0~10.0

0/1

Default

115

0.0

0.5

3.0

Access

Level

User

Setting

0~7 0 A

1~60

5 A

±300.0

±109.2

1~60

±300.0

1.0

0.0

1.0

VS-616PS5 Programming Manual

No.

Parameter Description

F4-06 Analog output channel 2 bias

F5 DO-02 Setup

F5-01 DO-02C digital output channel 1 selection

0: During RUN 1

1: Zero speed

2: Fref/Fout agree 1

3: Fref/Set agree 1

4: Frequency detection 1

5: Frequency detection 2

6: Inverter Ready

7: DC bus undervoltage

8: Baseblock 1

9: Option reference

A: Remote operation

B: Torque detection 1 (N.O.)

C: Loss of reference

D: DB overheat

E. Fault

F: Not used

10: Minor fault

11: Reset command active

12: Timer output

13: Fref/Fout agree 2

14: Fref/Set agree 2

15: Frequency detection 3

16: Frequency detection 4

17: Torque detection 1 (N.C.)

18: Torque detection 2 (N.O.)

19: Torque detection 2 (N.C.)

1A: Reverse direction

1B: Baseblock 2

1D: Regenerating

1E: Restart enabled

1F: Overload (OL1)

20: OH prealarm

30: Current/Torque limit

31: Speed limit

37: During RUN 2

F5-02 DO-02C digital output Channel 2 selection

(same as F5-01)

F6 DO-08 Set-up

F6-01 DO-08 digital output selection

0: 8-channel Individual 1: Binary Output

F8 PG-P2/H2 Set-up

F8-01 Speed feedback method selection

0: Encoder inputs 1: Hall sensor input

F8-02 Pulse train moving average value

0=1 Scan (5msec)

F9 CP-916 Set-up

F9-01 External fault input level from communication option

F9-02 External fault from communication level

F9-03 Operation at external fault input from communication option

0: Ramp to stop

1: Coast to stop

2: Fast-stop

3: Alarm only

Unit Setting Range

±109.2

0~FF

0~3F

0/1

0-50

0/1

0~3

VS-616PS5 Programming Manual

Appendix

VS-616PS5 Parameter List

Default

0.0

Access

Level

User

Setting

107

Appendix

VS-616PS5 Parameter List

No.

Parameter Description

F9-04 Trace sampling of option

F9-05 Torque reference selection from communication option

0: Torque reference/limit from terminal

1: Torque reference/limit from option

F9-06 Operation at bus error detection

0: Ramp to stop

1: Coast to stop

2: Fast-stop

3: Alarm only

H Control Circuit Terminal Parameters

H1 Digital Inputs

H1-01 Multi-function input terminal 3 selection

0: 3-Wire control

1: Local/Remote selection

2: Option/Inverter selection

3: Multi-step reference 1

4: Multi-step reference 2

5: Multi-step reference 3

6: Jog frequency reference

7: Multi-accel/decel 1

8: External baseblock N.O.

9: External baseblock N.C.

A: Accel/Decel ramp hold

B: OH2 alarm signal

C: Terminal 16 enable

E: ASR integral reset

F: Terminal not used

10: MOP increase

11: MOP decrease

12: Forward jog

13: Reverse jog

14: Fault reset

15: Fast-stop

18: Timer function

19: PID disable

1A: Multi-accel/decel 2

1B: Program lockout

1E: Reference sample hold

1F: Terminal 13/14 switch

24: external Fault

71: Speed/Torque control change

77: ASR gain switch

H1-02 Multi-function input terminal 4 selection

(same as H1-01)

H1-03 Multi-function input terminal 5 selection

(same as H1-01)

H1-04 Multi-function input terminal 6 selection

(same as H1-01)

H1-05 Multi-function input terminal 7 selection

(same as H1-01)

H1-06 Multi-function input terminal 8 selection

(same as H1-01)

H2 Digital Outputs

H2-01 Multi-function output 1 selection (terminal 9, 10) (same as

F5-01)

Unit Setting Range

0~60000

0/1

0~3

0~FF

Default

Access

Level

User

Setting

1 A

108 VS-616PS5 Programming Manual

No.

Parameter Description

H2-02 Multi-function output 2 selection (terminal 25, 27)

(same as F5-01)

H2-03 Multi-function output 3 (terminal 26, 27)

(same as F5-01)

H3 Analog Inputs

H3-01 Terminal 13 signal selection

0: 0 to 10V dc

1: ±10V dc

H3-02 Terminal 13 reference % gain

H3-03 Terminal 13 reference ±% bias

H3-04 Terminal 16 signal selection

0: 0 to 10V dc

1: ±10V dc

H3-05 Terminal 16 multi-function selection

0: Auxiliary reference

1: Frequency gain

2: Frequency bias

7: Overtorque level

9: Reference lower limit

A: Jump frequency

B: PID feedback

10: Forward torque limit

11: Reverse torque limit

12: Regenerative torque limit

13: Torque reference

14: Torque compensation

15: Forward/reverse torque limit

H3-06 Terminal 16 reference % gain)

H3-07 Terminal 16 reference ±% bias

H3-08 Terminal 14 signal selection

0: 0 to 10V

1: ±10V

2: 4 to 20mA

H3-09 Terminal 14 multi-function selection

(same as H3-05)

H3-10 Terminal 14 reference % gain

H3-11 Terminal 14 reference ±% bias

H3-12 Analog input filter time constant

(terminals 13, 14 & 16)

H4 Analog Outputs

H4-01 Terminal 21 analog output selection

(same as F4-01)

H4-02 Terminal 21 analog output gain

H4-03 Terminal 21 analog output bias

H4-04 Terminal 23 analog output selection

(same as F4-01)

H4-05 Terminal 23 analog output gain

H4-06 Terminal 23 analog output bias

H4-07 Analog output signal selection

0: 0 to 10V dc

1: ±10V dc

H5 Serial Communications

H5-01 Serial communication station address

H5-02 Serial communication speed selection

0: 1200 bps, 1: 2400 bps, 2: 4800 bps, 3: 9600 bps

VS-616PS5 Programming Manual

Unit Setting Range

0~FF

0~3F

Appendix

VS-616PS5 Parameter List

Default

Access

Level

User

Setting

0/1

0.0~1000.0

±100.0

0/1

100.0

0.0

0~1F 0 A

% s

0.0~1000.0

±100.0

0~2

0~1F

0.0~1000.0

±100.0

0.00~2.00

1~60

±300.0

±109.2

1~60

±300.0

±109.2

0/1

0-20

0-3

1.0

0.0

1.0

0.0

100.0

0.0

100.0

0.0

0.00

109

Appendix

VS-616PS5 Parameter List

No.

Parameter Description

H5-03 Serial communication speed selection

0: No parity, 1: Even parity, 2: Odd parity

H5-04 Stopping method after communication error

0: Ramp to stop, 1: Coast to stop, 2: Fast stop, 3: Alarm only

H5-05 Serial communication timeover detection

0: Disabled , 1: Enabled

Protection Parameters

Power Loss Ride through

L2-01 Momentary power loss ride through

0: Disabled

L2-02* Momentary power loss ride through time

L2-05 Undervoltage detection level

L3 Stall Prevention/Current Limit

L3-01 Overvoltage protection (stall prevention during decel)

0: Disabled 1: Enabled

L4 Reference Detection

L4-01 Speed agree detection level (without sign)

L4-02 Speed agree detection width

L4-03 Speed agree detection level (with sign)

L4-04 Speed agree detection width

L4-05 Operation when frequency reference is missing

0: Stop 1: Run at 80% of previous reference

L5 Fault Restart

L5-01 Number of automatic restart attempts

L5-02 Automatic restart operation selection

0: No fault relay 1: Fault relay active

L6 Torque Detection

L6-01 Overtorque detection 1 selection

0: Disabled

1: Alarm at speed agree

2: Alarm at run

3: Fault at speed agree

4: Fault at run

L6-02 Overtorque detection 1 level

L6-03 Overtorque detection 1 time

L6-04 Overtorque detection 2 selection

0: Disabled

2: Alarm at run

3: Fault at speed agree

1: Alarm at speed agree 4: Fault at run

L6-05 Overtorque detection 2 level

L6-06 Overtorque detection 2 time

L7 Torque Limit

L7-01 Forward torque limit

L7-02 Reverse torque limit

L7-03 Regenerative forward torque limit

L7-04 Regenerative reverse torque limit

L8 Hardware Protection

L8-01 Protection selection for internal DB resistor

0: Not Provided 1: Provided

L8-02 OH pre-alarm level

Unit Setting Range

1 0-2

0-3

0,1 s

% s

ºC

0.0~2.0

150~210

0~1

0.0~100.0

0~±100.0

0.0~100.0

0/1

0~10

0/1

0~4

0~300

0.0~10.0

0~4

0~300

0.0~10.0

0~300

0/1

50~110

Default

Access

Level

User

Setting

150

0.1

150

0.1

150

0.0

2.0

0.0

2.0

0.7

190

110 VS-616PS5 Programming Manual

No.

Parameter Description

L8-03 Stopping method selection after OH pre-alarm

0: Ramp to stop

1: Coast to stop

2: Fast-stop

3: Alarm only

L8-05 Input phase loss protection

0: Disabled

L8-07 Output phase loss protection

0: Disabled

1: Enabled

L8-10 Ground fault protection selection

0: Disabled 1: Enabled

O Operator Parameters

O1 Monitor Selection

O1-01 Analog output Channel 1 selection

5: Motor speed

6: Output voltage

7: DC bus voltage

8: Output power

9: Torque reference (internal)

15: External terminal 13 input voltage

16: External terminal 14 input voltage

17: External terminal 16 input voltage

18: Motor secondary current (I

19: Motor excitation current (I d q

)

20: Primary speed after SFS

21: Speed controller ASR input

22: Speed controller ASR output

27: q Axis current control reference

28: d Axis current control reference

29: Voltage limit control output

30: q Axis current control output

31: d Axis current control output

32: Output voltage reference (V q

33: Output voltage reference (V d

45: External torque reference

46: Torque compensation value

)

49: Control section software number

50: Speed detection PG counter value

53: PID feedback

54: DI-16H input status

O1-02 Monitor selection after power-up

1: Speed reference

2: Output speed

3: Output current

4: User monitor

O1-03 Scale for setting and monitoring frequency

O2 Key Selection

O2-01 Local/remote key

0: Disabled 1: Enabled

O2-02 STOP key during external terminal operation

0: Disabled 1: Enabled

O2-04 Inverter model selection

O2-05 Digital operator M.O.P. mode selection

0: Disabled 1: Enabled

O2-06 Digital operator disconnection detection

0: Disabled 1: Enabled

O2-07 Operation time setting

VS-616PS5 Programming Manual

Unit Setting Range

0~3

0/1

Appendix

VS-616PS5 Parameter List

Default

Access

Level

User

Setting

5~53 6 B

1 1~4

0~39999

0/1

00~FF

0/1

0~65535

1 B

0 B kVA dependent B

0 A

111

Appendix

VS-616PS5 Parameter List

No.

Parameter Description

O2-08 Cumulative 0peration time selection

0: Power-ON time 1: Running time

Tuning

Auto-tuning

T1-02 Tuning mode

0: Normal running mode

2: Auto-tuning mode

T1-03 Tuning operation selection

0: Auto-tuning procedures are performed for all parameters

1: Only PG origin pulse adjustment is performed

Unit Setting Range

0/1

0/2

0/1

Default

Access

Level

User

Setting

112 VS-616PS5 Programming Manual

YASKAWA ELECTRIC AMERICA, INC.

Chicago-Corporate Headquarters 2121 Norman Drive South, Waukegan, IL 60085, U.S.A.

Phone: (847) 887-7000 Fax: (847) 887-7310 Internet: http://www.yaskawa.com

MOTOMAN INC.

805 Liberty Lane, West Carrollton, OH 45449, U.S.A.

Phone: (937) 847-6200 Fax: (937) 847-6277 Internet: http://www.motoman.com

YASKAWA ELECTRIC CORPORATION

New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-0022, Japan

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

YASKAWA ELETRICO DO BRASIL COMERCIO LTDA.

Avenida Fagundes Filho, 620 Bairro Saude Sao Paolo-SP, Brasil CEP: 04304-000

Phone: 55-11-5071-2552 Fax: 55-11-5581-8795 Internet: http://www.yaskawa.com.br

YASKAWA ELECTRIC EUROPE GmbH

Am Kronberger Hang 2, 65824 Schwalbach, Germany

Phone: 49-6196-569-300 Fax: 49-6196-888-301 Internet: http://www.yaskawa.de

MOTOMAN ROBOTICS AB

Box 504 S38525, Torsas, Sweden

Phone: 46-486-48800 Fax: 46-486-41410

MOTOMAN ROBOTEC GmbH

Kammerfeldstra β e 1, 85391 Allershausen, Germany

Phone: 49-8166-900 Fax: 49-8166-9039

YASKAWA ELECTRIC UK LTD.

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

Phone: 44-12-3673-5000 Fax: 44-12-3645-8182

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.

Head Office: 151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, SINGAPORE

Phone: 65-282-3003 Fax: 65-289-3003

TAIPEI OFFICE (AND YATEC ENGINEERING CORPORATION)

10F 146 Sung Chiang Road, Taipei, Taiwan

Phone: 886-2-2563-0010 Fax: 886-2-2567-4677

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

BEIJING OFFICE

Room No. 301 Office Building of Beijing International Club,

21 Jianguomanwai Avenue, Beijing 100020, China

Phone: 86-10-6532-1850 Fax: 86-10-6532-1851

SHANGHAI OFFICE

27 Hui He Road Shanghai 200437 China

Phone: 86-21-6553-6600 Fax: 86-21-6531-4242

SHANGHAI YASKAWA-TONJI M & E CO., LTD.

27 Hui He Road Shanghai 200437 China

Phone: 86-21-6533-2828 Fax: 86-21-6553-6677

BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.

30 Xue Yuan Road, Haidian, Beijing 100083 China

Phone: 86-10-6232-9943 Fax: 86-10-6234-5002

SHOUGANG MOTOMAN ROBOT CO., LTD.

7, Yongchang-North Street, Beijing Economic & Technological Development Area,

Beijing 100076 China

Phone: 86-10-6788-0551 Fax: 86-10-6788-2878

Yaskawa Electric America, Inc., October 2000

VS-616PS5 Programming Manual

YEA-TOA-S616-10.21 Printed In U.S.A.

113

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VS-616PS5 Series

Programming Manual

Brushless Motor Drive

WARNING

WARNING!

Contents

Introduction

VS-616PS5 Parameter Overview

Main Menu:Initialize <ENTER>

Main Menu: Programming <ENTER>

B Application Parameters

=

x 100

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