Yaskawa Feedback Options Installation Guide
Pubblicità
Pubblicità
COSMOS（140×182）（和英併記）新CI
YASKAWA AC Drive Option
Motor Encoder Feedback
(EnDat, HIPERFACE) Interface
Installation Manual
Type: PG-F3
To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual.
安川インバータ オプション
エンコーダインタフェース
（ EnDat, HIPERFACE 用）
取扱説明書
形 式 PG-F3
製品を安全にお使いいただくために，本書を必ずお読みください。
また，本書をお手元に保管していただくとともに，最終的に本製品をご使用になる
ユーザー様のお手元に確実に届けられるよう，お取り計らい願います。
MANUAL NO. TOBP C730600 77B
TOBP_C730600_77B_2_0_E.book 2 ページ ２０１８年９月１４日 金曜日 午後１２時２１分
Copyright © 2016 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Yaskawa assumes no responsibility for errors or omissions.
Neither is any liability assumed for damages resulting from the use of the information contained in this publication.
2 YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual
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Table of Contents
1 PREFACE AND SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3 RECEIVING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4 OPTION COMPONENTS . . . . . . . . . . . . . . . . . . . . . . . . . . 11
5 INSTALLATION PROCEDURE . . . . . . . . . . . . . . . . . . . . . 12
6 RELATED PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . 43
7 TROUBLESHOOTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
8 EUROPEAN STANDARDS. . . . . . . . . . . . . . . . . . . . . . . . . 54
9 SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
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1 Preface and Safety
1 Preface and Safety
YASKAWA Electric supplies component parts for use in a wide variety of industrial applications. The selection and application of YASKAWA products remain the responsibility of the equipment designer or end user.
YASKAWA accepts no responsibility for the way its products are incorporated into the final system design. Under no circumstances should any YASKAWA product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all controls should be designed to detect faults dynamically and fail safely under all circumstances. All products designed to incorporate a component part manufactured by YASKAWA must be supplied to the end user with appropriate warnings and instructions as to the safe use and operation of that part. Any warnings provided by YASKAWA must be promptly provided to the end user. YASKAWA offers an express warranty only as to the quality of its products in conforming to standards and specifications published in the manual. NO OTHER
WARRANTY, EXPRESS OR IMPLIED, IS OFFERED. YASKAWA assumes no liability for any personal injury, property damage, losses, or claims arising from misapplication of its products.
u Applicable Documentation
The following manuals are available for the option:
Option
YASKAWA AC Drive Option
Motor Encoder Feedback
(EnDat/HIPERFACE) Interface
PG-F3 Installation Manual
Manual No: TOBP C730600 77
(This book)
This guide is packaged together with the product and contains information necessary to install the option and set related drive parameters.
YASKAWA AC Drive
Manuals
Yaskawa Drive
Drive manuals contain basic installation and wiring information in addition to detailed parameter setting, fault diagnostic, and maintenance information.
The most recent versions of these manuals are available for download on our documentation websites:
U.S.: http://www.yaskawa.com
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
Other areas: Check the back cover of these manuals.
For questions, contact Yaskawa or a Yaskawa representative
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1 Preface and Safety u Terms and Abbreviations
Note:
Option:
Drive:
Keypad:
Indicates supplemental information that is not related to safety messages
YASKAWA AC Drive Option Motor Encoder Feedback (EnDat/HIPERFACE) Interface: Type PG-F3
• YASKAWA AC Drive 1000-Series (A1000, L1000A, U1000, U1000L)
• YASKAWA AC Drive GA700
• YASKAWA AC Drive GA800
• LCD Operator for YASKAWA AC Drive 1000-Series
• LED Operator for YASKAWA AC Drive 1000-Series
• LCD Keypad for YASKAWA AC Drive GA700 and GA800
• LED Keypad for YASKAWA AC Drive GA700 and GA800
PG: Pulse Generator or Encoder mounted on the motor
CLV/PM: PM Closed Loop Vector Control u Registered Trademarks
• EnDat is a trademark of DR. JOHANNES HEIDENHAIN GmbH.
• HIPERFACE is a trademark of SICK STEGMANN GmbH & Co., KG.
Trademarks are the property of their respective owners.
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1 Preface and Safety u Supplemental Safety Information
Read and understand this manual before installing, operating, or servicing this option. Install the option according to this manual and local codes.
The following conventions indicate safety messages in this manual. Failure to heed these messages could cause fatal injury or damage products and related equipment and systems.
DANGER
Indicates a hazardous situation, which, if not avoided, will cause death or serious injury .
W ARNING
Indicates a hazardous situation, which, if not avoided, could cause death or serious injury.
CAUTION
Indicates a hazardous situation, which, if not avoided, could cause minor or moderate injury.
NOTICE
Indicates an equipment damage message.
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1 Preface and Safety n General Safety
General Precautions
• The diagrams in this book may include options and drives without covers or safety shields to illustrate details. Be sure to reinstall covers or shields before operating any devices. Use the option according to the instructions described in this manual.
• The diagrams in this manual are provided as examples only and may not pertain to all products covered by this manual.
• The products and specifications described in this manual or the content and presentation of the manual may be changed without notice to improve the product and/or the manual.
• Contact Yaskawa or a Yaskawa representative and provide the manual number shown on the front cover to order new copies of the manual.
DANGER
Heed the safety messages in this manual.
Failure to comply will cause death or serious injury.
The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings in this manual.
W ARNING
Electrical Shock Hazard
Do not attempt to modify or alter the drive or drive circuitry in any way not explained in this manual.
Failure to comply could cause death or serious injury and will void warranty. Yaskawa is not responsible for any modification of the product made by the user. Do not modify this product.
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1 Preface and Safety
NOTICE
Do not modify the drive or option circuitry.
Failure to comply could result in damage to the drive or option and will void warranty.
Yaskawa is not responsible for any modification of the product made by the user.
Do not expose the drive or the option to halogen group disinfectants. Do not pack the drive or the option in wooden materials that have been fumigated or sterilized. Do not sterilize the entire package after the product is packed.
Failure to comply could damage the electrical components in the option.
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2 Overview
2 Overview
The PG-F3 Option allows the user to connect certain rotary encoders to applicable Yaskawa drives. Suitable rotary encoders include either EnDat 2.1/01, EnDat 2.2/01, or EnDat 2.2/22 by HEIDENHAIN, or HIPERFACE by SICK STEGMANN.
The PG-F3 Option facilitates motor speed feedback to the drive and takes advantage of PM
Closed Loop Vector control. The option increases control accuracy and performance.
This PG encoder signal allows the drive to compensate for subtle variations in the load while providing the drive with the necessary data to control the output frequency and maintain an accurate constant speed.
The option reads a 20 kHz maximum input frequency from the PG encoder. Select a PG encoder with 20 kHz maximum output when operating at maximum speed.
u Compatible Products
The option can be used with the products in Table 1 .
Table 1 Compatible Products
Product Series
A1000
L1000A
U1000
U1000L
GA700
GA800
Model(s)
All models
All models
All models
All models
All models
All models
<1> Only available in software version S1018 and later. The software version (PRG) is indicated on the nameplate affixed to the side of the drive.
<2> EnDat 2.2/22 and HIPERFACE are available in drive software PRG:7016 and later.
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3 Receiving
3 Receiving
After receiving the option package:
1. Make sure that the option is not damaged and no parts are missing. Contact your sales outlet if the option or other parts appear damaged.
NOTICE: Do not use damaged parts to connect the drive and the option. Failure to comply could damage the drive and option.
2. Confirm that the model number on the option nameplate and the model listed in the purchase order are the same. Refer to
Figure 1 on page 11 for details. Contact the
distributor where the option was purchased or contact Yaskawa or a Yaskawa representative about any problems with the option. u Option Package Contents
Description: Option Ground Wire
Screws (M3) Installation Manual
F3
MANUAL
–
Quantity: 1
F3
1
<1> GA700 and GA800 drives do not use the ground wire.
<2> GA700 and GA800 drives use two screws only.
3
1 u Installation Tools
• A Phillips screwdriver. Phillips screw sizes vary by drive capacity.
• A flat-blade screwdriver (blade depth: 0.4 mm (0.02 in), width: 2.5 mm (0.1 in)).
• A pair of diagonal cutting pliers.
• A small file or medium-grit sandpaper.
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4 Option Components
4 Option Components
u PG-F3 Option
Figure 1
E F G
A
B
Underside
F3
D PG-F3
C
A – Connector (CN5)
B – Installation hole
E – Terminal block TB1
F – Terminal block TB2
C – Option model number
D – Ground terminal (FE) and
G – Jumper for encoder power supply voltage (CN3)
<1> Connect the provided ground wires during installation. Installation to GA700 and GA800 drives does not require the ground wire.
<2> Refer to Table 3 on page 21 for details.
Figure 1 PG-F3 Option Components u Terminal Blocks TB1 and TB2
TB2
IP IG CK CK A+ A– a+ a– FE
TB1
IP IG DT DT B+ B– b+ b–
F3
for details on TB1 and TB2 terminal functions and signal levels.
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5 Installation Procedure
5 Installation Procedure
u Section Safety
DANGER
Electric Shock Hazard
Do not inspect, connect, or disconnect any wiring while the drive is energized.
Failure to comply will cause death or serious injury.
Before servicing, disconnect all power to the equipment and wait for at least the time specified on the warning label. The internal capacitor remains charged even after the drive is de-energized. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc. When all indicators are OFF, measure for unsafe voltages to confirm the drive is safe.
W ARNING
Electrical Shock Hazard
Do not operate equipment with covers removed.
Failure to comply could cause death or serious injury.
The diagrams in this section may include options and drives without covers or safety shields to illustrate details. Reinstall covers and shields before operating the drive and run the drive according to the instructions described in this manual.
Do not allow unqualified personnel to perform work on the drive or option.
Failure to comply could cause death or serious injury.
Only authorized personnel familiar with installation, adjustment, and maintenance of AC drives and options may perform work.
Do not remove covers or touch circuit boards while the drive is energized.
Failure to comply could cause death or serious injury.
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5 Installation Procedure
W ARNING
Do not use damaged wires, stress the wiring, or damage the wire insulation.
Failure to comply could cause death or serious injury.
Fire Hazard
Tighten all terminal screws to the specified tightening torque.
Loose or overtightened connections could cause erroneous operation and damage to the terminal block or start a fire and cause death or serious injury.
NOTICE
Damage to Equipment
Observe proper electrostatic discharge (ESD) procedures when handling the option, drive, and circuit boards.
Failure to comply could cause ESD damage to circuitry.
Never connect or disconnect the motor from the drive while the drive is outputting voltage.
Improper equipment sequencing could damage the drive.
Do not connect or operate any equipment with visible damage or missing parts.
Failure to comply could further damage the equipment.
Do not use unshielded wire for control wiring.
Failure to comply may cause electrical interference resulting in poor system performance.
Use shielded, twisted-pair wires and ground the shield to the ground terminal of the drive.
Properly connect all pins and connectors on the option and drive.
Failure to comply could prevent proper operation and damage equipment.
Confirm that all connections are correct after installing the option and connecting peripheral devices.
Failure to comply could damage the option.
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5 Installation Procedure u Procedures for Installing and Wiring Options on a Drive
Procedures for installing and wiring options differ depending on the drive model.
Refer to Table 2 to check the procedures for installing and wiring options on a drive.
Table 2 Procedures for Installing and Wiring Options on a Drive
Product Series
A1000
L1000A
U1000
U1000L
GA700
GA800
Procedures for Installing and
Wiring Options on a Drive
Procedure A
Procedure A
Procedure A
Procedure A
Procedure B
Procedure B
Page
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5 Installation Procedure n Procedure A
This section shows the procedure to install and wire the option on a 1000-series drive.
Prepare the Drive for the Option
Before beginning the installation procedure:
1. Wire the drive and make the proper connections to drive terminals according to the manual packaged with the drive.
2. Verify that the drive functions normally.
for an exploded view of the drive with the option and related components for reference in the installation procedure.
Figure 2
A
B
C
L
K
I
J
D
E
F
H
G
A – Insertion point for CN5
B – Option card
C – Included screws
D – Front cover
E – Keypad
F – Terminal cover
G – Removable tabs for wire routing
H – Ground wire
I – Drive grounding terminal (FE)
J – Connector CN5-A
(Not available for PG option installation.)
K – Connector CN5-B
(Not available for PG option installation.)
L – Connector CN5-C
Figure 2 Drive Components with Option
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5 Installation Procedure
Install the Option
Refer to the instructions below to install the option.
Note: Refer to the instruction manual of a specific drive for information on removing and installing the keypads and the covers.
DANGER!
Electrical Shock Hazard. Do not inspect, connect, or disconnect any wiring while the drive is energized. Failure to comply will cause death or serious injury. Before servicing, disconnect all power to the equipment and wait for at least the time specified on the warning label. The internal capacitor remains charged even after the drive is de-energized. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc. When all indicators are OFF, measure for unsafe voltages to confirm the drive is safe.
1.
Shut off power to the drive, wait the appropriate amount of time for voltage to dissipate, then remove the keypad (E), front cover (D), and terminal cover (F).
Refer to the manual packaged with the drive for details on keypad and cover removal.
NOTICE: Observe proper electrostatic discharge (ESD) procedures when handling the option, drive, and circuit boards. Failure to comply could cause ESD damage to circuitry.
Figure 3
D
E
F
Figure 3 Remove the Front Cover, Terminal Cover, and Keypad
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5 Installation Procedure
Figure 4
2.
Insert the option card (B) into the CN5-C (L) connector on the drive and fasten it into place using the included screws (C). Tighten both screws to 0.5 to 0.6 N m (4.4 to
5.3 in lb).
B
C
L
Figure 4 Insert the Option Card
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5 Installation Procedure
Figure 5
3.
Connect the ground wire (H) to the ground terminal (I) using one of the remaining provided screws (C). Connect the other end of the ground wire (H) to the remaining ground terminal and installation hole on the option (B) using the last remaining provided screw (C).
B
C
I
H
Figure 5 Connect the Ground Wire
Note: The drive has only two ground terminal screw holes (I). Two ground wires should share the same ground terminal when connecting three options.
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5 Installation Procedure
4.
Prepare and connect the wire ends as shown in Figure 6 and
.
Wire Gauges and Tightening Torques on page 38 to confirm that the proper
tightening torque is applied to each terminal. Take particular precaution to ensure that each wire is properly connected and wire insulation is not accidentally pinched into electrical terminals.
WARNING!
Fire Hazard. Tighten all terminal screws according to the specified tightening torque. Loose electrical connections could result in death or serious injury by fire due to overheating electrical connections.
Tightening screws beyond the specified tightening torque may result in erroneous operation, damage the terminal block, or cause a fire.
NOTICE: Heat shrink tubing or electrical tape may be required to ensure that cable shielding does not contact other wiring. Insufficient insulation may cause a short circuit and damage the option or drive.
Figure 6
Shield Insulation
Encoder option terminal
Encoder at motor
FE/SD
Ground Terminal
Shield sheath
(Insulate with electrical tape or heat-shrink tubing)
Figure 6 Prepare Ends of Shielded Cable
F3
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5 Installation Procedure
Figure 7
5.
Wire the motor PG encoder to the terminal block on the option according to
.
Refer to
Connection Diagram on page 33 for the PG-F3 Option and PG Encoder
connection diagram.
Refer to
Terminal Functions on page 40 for a detailed description of the option
terminal functions.
Screwdriver blade size
Blade depth of
0.4 mm or less
Blade width of
2.5 mm or less
Loosen the screws and insert the wire into the opening on the terminal block.
Option terminal block
Wire crimping ferrule terminals or not soldered ends
Pull back the shielding and lightly twist the end with fingers, keeping the ends from fraying.
about 5.5 mm (7/32”)
When not using crimped insulated sleeves
F 3
Figure 7 Connect Cable Wiring
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5 Installation Procedure
6.
Set the PG encoder power supply voltage level (IP) to 5 V or 8 V using jumper CN3 on the option as shown in
NOTICE: Do not select the wrong voltage level for the PG encoder. Failure to comply could cause erroneous operation or damage the PG encoder.
Table 3 Set IP with Jumper CN3
Voltage Level Jumper CN3 Position
5 V ± 5% (default) 5 V
8 V
8 V ± 10% 5 V
8 V
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5 Installation Procedure
Figure 8
7.
Route the option wiring inside the enclosure as shown in Figure 8 -B. Take proper
precautions so that the front covers will easily fit back onto the drive.
Users may also choose to route the option wiring through openings on the front cover of some models. Remove the perforated tabs on the left side of the front cover
as shown in Figure 8 -A to create the necessary openings on these models.
Refer to the Peripheral Devices & Options section of the drive instruction manual for more information.
B
A
A – Route wires through the openings provided on the left side of the
B – Use the open space provided inside the drive to route option wiring.
<1> The drive will not meet Enclosed wall-mounted type (IP20/UL Type 1) requirements if wiring is exposed outside the enclosure.
Figure 8 Wire Routing Examples
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5 Installation Procedure
8.
Reattach the front covers of the drive (D, F) and the keypad (E).
NOTICE: Do not pinch cables between the front covers and the drive. Failure to comply could cause erroneous operation.
Figure 9
D
E
F
Figure 9 Replace the Front Covers and Keypad
9.
Connect the PG encoder outputs to the option.
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5 Installation Procedure
Figure 10
10.
Set drive parameters in
for proper motor rotation.
• Confirming Motor Rotation with EnDat 2.1/01, EnDat 2.2/01, or HIPERFACE
The leading pulse determines the motor rotation direction. A encoder signals with leading pulse A are considered to be rotating forward (counter-clockwise when viewing rotation from motor load side).
The A phase leads, followed by the B phase displaced at 90 degrees
A Phase
F3
B Phase
Time →
Figure 10 Displacement of A and B Phases
• Confirming Motor Rotation with EnDat 2.2/22
EnDat 2.2/22 uses serial data transmission and lacks A and B phases, so it is necessary to refer to monitor U1-05 to determine the direction of rotation.
After connecting the encoder outputs to the option, apply power to the drive and manually rotate the motor and check the rotation direction by viewing monitor U1-05 on the keypad.
11.
Energize the drive and manually rotate the motor to check the rotation direction using monitor U1-05 on the keypad.
WARNING!
Sudden Movement Hazard. Lock out the Run circuit to prevent issuing a Run command prior to manually rotating the motor shaft with the drive energized. Failure to comply could cause death or serious injury.
U1-05 Value
Negative
Motor Direction
Reverse
Positive Forward
Note: Setting A1-03 = 1110, 2220, or 3330 will reset F1-05 to factory default. Re-set the parameter to switch direction again.
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5 Installation Procedure n Procedure B
This section shows the procedure to install and wire the option on a GA700 and GA800 drive.
Prepare the Drive for the Option
Before beginning the installation procedure:
1. Wire the drive and make the proper connections to drive terminals according to the manual packaged with the drive.
2. Verify that the drive functions normally.
Refer to Figure 11 for an exploded view of the drive with the option and related
components for reference in the installation procedure.
Figure 11
A1000
A
B
C
D
I
H
G
E
F
A – Insertion point for CN5 connector
B – PG-F3 option
C – Included screws
D – Drive front cover
F – LED Status Ring board
G – Connector CN5-A
(Not available for PG option installation.)
H – Connector CN5-B
(Not available for PG option installation.)
Figure 11 Drive Components with Option
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5 Installation Procedure
Install the Option
DANGER!
Electrical Shock Hazard. Do not inspect, connect, or disconnect any wiring while the drive is energized. Failure to comply will cause death or serious injury. Before servicing, disconnect all power to the equipment and wait for at least the time specified on the warning label. The internal capacitor remains charged even after the drive is de-energized. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc. When all indicators are OFF, measure for unsafe voltages to confirm the drive is safe.
1.
Shut off power to the drive, wait the appropriate amount of time for voltage to dissipate, confirm all charge indicator LEDs extinguish, then remove the front cover
(D) including the keypad (E).
Refer to the manual packaged with the drive for details on cover removal.
NOTICE: Observe proper electrostatic discharge (ESD) procedures when handling the option, drive, and circuit boards. Failure to comply could cause ESD damage to circuitry.
Figure 12
Move the keypad connector to the holder on the drive after removing the keypad and before removing the front cover. Insert the keypad connector tab into the holder when installing the keypad connector to the holder.
Holder
Keypad connector tab
Keypad connector
D
E
26
A1000
Figure 12 Remove the Front Cover Including Keypad
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5 Installation Procedure
2.
Carefully remove the LED Status Ring board (F) and place it on the right side of the drive using the temporary placement holes.
Refer to the manual packaged with the drive for details on removing the LED Status
Ring board.
NOTICE: Do not remove the LED Status Ring board cable connector. Failure to comply could cause erroneous operation and damage the drive.
Figure 13
F
Temporary placement holes
Drive front view
Figure 13 Remove the LED Status Ring Board
A1000
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5 Installation Procedure
3.
Insert the option card (B) into the CN5-C (I) connector on the drive and fasten it into place using the included screws (C). Tighten both screws to 0.5 to 0.6 N m (4.4 to
5.3 in lb).
Figure 14
Note: Installing the option card on GA700 and GA800 drives requires only two screws and does not require a ground wire. The option package ships with three screws and ground wires for installation on other product series. Do not use the ground wire or the extra screw.
A1000
B
C
I
Figure 15
Figure 14 Insert the Option Card
4.
Prepare the wire ends as shown in
Shield Insulation
Encoder option terminal
Encoder at motor
FE/SD
Ground Terminal
Shield sheath
(Insulate with electrical tape or heat-shrink tubing)
Figure 15 Prepare Ends of Shielded Cable
F3
28 YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual
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5 Installation Procedure
Figure 16
5.
Wire the motor PG encoder to the terminal block on the option according to
Refer to Connection Diagram on page 33 for the PG-F3 Option and PG Encoder
connection diagram.
Refer to Terminal Functions on page 40 for a detailed description of the option
terminal functions.
Screwdriver blade size
Blade depth of
0.4 mm or less
Blade width of
2.5 mm or less
Loosen the screws and insert the wire into the opening on the terminal block.
Wire crimping ferrule terminals or not soldered ends
Option terminal block
Pull back the shielding and lightly twist the end with fingers, keeping the ends from fraying.
about 5.5 mm (7/32”)
When not using crimped insulated sleeves
F 3
Figure 16 Connect Cable Wiring
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5 Installation Procedure
6.
Set the PG encoder power supply voltage level (IP) to 5 V or 8 V using jumper CN3 on the option as shown in
NOTICE: Do not select the wrong voltage level for the PG encoder. Failure to comply could cause erroneous operation or damage the PG encoder.
Table 4 Set IP with Jumper CN3
Voltage Level Jumper CN3 Position
5 V ± 5% (default) 5 V
8 V
8 V ± 10% 5 V
8 V
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5 Installation Procedure
Figure 17
7.
Reattach the LED Status Ring board (F) and the front cover of the drive (D) including the keypad (E).
Install the keypad to the drive after replacing the keypad connector and then the keypad connector. At that time, insert the keypad connector tab into the drive.
Keypad connector
Tab
D
E
A1000
F
Figure 17 Replace the LED Status Ring Board, Front Cover, and Keypad
8.
Connect the PG encoder outputs to the option.
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5 Installation Procedure
Figure 18
9.
Set drive parameters in
for proper motor rotation.
• Confirming Motor Rotation with EnDat 2.1/01, EnDat 2.2/01, or HIPERFACE
The leading pulse determines the motor rotation direction. A encoder signals with leading pulse A are considered to be rotating forward (counter-clockwise when viewing rotation from motor load side).
The A phase leads, followed by the B phase displaced at 90 degrees
A Phase
F3
B Phase
Time →
Figure 18 Displacement of A and B Phases
• Confirming Motor Rotation with EnDat 2.2/22
EnDat 2.2/22 uses serial data transmission and lacks A and B phases, so it is necessary to refer to monitor U1-05 to determine the direction of rotation.
After connecting the encoder outputs to the option, apply power to the drive and manually rotate the motor and check the rotation direction by viewing monitor U1-05 on the keypad.
10.
Energize the drive and manually rotate the motor to check the rotation direction using monitor U1-05 on the keypad.
WARNING!
Sudden Movement Hazard. Lock out the Run circuit to prevent issuing a Run command prior to manually rotating the motor shaft with the drive energized. Failure to comply could cause death or serious injury.
Note: Setting A1-03 to 1110, 2220, or 3330 will reset F1-05 to factory default. Re-set the parameter to switch direction again.
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5 Installation Procedure u Connection Diagram
• Wiring EnDat 2.1/01 or EnDat 2.2/01 Encoders
Wire the motor encoder to the terminal block on the option using a HEIDENHAIN
17-conductor cable.
The signal “Sensor Up”must be connected to terminal IP on the PG-F3 option for cables longer than 10 m. Additionally, the “Sensor 0 V”must be connected to terminal IG.
R/L1
S/L2
T/L3
U/T1
V/T2
W/T3
M
Drive
TB1,TB2
Cable
(by HEIDENHAIN)
8V
5V
CN3
IP
IG
IP
IG
0V
PG-F3
Option
A+
A–
B+
B–
FE
<3>
CK
CK
DT
DT
Shielded cable <1>
EnDat 2.1/01,
EnDat 2.2/01 encoder
F3
<2>
FE
<3>
CN5-C a+
A pulse monitor signal a– b+ b–
<4>
Shielded twisted-pair line
B pulse monitor signal
Main circuit terminal Control circuit terminal
<1> Properly connect the cable shield to terminal IG on the option Terminal Block TB2 or remove the ground connection on both ends.
<2> Ground the shield on the PG encoder side and the drive side. Remove the shield ground from one end of the signal line or remove the shield ground connection on both ends if electrical interference problems arise in the PG encoder signal.
<3> Connect one of the included ground wires between the option FE terminal and the drive ground terminal connected to earth ground for 1000-Series installation.
Fasten the option FE terminal in the ground plate using one of the included screws for GA700 and GA800 installation.
<4> Yaskawa recommends using shielded lines or shielded twisted-pair lines.
Figure 19 PG-F3 Option and Encoder Connection Diagram (EnDat 2.1/01, EnDat 2.2/01)
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5 Installation Procedure
IG
CK
CK
DT
DT
A+
A–
B+
B–
Table 5 Encoder Cable Specification (EnDat 2.1/01, EnDat 2.2/01)
Option Terminal
IP
Color
Brown/Green
Blue
White/Green
White
Purple
Yellow
Gray
Pink
Green/Black
Yellow/Black
Blue/Black
Red/Black
Encoder Cable
Encoder Signal
Up
Sensor Up
0V
Sensor 0V
CLOCK
CLOCK
DATA
DATA
A+
A–
B+
B–
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5 Installation Procedure
• Wiring an EnDat 2.2/22 Encoder
Wire the motor encoder to the terminal block on the option using a HEIDENHAIN
8-conductor cable.
The signal “Sensor Up” must be connected to terminal IP on the PG-F3 option for cables longer than 10 m. Additionally, the “Sensor 0 V” must be connected to terminal IG.
R/L1
S/L2
T/L3
U/T1
V/T2
W/T3
Drive
FE <2>
CN5-C
TB1,TB2
8V
5V
CN3
0V
CK
CK
DT
PG-F3
Option
DT
A+
A –
B+
B –
FE <2>
IP
IG
IP
IG
Cable
(by HEIDENHAIN) <1> a+ a – b+ b –
M
EnDat 2.2/22 encoder
F3 main circuit terminal control circuit terminal
<1> Ground the shield on the PG encoder side and the drive side. Remove the shield ground from one end of the signal line or remove the shield ground connection on both ends if electrical interference problems arise in the PG encoder signal.
<2> Connect one of the included ground wires between the option FE terminal and the drive ground terminal connected to earth ground for 1000-Series installation.
Fasten the option FE terminal in the ground plate using one of the included screws for GA700 and GA800 installation.
Figure 20 PG-F3 Option and Encoder Connection Diagram (EnDat 2.2/22)
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5 Installation Procedure
Table 6 Encoder Cable Specification (EnDat 2.2/22)
Option Terminal
Encoder Cable
IP
IG
CK
CK
DT
DT
A+
A–
B+
B–
Color
Brown/Green
Blue
White/Green
White
Purple
Yellow
Gray
Pink
−
−
−
−
Encoder Signal
Up
Sensor Up
0V
Sensor 0V
CLOCK
CLOCK
DATA
DATA
−
−
−
−
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5 Installation Procedure
• Wiring an HIPERFACE Encoder
Wire the motor encoder to the terminal block on the option using a SICK
STEGMANN 8-conductor cable.
R/L1
S/L2
T/L3
U/T1
V/T2
W/T3
Drive
FE <2>
CN5-C
M
8V
5V
0V
TB1, TB2
CN3
IP
IG
IP
IG
Us
Cable
(by SICK STEGMANN)
GND
CK
CK
DT
DT
A+
A–
B+
B–
FE <2>
Data+
Data–
+COS
REFCOS
+SIN
REFSIN
<1> a+ a– b+ b–
HIPERFACE encoder
A pulse monitor signal
B pulse monitor signal
F3 main circuit terminal control circuit terminal
<1> Ground the shield on the PG encoder side and the drive side. Remove the shield ground from one end of the signal line or remove the shield ground connection on both ends if electrical interference problems arise in the PG encoder signal.
<2> Connect one of the included ground wires between the option FE terminal and the drive ground terminal connected to earth ground for 1000-Series installation.
Fasten the option FE terminal in the ground plate using one of the included screws for GA700 and GA800 installation.
Figure 21 PG-F3 Option and Encoder Connection Diagram (HIPERFACE)
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5 Installation Procedure
Option Terminal
DT
DT
A+
A-
IP
IG
CK
CK
B+
B
Table 7 Encoder Cable Specification (HIPERFACE)
Color
Red
Blue
–
–
Gray/Yellow
Green/Purple
Pink
Black
White
Brown
Encoder Cable
Encoder Signal
Us
GND
–
–
DATA+
DATA-
+COS
REFCOS
+SIN
REFSIN u
Wire Gauges, Tightening Torques, and Crimp Terminals n Wire Gauges and Tightening Torques
Wire gauge and torque specifications are listed in Table 8
.
Table 8 Wire Gauges and Tightening Torques
Terminal
Signal a+, a–, b+, b–,
FE
Screw
Size
Tightening
Torque
N m
(in lb)
M2
0.22 to 0.25
(1.95 to 2.21)
Recomm.
Gauge mm 2
0.75
Bare Cable
(18 AWG)
Applicable
Gauges mm 2
Stranded wire:
0.25 to 1.0
(24 to 17 AWG)
Solid wire:
0.25 to 1.5
(24 to16 AWG)
IP, IG, DT
DT, B+, B–
CK, CK,
A+, A–
Crimp Terminals
Applicable
Gauges mm 2
0.5
(20 AWG)
–
Recomm.
Gauge mm 2
0.25 to 0.5
(24 to 20 AWG)
–
Wire
Type
Shielded twisted pair, etc.
–
<1> For EnDat 2.1/01 and EnDat 2.2/01, use a HEIDENHAIN 17-pin cable. Refer to
(EnDat 2.1/01, EnDat 2.2/01) on page 34 for details.
For EnDat 2.2/22, use a HEIDENHAIN 8-pin cable.
Refer to Encoder Cable Specification (EnDat 2.2/22) on page 36 for details.
For HIPERFACE, use a SICK STEGMANN 8-pin cable.
Refer to Encoder Cable Specification (HIPERFACE) on page 38 for details.
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5 Installation Procedure n Crimp Terminals
Yaskawa recommends using CRIMPFOX 6 by Phoenix Contact or equivalent crimp terminals with the specifications listed in
for wiring to ensure proper connections.
Note: Properly trim wire ends so loose wire ends do not extend from the crimp terminals.
Table 9 Crimp Terminal Sizes d1
6 mm
L d2
Wire Gauge mm 2
0.25 (24 AWG)
0.34 (22 AWG)
0.5 (20 AWG)
Phoenix Contact
Model
AI 0.25 - 6YE
AI 0.34 - 6TQ
AI 0.5 - 6WH
L mm (in)
10.5 (13/32)
10.5 (13/32)
14 (9/16) d1 mm (in)
0.8 (1/32)
0.8 (1/32)
1.1 (3/64) d2 mm (in)
2 (5/64)
2 (5/64)
2.5 (3/32)
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5 Installation Procedure u Terminal Functions
Table 10 Option Terminal Functions (EnDat)
Terminal
Block
Terminal
IP
IG
Function
Encoder power supply
Encoder power supply common
Description
Supplies power to the encoder.
• Jumper with terminal CN3 to select the power supply voltage, 5 V or 8 V.
• Voltage range:
5 V ± 5%, 330 mA
8 V ± 10%, 150 mA
Note: The number of connections to terminals IP and IG differs by wiring length when the power supply is set for +5 V ± 5%.
• Up to 10 m: One or two connections to both IP and IG.
• 10 to 20 m: Two connections to both IP and IG.
TB1
DT
DT
B+
Communication data signal I/O
Inverse communication data signal I/O
B phase signal input
Reads and processes encoder data.
Signal level: RS-485 protocol
Input for the B phase sine-wave from the encoder.
• Maximum input frequency: 20 kHz
• Input signal differential: B+ - B–
B– Inverse B phase signal input
0.6 V to 1.2 V b+ b–
B phase monitor signal output
Inverse B phase monitor signal output
Note: Not available when using EnDat 2.2/22.
Outputs a ratio of the B phase frequency.
• Output method: Line driver
• Output voltage: RS-422 level
• Possible resolution: 1/n
Set F1-06 to monitor the pulse signal.
Varies by drive model.
Note: Not available when using EnDat 2.2/22.
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5 Installation Procedure
Terminal
Block
Terminal
IP
IG
CK
CK
A+
TB2
A– a+ a–
FE
Function
Encoder power supply
Encoder power supply common
Communication clock signal output
Inverse communication clock signal output
A phase signal input
Description
Supplies power to the encoder.
Connects to terminal IP on the option.
Supplies power to the encoder.
Connects to terminal IG on the option.
Outputs the communication clock signal to the encoder.
Signal level: RS-485 protocol
Input for the A phase sine-wave from the encoder.
• Maximum input frequency: 20 kHz
• Input signal differential: A+ - A–
Inverse A phase signal input
0.6 V to 1.2 V
A phase monitor signal output
Inverse A phase monitor signal output
Ground
Note: Not available when using EnDat 2.2/22.
Outputs a ratio of the A phase frequency.
• Output method: Line driver
• Output voltage: RS-422 level
• Possible resolution ratio: 1/n
Set F1-06 to monitor the pulse signal.
Varies by drive model.
Note: Not available when using EnDat 2.2/22.
Ground terminal for shielded cable.
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5 Installation Procedure
Terminal
Block
TB1
Terminal
(Signal)
IP
(Us)
IG
(GND)
DT
(Data+)
DT
(Data-)
B+
(+SIN)
B-
(REFSIN)
Table 11 Option Terminal Functions (HIPERFACE)
Function
Encoder power supply
Encoder power supply common
Communication data signal I/O
Inverse communication data signal I/O
SIN signal input
Description
Supplies power to the encoder.
• Jumper with terminal CN3 to select the power supply voltage, 5 V or 8 V.
• Voltage range:
5 V ± 5%, 330 mA
8 V ± 10%, 150 mA
Reads and processes encoder data.
Signal level: RS-485 protocol
Input for the sine-wave from the encoder.
• Maximum input frequency: 20 kHz
• Input signal differential: +SIN - REFSIN
Inverse SIN signal input
0.9 V to 1.1 V
TB2 b+ b-
IP
(Us)
IG
(GND)
CK
CK
A+
(+COS)
A-
(RSFCOS)
SIN pulse monitor signal output Outputs a ratio of the sine pulse frequency.
• Output method: Line driver
Inverse SIN pulse monitor signal output
• Output voltage: RS-422 level
• Possible resolution: 1/n (n = 0 to 32)
Set F1-06 to monitor the pulse signal.
Encoder power supply
Encoder power supply common
–
–
Supplies power to the encoder.
Connects to terminal IP on the option.
Supplies power to the encoder.
Connects to terminal IG on the option.
Not used.
COS signal input
Input for the cosine-wave from the encoder.
• Maximum input frequency: 20 kHz
• Input signal differential: +COS - REFCOS
Inverse COS signal input
0.9 V to 1.1 V a+ a-
FE
COS pulse monitor signal output Outputs pulses of the cosine signal frequency ratio.
• Output method: Line driver
Inverse COS pulse monitor signal output
• Output voltage: RS-422 level
• Possible resolution ratio: 1/n (n = 0 to 32)
Set F1-06 to monitor the pulse signal.
Ground Ground terminal for shielded cable.
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6 Related Parameters
6 Related Parameters
The parameters in
Table 12 set the drive for operation with the option. Set parameters as
needed. Refer to the manual packaged with the drive for details on setting parameters.
Note: Hex.: MEMOBUS addresses used to change parameters over network communication are represented in hexadecimal numbers.
Table 12 Related Parameters
No.
(Hex.)
A1-02
(102)
F1-01
(380)
F1-02
(381)
F1-03
(382)
Name Description
Control
Method
Control Method
Selection
0: V/f Control
1: Closed Loop V/f Control
2: Open Loop Vector Control
3: Closed Loop Vector Control
4: Advanced Open Loop Vector Control
5: PM Open Loop Vector Control
6: PM Advanced Open Loop Vector
7: PM Closed Loop Vector Control
8: EZ Open Loop Vector Control
Note: Set to 7 when using PG-F3.
All Modes
PG 1 Pulses per
Revolution
Sets the number of pulses per motor revolution.
V/f w/ PG
CLV
AOLV
CLV/PM
PG Feedback
Loss Selection
Operation Select at Overspeed
Selects the stopping method after PG disconnect
(PGo).
0: Ramp to stop
1: Coast to stop
2: Fast Stop (Use C1-09)
3: Alarm only
4: No alarm display
NOTICE : Use settings 3 and 4 under special circumstances only. Failure to comply could damage the motor and connected machinery.
Selects the stopping method after detecting overspeed (oS).
0: Ramp to stop
1: Coast to stop
2: Fast Stop (Use C1-09)
3: Alarm only
NOTICE : Use setting 3 under special circumstances only. Failure to comply could damage the motor and connected machinery.
V/f w/ PG
CLV
AOLV/PM
CLV/PM
V/f w/ PG
CLV
AOLV
CLV/PM
Values
Range:
Min:
Default: 1
Range:
Default: 1
Range: 0 to 3
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6 Related Parameters
No.
(Hex.)
F1-04
(383)
F1-05
(384)
F1-06
(385)
F1-08
(387)
F1-09
(388)
F1-10
(389)
F1-11
(38A)
F1-14
(38D)
F1-18
(3AD)
Name
Operation Select at Overspeed
0: Ramp to stop
1: Coast to stop
2: Fast Stop (Use C1-09)
3: Alarm only
NOTICE : Use setting 3 under special circumstances only. Failure to comply could damage the motor and connected machinery.
V/f w/ PG
CLV
AOLV
AOLV/PM
CLV/PM
PG 1 Rotation
Selection
0: Pulse A leads
1: Pulse B leads
V/f w/ PG
CLV
AOLV
CLV/PM
PG 1 Division
Rate for Pulse
Mon
Description
Sets the division ratio for encoder pulse output. Set as a three-digit number: x is the first digit, y is the second digit, and z is the third digit:
When using the PG-F3 option, the drive disregards the value set for "x", and uses the formula 1/yz to determine the division rate for the pulse generator.
The setting range is 1/32 : 1.
Control
Method
V/f w/ PG
CLV
AOLV
CLV/PM
Overspeed
Detection Level
Overspeed
Detection Delay
Time
Speed Deviation
Detection Level
Speed Deviation
Detect Delay
Time
PG
Open-Circuit
Detection Time
Deviation 3
Detection
Selection
Sets the level for detecting overspeed (oS) as a percentage of the maximum output frequency.
Sets the time required for the motor to exceed the level set in F1-08 to trigger a fault (oS).
Sets the degree of speed deviation to trigger a dEv fault. Set as a percentage of the maximum output frequency.
Sets the time required for a speed deviation situation to trigger a fault.
Sets the time in seconds for encoder disconnect to be detected.
Note: An ov or oC error may occur depending on motor speed and load conditions.
0: Disabled n: Number of times a dv3 situation must be detected to trigger a fault.
V/f w/ PG
CLV
AOLV
AOLV/PM
CLV/PM
V/f w/ PG
CLV
AOLV
AOLV/PM
CLV/PM
V/f w/ PG
CLV
AOLV
AOLV/PM
CLV/PM
V/f w/ PG
CLV
AOLV
AOLV/PM
CLV/PM
V/f w/ PG
CLV
AOLV/PM
CLV/PM
CLV/PM
Values
Default:
Range: 0 to 3
Default:
Range: 0, 1
Default: 1
Min: 1
Max: 132
Default: 115
Min: 0
Max: 120
Default: 0.0
Min: 0.0
Max: 2.0
Default: 10
Min: 0
Max: 50
Default: 0.5
Min: 0.0
Max: 10.0
Default: 2.0
Min: 0.0
Max: 10.0
Default: 10
Min: 0
Max: 10
44 YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual
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6 Related Parameters
No.
(Hex.)
F1-19
(3AE)
F1-20
(3B4)
F1-50
(3D2)
F1-51
(3D3)
F1-52
(3D4)
Name Description
Control
Method
Deviation 4
Detection
Selection
PG 1 Hardware
Disconnect
Encoder
Selection
0: Disabled n: Number of times a dv4 situation must be detected to trigger a fault.
0: Disabled. No fault if the connection is lost.
1: Enabled. Fault if connection is lost.
0: EnDat 2.1/2.2 Serial+Sin/Cos
1: EnDat 2.2 Serial only
2: HIPERFACE
CLV/PM
CLV
CLV/PM
CLV/PM
PGoH Detection
Level
Sets the level for detecting a PG Hardware Fault
(PGoH). Set as a percentage of
Sin
θ 2 + Cos
θ 2
.
Communication
Speed Selection of Serial
Encoder
Sets the communications speed between the serial encoder and the PG-F3 Option.
This parameter can be set when F1-50 = 1.
EnDat/HIPERFACE
0: 1 M/ 9600 bps
1: 500 k/19200 bps
2: 1 M/38400 bps (same as setting 0 when using
EnDat 2.2/22)
3: 1 M/38400 bps (same as setting 0 when using
EnDat 2.2/22)
CLV/PM
CLV/PM
Values
Default: 128
Min: 0
Max: 5000
Default: 1
Range: 0, 1
Default: 0
Range: 0 to 2
Default: 80
Min: 1
Max: 100
Default: 0
Range: 0 to 3
<1> Varies by drive model.
<2> Use the following formula to calculate the number of output pulses for the PG encoder:
Operation at maximum output frequency (Hz)
＝
Motor speed at maximum frequency output (r/min)
60
×
PG rating (p/rev)
F3
YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual 45
TOBP_C730600_77B_2_0_E.book 46 ページ ２０１８年９月１４日 金曜日 午後１２時２１分
7 Troubleshooting
7 Troubleshooting
u Drive-Side Error Codes
lists the various fault codes related to the option and pulse generator. Refer to the drive Technical Manual for further details on fault codes.
Confirm the following items upon receiving an error notification on the drive keypad:
1. Correct and secure cable connections including ground wiring.
2. Proper option installation.
3. No momentary power loss occurred.
Table 13 Fault Displays, Causes, and Possible Solutions
Keypad Display dEv
Cause
The load is too heavy.
The acceleration and deceleration times are set too short or too long.
The load is locked up.
Parameters are set inappropriately.
Motor brake is engaged.
Brake control sequence is incorrect.
Keypad Display
Fault Name
Speed Deviation (for Control Mode with PG)
The deviation between the speed reference and speed feedback is greater than the setting in F1-10 for longer than the time set to F1-11.
Possible Solution
Reduce the load.
Increase or decrease the acceleration and deceleration times (C1-01 through
C1-08).
Check the machine.
Check F1-10 and F1-11 settings.
Ensure the motor brake releases properly.
Correct the brake control sequence and verify that the brake is released.
dv3
Cause
E5-11 is not set properly.
The PG encoder is replaced or rotational direction for the motor is changed.
Fault Name
Inversion Detection
• Torque reference and acceleration are in opposite directions.
• The speed reference and actual motor speed differ by over 30% for the number of pulses set to parameter F1-18.
Possible Solution
Set the value for Δθ to E5-11 as specified on the motor nameplate.
Perform the Z-pulse Offset Tuning (T2-01 = 3).
An external force on the load side caused the motor to move.
• Make sure the motor is rotating in the proper direction.
• Investigate problems on the load side causing motor rotation in the opposite direction and counteract the problem.
46 YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual
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7 Troubleshooting
Noise interference along the encoder cable is affecting the A channel or B channel.
The encoder is disconnected or is not wired properly.
The encoder rotational direction set to F1-05 is in the opposite direction of the motor wiring.
The PG option or PG encoder is damaged.
Keypad Display
1. Confirm that the PG encoder is properly connected and all shielded lines are properly grounded.
2. Cycle power. Replace the PG option card or the PG encoder if the problem continues after cycling power.
Make sure motor wiring for each phase (U, V, W) is connected properly.
Cause dv4
An external force on the load side caused the motor to move.
E5-11 is not set properly.
The PG encoder is replaced or rotational direction for the motor is changed.
Noise interference along the encoder cable is affecting the A or B phase.
Encoder is disconnected or is not wired properly, or the PG option or the encoder are damaged.
The PG option or PG encoder is damaged.
Keypad Display
If the problem continues after correcting wiring and cycling power, replace the PG option or the PG encoder.
Fault Name
Inversion Prevention Detection
Pulses indicate that the motor is rotating in the opposite direction of the speed reference. Set the number of pulses to trigger inverse detection to F1-19.
Note: Set F1-19 = 0 to disable inverse detection in applications where the motor may rotate in the opposite direction of the speed reference and avoid nuisance faults.
Possible Solution
• Confirm that the motor is rotating in the proper direction.
• Investigate problems on the load side causing motor rotation in the opposite direction and counteract the problem.
Set the value for Δθ to E5-11 as specified on the motor nameplate.
Perform the Z-pulse Offset Tuning (T2-01 = 3).
Check encoder wiring and make sure all wiring including shielded wiring is properly connected.
Check PG encoder wiring and confirm that all wiring, including shielded wiring, is properly connected.
If the problem continues after correcting wiring and cycling power, replace the PG option or the PG encoder.
Fault Name oFA00 Non-compatible option is connected to drive port CN5-A.
Cause
The option card installed into port CN5-A is incompatible with the drive.
Possible Solution
Use only compatible options. The PG option cannot be connected to CN5-A.
For other options, refer to the Installation Manual for that option.
YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual 47
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7 Troubleshooting
Keypad Display oFb00
Fault Name
Non-compatible option is connected to drive port CN5-B.
Cause
The option card installed into port CN5-A is incompatible with the drive.
Keypad Display
Possible Solution
Connect the option to the correct option port.
Note: When connecting DO-A3, AO-A3, PG-B3, or PG-X3, use CN5-B. When connecting only one PG option, use CN5-C.
Fault Name oFC01 Option Connection Error at drive port CN5-C
Cause
Option at drive port CN5-C was changed during run.
Keypad Display
Possible Solution
De-energize the drive and plug the option into the drive according to Installation
Procedure on Page
.
Fault Name
Cause oFC50
The option is damaged.
Keypad Display
PG Encoder Option A/D Conversion Error
Error with the A/D conversion level (VCC level), or A/D conversion timed out.
Possible Solution
Replace the option.
Fault Name
PG Encoder Option Analog Circuit Error
Cause oFC51
The option is damaged.
Keypad Display
Incorrect signal level (+2.5 V signal)
Possible Solution
Replace the option.
Fault Name
PG Encoder Communication Timeout oFC52
Cause
Encoder wiring is incorrect.
Serial encoder timed out waiting to receive data
Correct the wiring.
Possible Solution
Encoder cable is disconnected.
Reconnect the cable.
F1-50 (Encoder selection) is incorrect.
Keypad Display
Set F1-50 (Encoder selection) according to the encoder connected to the drive.
Fault Name oFC53
PG Encoder Communication Data Error
Serial encoder CRC checksum error
Possible Solution Cause
Encoder wiring is incorrect.
Correct the wiring.
Encoder cable is disconnected.
Reconnect the cable.
48 YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual
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7 Troubleshooting
Keypad Display oFC54
Fault Name
PG Encoder Error
Alarm reading EnDat absolute position data from the encoder
(OR flag from EnDat error for overvoltage, undervoltage, etc.)
Possible Solution Cause
Power supply to encoder is wired incorrectly.
PG-F3 power supply circuit is damaged.
Keypad Display
Correct the wiring.
Replace the option.
Cause
Overshoot is occurring.
oS
Fault Name
Overspeed
The motor speed feedback exceeded the F1-08 setting.
Possible Solution
• Increase the settings for C5-01 (Speed Control Proportional Gain 1) and reduce
C5-02 (Speed Control Integral Time 1).
• Adjust the input signal using parameters H6-02 through H6-05.
• Enable Feed Forward Control and perform Inertia Auto-Tuning in CLV.
Incorrect speed feedback scaling when terminal RP is used as speed feedback input in V/f control.
Set H6-02 to the value of the speed feedback signal frequency when the motor runs at the maximum speed.
Inappropriate parameter settings.
Keypad Display
PGo
Check the setting for the overspeed detection level and the overspeed detection time (F1-08 and F1-09).
Fault Name
PG Encoder Disconnected
The drive has not received a PG encoder pulse for longer than the time set in
F1-14.
Possible Solution Cause
The encoder is disconnected or is not wired properly.
Make sure the encoder is properly wired or is not disconnected.
The encoder does not have enough power.
Motor brake is engaged.
Confirm that the correct power supply is properly connected to the PG encoder.
Keypad Display
Correct the brake control sequence and verify that the brake has been released.
Fault Name
PG Encoder Hardware Fault
PGoH
PG encoder cable is disconnected.
Cause
Encoder cable is disconnected.
Reconnect the cable.
Possible Solution
YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual 49
TOBP_C730600_77B_2_0_E.book 50 ページ ２０１８年９月１４日 金曜日 午後１２時２１分
7 Troubleshooting
Table 14 Operation Error Displays, Causes, and Possible Solutions
Keypad Display
Cause
Parameters were set outside the possible range.
oPE02
Fault Name
Parameter Range Setting Error
Use U1-18 to find parameters set outside range.
Possible Solution
Set parameters to the proper values.
Note: When multiple errors occur simultaneously, other errors are given precedence over oPE02.
Fault Name Keypad Display oPE06
Control Method Selection Error
Correct the setting for the control method.
Possible Solution Cause
Control method requires installing a PG option, but no PG option is installed (A1-02 = 1, 3, or 7).
• Connect a PG option.
• Correct the value set to A1-02.
50 YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual
TOBP_C730600_77B_2_0_E.book 51 ページ ２０１８年９月１４日 金曜日 午後１２時２１分
7 Troubleshooting u Preventing Electrical Interference
Take the following steps to prevent erroneous operation caused by noise interference:
1. Use shielded wire for the PG encoder signal lines.
2. Use PG encoder signal cables that are shorter than 20 m (65 ft).
3. When using EnDat, the signal “Sensor Up” must be connected to terminal IP on the PG-F3 option for cables longer than 10 m. Additionally, the “Sensor 0 V” must be connected to terminal IG.
4. Separate option control wiring from main circuit input power wiring and motor output power cables using conduit or cable tray dividers.
5. Ground the shield of the cable on the PG encoder side and the drive side.
6. Verify that the shield is properly grounded and ground one end of the signal line or remove the ground connection on both ends if electrical interference problems arise in the PG encoder signal.
n
Interface Circuit
EnDat 2.1/01, EnDat 2.2/01
Figure 19
PG-F3 Encoder
120
Ω
A – , B –
A+, B+
2.5 V
Clock
Data output
120
Ω
CK
CK
DT
DT
Data input
26LS31 Level a+ a
– b+ b –
Monitor Signals
Figure 22 Interface Circuit (EnDat 2.1/01, EnDat 2.2/01)
YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual 51
TOBP_C730600_77B_2_0_E.book 52 ページ ２０１８年９月１４日 金曜日 午後１２時２１分
7 Troubleshooting
EnDat 2.2/22
Figure 20
PG-F3
Clock
Data output
2.5V
Data input
A – ,B –
120 Ω A+,B+
CK
CK
120
Ω
DT
DT
Encoder
26LS31 Level a+ ab+ b-
Figure 23 Interface Circuit (EnDat 2.2/22)
F3
52 YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual
TOBP_C730600_77B_2_0_E.book 53 ページ ２０１８年９月１４日 金曜日 午後１２時２１分
7 Troubleshooting
HIPERFACE
Figure 21
PG-F3
Encoder
Clock
Data output
2.5 V
Data input
120 Ω
A-,B-
A+,B+
120
Ω
CK
CK
DT
DT
26LS31 Level a+ ab+ b-
Monitor Signals
Figure 24 Interface Circuit (HIPERFACE)
F3
YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual 53
TOBP_C730600_77B_2_0_E.book 54 ページ ２０１８年９月１４日 金曜日 午後１２時２１分
8 European Standards
8
Figure 22
European Standards
Figure 25 CE Mark
The CE mark indicates compliance with European safety and environmental regulations. It is required for engaging in business and commerce in Europe.
European standards include the Machinery Directive for machine manufacturers, the Low
Voltage Directive for electronics manufacturers, and the EMC guidelines for controlling noise.
This option displays the CE mark based on the EMC guidelines.
EMC Guidelines: 2014/30/EU
Drives used in combination with this option and devices used in combination with the drive must also be CE certified and display the CE mark. When using drives displaying the CE mark in combination with other devices, it is ultimately the responsibility of the user to ensure compliance with CE standards. Verify that conditions meet European standards after setting up the device.
u EMC Guidelines Compliance
This option is tested according to European standards EN 61800-3:2004/A1:2012 and complies with EMC guidelines. The CE marking is declared based on the harmonized standards.
n EMC Guidelines Installation Conditions
Verify the following installation conditions to ensure that other devices and machinery used in combination with this option also comply with EMC guidelines:
1.
Use dedicated shield cable for the option and external device (encoder, I/O device, master), or run the wiring through a metal conduit.
2.
Keep wiring as short as possible and ground the largest possible surface area of the
shield to the metal panel according to Figure 27 .
54 YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual
TOBP_C730600_77B_2_0_E.book 55 ページ ２０１８年９月１４日 金曜日 午後１２時２１分
8 European Standards
Figure 23
A n
Figure 24
C B
A – Braided shield cable
B – Metal panel
C – Cable clamp (conductive)
Figure 26 Ground Area
Option Installation for CE Compliance: Models PG ,DI ,DO ,
AI ,AO-,SI
Enclosure panel
Three- phase power supply
EMC filter
L1
L2
L3
L1
L2
L3
R
S
T
Drive
CN5-C
PG option
PG-
Cable clamp
Encoder
CN5-A,
CN5-B,
CN5-C
I/O option
DI,
DO,
AI,
AO-
Communication option
CN5-A SI-
Cable clamp
I/O device
Cable clamp
Master
Figure 27 Option Installation for CE Compliance
YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual 55
TOBP_C730600_77B_2_0_E.book 56 ページ ２０１８年９月１４日 金曜日 午後１２時２１分
9 Specifications
9 Specifications
Table 15 Option Specifications
Model
Items
Compatible
Encoder Types
Multi-turn
Encoder Wiring
Length
Encoder Power
Supply
Compatible Control
Modes
Maximum Input
Frequency
Specifications
PG-F3
EnDat 2.1/01, EnDat 2.2/01, EnDat 2.2/22 (HEIDENHAIN)
ECN1313 (EnDat 2.1/01, EnDat 2.2/01)
ECN113 (EnDat 2.1/01, EnDat 2.2/01)
ECN413 (EnDat 2.1/01, EnDat 2.2/01)
ECN1325 (EnDat 2.2/22)
ECN125 (EnDat 2.2/22)
ECN425 (EnDat 2.2/22)
HIPERFACE (SICK STEGMANN)
SRS50/60
SKS36
SFS60
Not available
20 m ( 65 ft ) maximum. Wiring length over 10 m (32 ft) for EnDat requires two connections to both IP and IG.
Output voltage: 5 V ± 5%, 8 V ± 10%
Maximum Output Current: 330 mA (5 V), 150 mA (8 V)
CLV/PM
20 kHz (no maximum input frequency for EnDat 2.2/22)
Pulse Monitor
Output
Monitor for A and B phase output
Matches RS-422 Level
Note: Not available when using EnDat 2.2/22.
Encoder
Disconnect
Detection
Ambient
Temperature
Humidity
Storage
Temperature
Software detection
-10 ° C to 50 ° C (14 ° F to 122 ° F)
95% RH or lower with no condensation
Area of Use
Altitude
-20 ° C to 60 ° C (-4 ° F to 140 ° F) allowed for short-term transport of the product
Indoors and free from:
• Oil mist, corrosive gas, flammable gas, and dust
• Radioactive materials or flammable materials, including wood
• Harmful gas or fluids
• Salt
• Direct sunlight
• Falling foreign objects
1000 m (3280 ft) or lower
56 YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual
TOBP_C730600_77B_2_0_E.book 57 ページ ２０１８年９月１４日 金曜日 午後１２時２１分 u Revision History
Revision dates and manual numbers appear on the bottom of the back cover.
MANUAL NO.
TOBP C730600 77A <1>
Revision number
Published in Japan June 2017
Date of publication
Date of
Publication
Rev.
No
September 2018 <2>
June 2017
April 2016
<1>
−
Section
All
Back cover
Back cover
−
Revised Content
Addition: Applicable product series
Revision: Reviewed and corrected entire documentation.
Revision: Address
Revision: Address
First edition
YASKAWA ELECTRIC TOBP C730600 77B YASKAWA AC Drive Option PG-F3 Installation Manual 57
英文 No.10-5（140×182） インバータ製品用 新ロゴ
YASKAWA AC Drive Option
Motor Encoder Feedback
(EnDat, HIPERFACE) Interface
Installation Manual
DRIVE CENTER (INVERTER PLANT)
2-13-1, Nishimiyaichi, Yukuhashi, Fukuoka, 824-8511, Japan
Phone: +81-930-25-2548 Fax: +81-930-25-3431 http://www.yaskawa.co.jp
YASKAWA ELECTRIC CORPORATION
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-6891, Japan
Phone: +81-3-5402-4502 Fax: +81-3-5402-4580 http://www.yaskawa.co.jp
YASKAWA AMERICA, INC.
2121, Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 http://www.yaskawa.com
YASKAWA ELÉTRICO DO BRASIL LTDA.
777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil
Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 http://www.yaskawa.com.br
YASKAWA EUROPE GmbH
Hauptstra
β e 185, 65760 Eschborn, Germany
Phone: +49-6196-569-300 Fax: +49-6196-569-398 http://www.yaskawa.eu.com E-mail: [email protected]
YASKAWA ELECTRIC KOREA CORPORATION
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, 07326, Korea
Phone: +82-2-784-7844 Fax: +82-2-784-8495 http://www.yaskawa.co.kr
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151, Lorong Chuan, #04-02A, New Tech Park, 556741, Singapore
Phone: +65-6282-3003 Fax: +65-6289-3003 http://www.yaskawa.com.sg
YASKAWA ELECTRIC (THAILAND) CO., LTD.
59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18 , Ratchadapisek Road, Huaykwang, Bangkok, 10310, Thailand
Phone: +66-2-017-0099 Fax: +66-2-017-0799 http://www.yaskawa.co.th
YASKAWA ELECTRIC (CHINA) CO., LTD.
22F, Link Square 1, No.222, Hubin Road, Shanghai, 200021, China
Phone: +86-21-5385-2200 Fax: +86-21-5385-3299 http://www.yaskawa.com.cn
YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE
Room 1011, Tower W3 Oriental Plaza, No. 1, East Chang An Ave.,
Dong Cheng District, Beijing, 100738, China
Phone: +86-10-8518-4086 Fax: +86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
12F, No. 207, Sec. 3, Beishin Rd., Shindian Dist., New Taipei City 23143, Taiwan
Phone: +886-2-8913-1333 Fax: +886-2-8913-1513 or +886-2-8913-1519 http://www.yaskawa.com.tw
YASKAWA INDIA PRIVATE LIMITED
#17/A, Electronics City, Hosur Road, Bangalore, 560 100 (Karnataka), India
Phone: +91-80-4244-1900 Fax: +91-80-4244-1901 http://www.yaskawaindia.in
In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations.
Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2016 YASKAWA ELECTRIC CORPORATION
MANUAL NO.
TOBP C730600 77B <2>-0
Published in Japan September 2018
18-8-19
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