YASKAWA 1000-Series PG-RT3 Resolver Interface Installation Manual
Oglas
Oglas
YASKAWA AC Drive 1000-Series Option
Motor Feedback
Resolver TS2640N321E64 Interface
Installation Manual
Type: PG-RT3
To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual.
MANUAL NO. TOBP C730600 53B
Copyright © 2010 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 53B 1000-Series Option PG-RT3 Installation Manual
Table of Contents
1 Preface and Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Product Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3 Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4 Option Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
5 Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
6 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
8 Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual 3
4
1 Preface and Safety
1 Preface and Safety
Yaskawa manufactures products used as components in a wide variety of industrial systems and equipment. The selection and application of Yaskawa products remain the responsibility of the equipment manufacturer or end user. Yaskawa accepts no responsibility for the way its products are incorporated into the final system design. Under no circumstances should any
Yaskawa product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all controls should be designed to detect faults dynamically and fail safely under all circumstances. All systems or equipment designed to incorporate a product manufactured by Yaskawa must be supplied to the end user with appropriate warnings and instructions as to the safe use and operation of that part. Any warnings provided by Yaskawa must be promptly provided to the end user. Yaskawa offers an express warranty only as to the quality of its products in conforming to standards and specifications published in the Yaskawa manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS
OFFERED. Yaskawa assumes no liability for any personal injury, property damage, losses, or claims arising from misapplication of its products.
◆
Applicable Documentation
The following manuals are available for the option:
RT3
Option
Yaskawa AC Drive 1000-Series Option
Motor Feedback
Resolver TS2640N321E64 Interface
PG-RT3 Installation Manual (This book)
Manual No: TOBPC73060053
Read this manual first.
The installation manual is packaged with the option and contains information required to install the option and set up related drive parameters.
Yaskawa AC Drive
1000-Series
Technical Manual
Yaskawa Drive
Yaskawa AC Drive
1000-Series
Quick Start Guide
The drive manuals cover basic installation, wiring, operation procedures, functions, troubleshooting, and maintenance information.
The manuals also include important information about parameter settings and drive tuning.
Access these sites to obtain Yaskawa instruction manuals:
U.S.: http://www.yaskawa.com
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
For questions, contact your local Yaskawa sales office or the nearest Yaskawa representative.
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual
1 Preface and Safety
◆
Terms and Abbreviations
Note:
Drive:
Option:
Indicates supplemental information that is not related to safety messages
Yaskawa AC Drive 1000-Series
Yaskawa AC Drive 1000-Series Option Motor Feedback Resolver TS2640N321E64 Interface:
Type PG-RT3
PG:
V/f:
Pulse Generator, Encoder, or Resolver mounted on the motor
V/f Control
V/f w/PG: V/f Control with PG
CLV: Closed Loop Vector Control
AOLV/PM: Advanced Open Loop Vector Control for PM
CLV/PM: Closed Loop Vector Control for PM
◆
Registered Trademarks
Trademarks are the property of their respective owners.
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual 5
1 Preface and Safety
◆
Supplemental Safety Information
Read and understand this manual before installing, operating, or servicing this option. Install the option according to this manual and local codes.
The following conventions indicate safety messages in this manual. Failure to heed these messages could cause fatal injury or damage products and related equipment and systems.
DANGER
Indicates a hazardous situation, which, if not avoided, will result in death or serious
injury.
W ARNING
Indicates a hazardous situation, which, if not avoided, could result in death or serious injury.
CAUTION
Indicates a hazardous situation, which, if not avoided, could result in minor or moderate injury.
NOTICE
Indicates an equipment damage message.
6 YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual
1 Preface and Safety
■ General Safety
General Precautions
• The diagrams in this book may include options and drives without covers or safety shields to illustrate details. Be sure to reinstall covers or shields before operating any devices. Use the option according to the instructions described in this manual.
• Any illustrations, photographs, or examples used in this manual are provided as examples only and may not apply to all products to which this manual is applicable.
• The products and specifications described in this manual or the content and presentation of the manual may be changed without notice to improve the product and/or the manual.
• When ordering new copies of the manual, contact a Yaskawa representative or the nearest Yaskawa sales office and provide the manual number shown on the front cover.
DANGER
Heed the safety messages in this manual.
Failure to comply will result in death or serious injury.
The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings in this manual.
NOTICE
Do not modify the drive or option circuitry.
Failure to comply could result in damage to the drive or option and will void warranty.
Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.
Do not expose the drive or option to halogen group disinfectants.
Failure to comply may cause damage to the electrical components in the option.
Do not pack the drive in wooden materials that have been fumigated or sterilized.
Do not sterilize the entire package after the product is packed.
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual 7
2 Product Overview
2 Product Overview
◆
About This Product
The PG-RT3 Option enables the user to connect to a resolver that meets Yaskawa's specifications such as the TS2640N321E64 made by Tamagawa Seiki Co., Ltd.
The PG-RT3 Option facilitates motor speed feedback to the drive and takes advantage of
Closed Loop Vector control for PM Motors. The option increases control accuracy and performance.
A resolver signal allows the drive to compensate for subtle variations in the load, while providing the drive with the necessary data to control the output frequency and maintain an accurate constant speed.
The PG-RT3 Option requires a resolver with an input voltage of 7 Vac rms 10 kHz, transformation ratio of 0.5 ±5%, and a maximum input current of 100 mA rms.
When using the PG-RT3 Option, the drive must be in the Closed Loop Vector Control for
PM Motors control mode. Refer to the Technical Manual of the drive for details.
◆
Applicable Models
The option can be used with the drive models in Table 1 .
Table 1 Applicable Models
Drive Series
A1000
Drive Model Number
<1> Only available in software version S1017 and later. The software version (PRG) is indicated on the nameplate affixed to the side of the drive.
8 YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual
3 Receiving
3 Receiving
Please perform the following tasks upon receiving the option:
• Inspect the option for damage. Contact the shipper immediately if the option appears damaged upon receipt.
• Verify receipt of the correct model by checking the model number printed on the option
nameplate (Refer to Figure 1 on page 10
for more information).
• Contact your supplier if you have received the wrong model or the option does not function properly.
◆
Option Package Contents
Description: Option Ground Wire Screws (M3) Installation Manual
RT3
MANUAL
–
Quantity: 1
RT3
1 3 1
◆
Tools Required for Installation
• A Phillips screwdriver (M3 metric / #1, #2 U.S. standard size) is required to install the option.
• A straight-edge screwdriver (blade depth: 0.4 mm, width: 2.5 mm) is required to wire the option terminal block.
• A pair of diagonal cutting pliers.
• A small file or medium-grit sandpaper.
Note: Tools required to prepare option cables for wiring are not listed in this manual.
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual 9
4 Option Components
4 Option Components
◆
PG -RT3 Option
Figure 1
A B C
PG-RT3
D
E
Underside
RT3
F
A – Terminal block TB1
B – Model number
C – Terminal block TB2
D – Connector (CN5)
E – Installation hole
F – Ground terminal and installation hole
<1> The ground wires provided in the option shipping package must be connected during installation.
Figure 1 PG-RT3 Option Components
◆
Terminal Blocks TB1 and TB2
R1 R2 S1 S3 S2 S4
TB2
TB1 a+ a– b+ b– z+ z– IG FE
RT3
Refer to Table 4 on page 23 for details on TB1 and TB2 terminal functions and signal levels.
10 YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual
5 Installation Procedure
5 Installation Procedure
◆
Section Safety
DANGER
Electric Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
Disconnect all power to the drive, wait at least the amount of time specified on the drive front cover safety label. After all indicators are off, measure the DC bus voltage to confirm safe level, and check for unsafe voltages before servicing. The internal capacitor remains charged after the power supply is turned off.
W ARNING
Electrical Shock Hazard
Do not remove the front covers of the drive while the power is on.
Failure to comply could result in death or serious injury.
The diagrams in this section may include options and drives without covers or safety shields to show details. Be sure to reinstall covers or shields before operating any devices.
Use the option according to the instructions described in this manual.
Do not allow unqualified personnel to use equipment.
Failure to comply could result in death or serious injury.
Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with installation, adjustment, and maintenance of this product.
Do not touch circuit boards while the power to the drive is on.
Failure to comply could result in death or serious injury.
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual 11
5 Installation Procedure
W ARNING
Do not use damaged wires, stress the wiring, or damage the wire insulation.
Failure to comply could result in death or serious injury.
Fire Hazard
Tighten all terminal screws to the specified tightening torque.
Loose electrical connections could result in death or serious injury by fire due to overheating of electrical connections.
NOTICE
Damage to Equipment
Observe proper electrostatic discharge (ESD) procedures when handling the option, drive, and circuit boards.
Failure to comply may result in ESD damage to circuitry.
Never shut the power off while the drive is running or outputting voltage.
Failure to comply may cause the application to operate incorrectly or damage the drive.
Do not operate damaged equipment.
Failure to comply may cause further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
Tighten all terminal screws to the specified tightening torque.
Failure to comply could result in damage to the terminal block.
Do not use unshielded cable for control wiring.
Failure to comply may cause electrical interference resulting in poor system performance.
Use shielded twisted-pair wires and ground the shield to the ground terminal of the drive.
12 YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual
5 Installation Procedure
NOTICE
Properly connect all pins and connectors.
Failure to comply may prevent proper operation and possibly damage equipment.
Check wiring to ensure that all connections are correct after installing the option and connecting any other devices.
Failure to comply may result in damage to the option.
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual 13
L
K
I
J
5 Installation Procedure
◆
Prior to Installing the Option
Prior to installing the option, wire the drive, make the necessary connections to the drive terminals, and verify that the drive functions normally. Refer to the Quick Start Guide packaged with the drive for information on wiring and connecting the drive.
Figure 2 shows an exploded view of the drive with the option and related components for
reference.
Figure 2
A
B
C
D
E
F
H
G
14
A – Insertion point for CN5
B – Option card
C – Included screws
D – Front cover
E – Digital operator
F – Terminal cover
G – Removable tabs for wire routing
H – Ground wire
I – Drive grounding terminal (FE)
J – Connector CN5-A
K – Connector CN5-B
L – Connector CN5-C
Figure 2 Drive Components with Option
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual
5 Installation Procedure
◆
Installing the Option
Refer to the instructions below to install the option.
1.
Shut off power to the drive, wait the appropriate amount of time for voltage to dissipate, then remove the digital operator (E), front cover (D), and terminal cover
(F). Refer to the Quick Start Guide packaged with the drive.
DANGER! Electrical Shock Hazard. Disconnect all power to the drive and wait at least the amount of time specified on the drive front cover safety label. After all indicators are off, measure the DC bus voltage to confirm safe level, and check for unsafe voltages before servicing to prevent electric shock. The internal capacitor remains charged even after the power supply is turned off.
NOTICE: Damage to Equipment. Observe proper electrostatic discharge procedures (ESD) when handling the option, drive, and circuit boards. Failure to comply may result in ESD damage to circuitry.
Figure 3
D
E
F
Figure 3 Remove the Front Cover, Terminal Cover, and Digital Operator
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual 15
5 Installation Procedure
Figure 4
2.
Insert the option card (B) into the CN5-C (L) connector located on the drive and fasten it into place using one of the included screws (C).
A
B
C
L
K
J
Figure 4 Insert the Option Card
16 YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual
5 Installation Procedure
Figure 5
3.
Connect the ground wire (H) to the ground terminal (I) using one of the remaining screws (C). Connect the other end of the ground wire (H) to the remaining ground terminal and installation hole on the option (B) using the last remaining provided screw (C).
B
C
I
H
Figure 5 Connect the Ground Wire
Note: There are two screw holes on the drive for use as ground terminals (I). When connecting three options, two ground wires will need to share the same drive ground terminal.
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual 17
5 Installation Procedure
4.
Prepare and connect the wire ends as shown in
and
Wire Gauges and Tightening Torques on page 22
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
Resolver option terminal
Resolver at motor
FE
Ground Terminal
Shield sheath
(Insulate with electrical tape or shrink tubing)
Figure 6 Preparing Ends of Shielded Cable
RT3
Figure 7
Preparing wire ends:
Pull back the shielding and lightly twist the end with fingers, keeping the ends from fraying.
Screwdriver blade size
Blade depth of
0.4 mm or less about 5.5 mm (7/32”)
When not using crimped insulated sleeves
Blade width of
2.5 mm or less
Loosen the screws and insert the wire into the opening on the terminal block.
To resolver at motor
(do not solder ends)
Figure 7 Preparing and Connecting Cable Wiring
Option terminal block
RT3
18 YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual
5 Installation Procedure
5.
Wire the motor resolver to the terminal block on the option. Refer to Figure 6 and
for wiring instructions. Refer to
Figure 8 for the connection diagram.
Limit the length of all motor output power cables to less than 10 m.
Refer to Option Terminal Functions on page 23
for a detailed description of the option terminal functions.
R/L1
S/L2
T/L3
U/T1
V/T1
W/T1
YASKAWA
Drive
CN5-C
TB2
R1
PG-RT3
Option
R2
S1
<1>
S3
S2
S4
TB1
FE a+ ab+ bz+ z-
IG
Esinωt
R1
R2
S1
K 䍃E
R1-R2
䍃sinωt䍃COSθ
K 䍃E
R1-R2
䍃sinωt䍃SINθ
<2>
A pulse monitor signal
M
S3
S4
S2
Resolver
B pulse monitor signal
Line driver output
Z pulse monitor signal
FE
<3>
Ground wire
RT3 twisted-pair shielded line main circuit terminal control circuit terminal
<1> Connect resolver terminals S1 through S4 to PG-RT3 option terminals S1 through S4. Be sure not to mistakenly connect the resolver to drive terminals S1 through S4.
<2> Ground the shield on the resolver side and the drive side. If noise problems arise in the resolver signal, remove the shield ground from one end of the signal line or remove the shield ground connection on both ends.
<3> Yaskawa recommends using shielded twisted-pair cables.
Figure 8 PG-RT3 Option and Resolver Connection Diagram
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual 19
5 Installation Procedure
Figure 8
6.
Route the option wiring.
Depending on the drive model, some drives may require routing the wiring through the side of the front cover to the outside. In these cases, cut out the perforated
openings on the left side of the drive front cover as shown in Figure 9 -A and leave
no sharp edges to damage wiring.
Route the wiring inside the enclosure as shown in Figure 9
-B for drives that do not require routing through the front cover.
Refer to the Peripheral Devices & Options section of the drive Technical 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 NEMA Type 1 requirements if wiring is exposed outside the enclosure.
Figure 9 Wire Routing Examples
20 YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual
5 Installation Procedure
Figure 9
7.
Replace and secure the front covers of the drive (D, F) and replace the digital operator (E).
D
E
F
Figure 10 Replace the Front Covers and Digital Operator
Note: Take proper precautions when wiring the option so that the front covers will easily fit back onto the drive. Make sure cables are not pinched between the front covers and the drive when replacing the covers.
Figure 10
8.
After connecting the resolver outputs to the option, apply power to the drive and manually rotate the motor and check the rotation direction by viewing monitor U1-05 on the digital operator.
The value in U6-18 increases during forward rotation (value will reset to 0 after exceeding 65535), and decreases during reverse rotation (counts back from 65535 after reaching 0).
If the value in U6-18 decreases while the motor is rotating forwards as shown in
Figure 11 , switch the PG rotation setting (F1-05 = 1) to change how the drive reads
the direction of the motor PG encoder.
Note: If the drive is initialized using A1-03 =1110, 2220, or 3330, the value for F1-05 will reset to factory default and the parameter will need to be adjusted again to switch the direction.
RT3
Figure 11 Forward direction
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual 21
5 Installation Procedure
◆
Wire Gauges, Tightening Torque, and Crimp Terminals
■ Wire Gauges and Tightening Torques
Wire gauge and torque specifications are listed in Table 2 .
Table 2 Wire Gauges and Tightening Torques
Terminal
Signal
R1, R2, S1,
S2, S3, S4 a+, a–, b+, b–, z+, z–, IG,
FE
Screw
Size
M2
Tightening
Torque
Nxm
(inxlb)
Bare Cable
Applicable
Gauges mm 2
Recomm.
Gauge mm 2
0.22 to 0.25
(1.95 to 2.21)
Stranded wire:
0.25 to 1.0
(24 to 17 AWG)
Solid wire:
0.25 to 1.5
(24 to 16 AWG)
0.75
(18 AWG)
Crimp Terminals
Applicable
Gauges mm 2
0.25 to 0.5
(24 to 20 AWG)
Recomm.
Gauge mm
0.5
2
(20 AWG)
Wire
Type
Shielded twisted pair, etc.
Shielded cable, etc.
■
Crimp Terminals
Yaskawa recommends using CRIMPFOX 6 by Phoenix Contact or equivalent crimp
terminals with the specifications listed in Table 3 for wiring to ensure proper connections.
Note: Properly trim wire ends so loose wire ends do not extend from the crimp terminals.
Table 3 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)
22 YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual
5 Installation Procedure
◆
Terminal Functions
Table 4 Option Terminal Functions
Terminal
Block
Terminal Function Description
TB1 a+ a– b+ b– z+ z–
IG
FE
R1
R2
A pulse monitor signal
A pulse inverse monitor signal
B pulse monitor signal
B pulse inverse monitor signal
Z pulse monitor signal
Z pulse inverse monitor signal
Monitor ground
Ground
Resolver signal
Outputs a resolver monitor signal for the A, B, and Z channels.
• Signal voltage: RS-422 level
0 V
Ground terminal for shielded cable.
Excitation signal relative to the resolver
• Output voltage: 7 Vrms
• Output frequency: 10 kHz
TB2
S1
S3
S2
S4
Signal from resolver (COS)
Signal from resolver (SIN)
Sine wave from resolver
Transformation Ratio: 0.5 ±5%
<1> Irregular monitor pulses can occur with faulty wiring or a defective resolver.
<2> Connect resolver terminals S1 through S4 to PG-RT3 terminals S1 through S4. Be sure not to connect the resolver to drive terminals S1 through S4.
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual 23
6 Related Parameters
6 Related Parameters
The following parameters set the drive for operation with the option. Set parameters as needed. Parameter setting methods can be found in the drive Quick Start Guide or Technical
Manual.
No.
(Addr. Hex)
A1-02
(102)
F1-02
(381)
F1-03
(382)
F1-04
(383)
F1-05
(384)
F1-08
(387)
Table 5 Related Parameters
Name Description
Control
Mode
Control Method
Selection
PG Feedback
Loss Operation
Selection
PG Overspeed
Operation
Selection
PG Deviation
Operation
Selection
PG 1 Rotation
0: V/f Control
1: V/f Control with PG
2: Open Loop Vector Control
3: Closed Loop Vector Control
5: Open Loop Vector Control for PM
6: Advanced Open Loop Vector Control for PM
7: Closed Loop Vector Control for PM
Note: Set to 7 when using PG-RT3.
Sets the stopping method after PG disconnect (PGo).
0: Ramp to stop (decelerates at time set to C1-02)
1: Coast to stop
2: Fast Stop (decelerates at the time set to C1-09)
3: Continue running
4: No alarm display
NOTICE: Due to potential damage to the motor and machinery, only use settings 3 and 4 under special circumstances.
Sets the stopping method after detecting overspeed.
0: Ramp to stop (decelerates at time set to C1-02)
1: Coast to stop
2: Fast Stop (decelerates at the time set to C1-09)
3: Continue running
NOTICE: Due to potential damage to the motor and machinery, do not use the "Continue running" setting except under special circumstances.
0: Ramp to stop (decelerates at time set to C1-02)
1: Coast to stop
2: Fast Stop (decelerates at the time set to C1-09)
3: Continue running
NOTICE: Due to potential damage to the motor and machinery, do not use the "Continue running" setting except under special circumstances.
0: Forward = A pulse leads
1: Forward = B pulse leads
All Modes
CLV
CLV/PM
CLV
CLV/PM
CLV
CLV/PM
CLV
CLV/PM
PG Overspeed
Level
Sets the level for detecting overspeed as a percentage of the maximum output frequency.
CLV
CLV/PM
Values
Default:
Default:
Range: 0 to 3
Default:
Range: 0, 1
Default: 115
Min: 0
Max: 120
24 YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual
6 Related Parameters
No.
(Addr. Hex)
F1-09
(388)
F1-10
(389)
F1-11
(38A)
Name Description
Overspeed Det.
Time
Sets the time required for the motor to exceed the level set in F1-08 to trigger a fault.
Control
Mode
CLV
CLV/PM
Excessive Speed
Deviation Det.
Level
Excessive Speed
Deviation Det.
Time
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.
CLV
CLV/PM
CLV
CLV/PM
F1-14
(38D)
F1-18
(3AD)
F1-19
(3AE)
PG Disconnect
Det. Time
Reverse
Rotation Det. for PG 1
Reverse
Rotation Det. for PG 1
Sets the time in seconds for PG encoder disconnect to be detected.
0: Disabled n: Number of times a dv3 situation must be detected to trigger a fault.
0: Disabled n: Number of times a dv4 situation must be detected to trigger a fault.
<1> Varies by drive model.
<2> Value changes according to the control mode selection in A1-02.
CLV
CLV/PM
CLV/PM
CLV/PM
Values
Default: 0.0
Min: 0.0
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
Default: 128
Min: 0
Max: 5000
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual 25
7 Troubleshooting
7 Troubleshooting
◆
Drive-Side Error Codes
Table 6 lists the various fault codes related to the option and pulse generator. Refer to the
drive Technical Manual for further details on fault codes.
Check the following items first when an error code occurs on the drive:
• Are the cables connected properly and securely?
• Is the option properly installed to the drive?
• Did a momentary power loss occur?
Table 6 Fault Displays, Causes, and Possible Solutions
Digital Operator Display dEv
Cause
The load is too heavy.
The acceleration and deceleration times are set too short.
The load is locked up.
Parameters are set inappropriately.
Motor brake is engaged.
Digital Operator 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 the acceleration and deceleration times (C1-01 through C1-08).
Check the machine.
Check the settings of parameters F1-10 and F1-11.
Cause dv3
An external force on the load side caused the motor to move.
Ensure the motor brake releases properly.
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
• Make sure the motor is rotating in the proper direction.
• Investigate problems on the load side causing motor rotation in the opposite direction.
Noise interference along the resolver cable.
The resolver is disconnected or is not wired properly, or the resolver option or resolver are damaged.
• Check resolver wiring and make sure all wiring including shielded wiring is properly connected.
• If the problem continues after cycling power, replace the PG option or the resolver.
26 YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual
7 Troubleshooting
The resolver rotational direction set to F1-05 is in the opposite direction of the motor wiring.
Digital Operator Display
Cause dv4
Noise interference along the resolver cable.
Resolver is disconnected or is not wired properly, or the PG option or resolver are damaged.
Digital Operator Display
Make sure motor wiring for each phase (U, V, W) is connected properly.
Fault Name
Inversion Prevention Detection
Pulses indicate that the motor is rotating in the opposite direction of the speed reference. Set the number of pulses to trigger inverse detection to F1-19.
Note: To avoid nuisance faults, be sure to disable inverse detection in applications where the motor may rotate in the opposite direction of the speed reference. Set
F1-19 to 0 to disable this feature.
Possible Solution
• Make sure the motor is rotating in the proper direction.
• Investigate problems on the load-side that may be causing the motor to rotate in the opposite direction.
• Check resolver wiring and make sure all wiring including shielded wiring is properly connected.
• If the problem continues after cycling power, replace the PG option or the resolver.
Fault Name oFA00 Non-compatible option is connected to drive port CN5-A.
Cause
Non-compatible option is connected to drive port CN5-A.
Digital Operator Display oFb00
Cause
Non-compatible option is connected to drive port CN5-B.
Digital Operator Display
Possible Solution
Use only compatible options. Connect PG-RT3 to CN5-C. For other options, refer to the Installation Manual for that option.
Fault Name
Non-compatible option is connected to drive port CN5-B.
Possible Solution
Use only compatible options. Connect PG-RT3 to CN5-C. For other options, refer to the Installation Manual for that option.
Fault Name oFC01
Cause
Option at drive port CN5-C was changed during run.
Digital Operator Display
Cause oFC50
The option is damaged.
Option Connection Error at drive port CN5-C
Possible Solution
Switch the power off and reconnect the option.
Fault Name
PG Encoder Option A/D Conversion Error
Error with the A/D conversion level (VCC level), or A/D conversion timed out.
Possible Solution
Replace the option.
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual 27
7 Troubleshooting
Digital Operator Display oFC51
Cause
The option is damaged.
Digital Operator Display
Fault Name
PG Encoder Option Analog Circuit Error
Internal power supply voltage level error
Possible Solution
Replace the option.
oFC52
Cause
Resolver wiring is incorrect.
Correct the wiring.
Resolver cable is disconnected.
Reconnect the cable.
Digital Operator Display Fault Name
PG Encoder Communication Data Error oFC53
Fault Name
PG Encoder Communication Timeout
Serial encoder timed out waiting to receive data
Possible Solution
Cause
Serial encoder CRC checksum error
Possible Solution
Resolver wiring is incorrect.
Correct the wiring.
Resolver cable is disconnected.
Reconnect the cable.
Digital Operator Display
Resolver Error oFC55
Cause
Fault Name
Resolver disconnected or damaged
Possible Solution
Resolver wiring is incorrect.
Correct the wiring.
Resolver cable is disconnected.
Reconnect the cable.
The option is damaged.
Digital Operator Display
Replace the option.
oS
Fault Name
Overspeed
The motor speed feedback exceeded the F1-08 setting.
Cause
Overshoot is occurring.
Possible Solution
Increase the settings for C5-01 (Speed Control Proportional Gain 1) and reduce
C5-02 (Speed Control Integral Time 1).
Incorrect speed feedback scaling when terminal RP is used as speed feedback input in V/f control.
• Set H6-02 to the value of the speed feedback signal frequency when the motor runs at the maximum speed.
• Adjust the input signal using parameters H6-03 through H6-05.
Inappropriate parameter settings.
Check the setting for the overspeed detection level and the overspeed detection time (F1-08 and F1-09).
Resolver cable is disconnected.
Reconnect the cable.
28 YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual
7 Troubleshooting
Table 7 Operation Error Displays, Causes, and Possible Solutions
Digital Operator Display
Cause
Parameters were set outside the possible range.
Digital Operator Display
Cause oPE02 oPE06
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
Control Method Selection Error
Correct the setting for the control method.
Possible Solution
Control mode requires installing a resolver option, but no resolver option is installed (A1-02 = 7).
Connect a resolver option.
◆
Preventing Noise Interference
Take the following steps to prevent erroneous operation caused by noise interference:
• Use shielded wire for the resolver signal lines.
• Limit the length of all motor output power cables to less than 10 m.
• Use separate conduit or cable tray dividers to separate option control wiring, main circuit input power wiring, and motor output power cables.
• Ground the shield on the resolver side and the drive side. If noise problems arise in the resolver signal, verify that the shield is properly grounded and ground one end of the signal line or remove the ground connection on both ends.
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual 29
8 Specifications
Transformation
Resolution
Transformation accuracy
Repeatability
Max. Revolution
Encoder Wiring
Length
Compatible
Control Mode
Pulse Monitor
Output
Resolver
Disconnect
Detection
Ambient
Temperature
Humidity
Storage
Temperature
Area of Use
Altitude
8 Specifications
Items
Option Model
Resolver Model
Table 8 Option Specifications
Specifications
PG-RT3
Yaskawa recommends resolver PN: TS2640N321E64 by Tamagawa Seiki Co., Ltd.
• Input voltage: AC 7 Vrms 10 kHz
• Transformation ratio [K]: 0.5 ± 5%
• Input current: 100 mArms max.
Note: A resolver meeting or exceeding specifications in this table is also suitable for use.
Contact Yaskawa for the information of other compatible resolvers.
4096 p/rev
±4 LSB (absolute value at stop)
±2 LSB (simulates 1024 p/rev encoder)
24000 rpm
10 m (32 ft.) maximum
Closed Loop Vector for PM motors
Monitor for A , B , and Z channels pulse output:
Matches RS-422 level
Available
-10 °C to 50°C (14°F to 122°F)
95% RH or lower with no condensation
-20 °C to 60°C (-4°F to 140°F) allowed for short-term transport of the product
Indoor (free of corrosive gas, airborne particles, etc.)
1000 m (3280 ft.) or lower
30 YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual
◆
Revision History
Revision dates and manual numbers appear on the bottom of the back cover.
MANUAL NO.
TOBP C730600 53A
Published in Japan February 2011 10-3 1
RT3
Revision number
Date of original publication
Date of publication
Date of
Publication
July 2011
February 2011
March 2010
Rev. No
2
1
−
Section
Chapter 2, 5, and 8
Front cover
Back cover
−
Revised Content
Revision: Revised in accordance with software and hardware upgrade.
Revision: Format
Revision: Address, format
First edition
YASKAWA ELECTRIC TOBP C730600 53B 1000-Series Option PG-RT3 Installation Manual 31
YASKAWA AC Drive 1000-Series Option
Motor Feedback
Resolver TS2640N321E64 Interface
Installation Manual
DRIVE CENTER (INVERTER PLANT)
2-13-1, Nishimiyaichi, Yukuhashi, Fukuoka, 824-8511, Japan
Phone: 81-930-25-3844 Fax: 81-930-25-4369 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: (800) YASKAWA (927-5292) or 1-847-887-7000 Fax: 1-847-887-7310 http://www.yaskawa.com
YASKAWA ELÉTRICO DO BRASIL LTDA.
Avenda Fagundes Filho, 620 Bairro Saude, São Paulo, SP04304-000, Brasil
Phone: 55-11-3585-1100 Fax: 55-11-5581-8795 http://www.yaskawa.com.br
YASKAWA EUROPE GmbH
Hauptstrasse 185, 65760 Eschborn, Germany
Phone: 49-6196-569-300 Fax: 49-6196-569-398 http://www.yaskawa.eu.com
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods, Cumbernauld, G68 9LF, United Kingdom
Phone: 44-1236-735000 Fax: 44-1236-458182 http://www.yaskawa.co.uk
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Yeoungdungpo-gu, Seoul, 150-877, Korea
Phone: 82-2-784-7844 Fax: 82-2-784-8495 http://www.yaskawa.co.kr
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, 556741, Singapore
Phone: 65-6282-3003 Fax: 65-6289-3003 http://www.yaskawa.com.sg
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No. 18 Xizang Zhong Road, 17F, Harbour Ring Plaza, Shanghai, 200001, China
Phone: 86-21-5385-2200 Fax: 86-21-5385-3299 http://www.yaskawa.com.cn
YASKAWA ELECTRIC (SHANGHAI) 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
9F, 16, Nanking E. Rd., Sec. 3, Taipei, 104, Taiwan
Phone: 886-2-2502-5003 Fax: 886-2-2505-1280
YASKAWA ELECTRIC CORPORATION
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.
© 2010-2011 YASKAWA ELECTRIC CORPORATION. All rights reserved.
MANUAL NO. TOBP C730600 53B
Published in Japan July 2011 10-3
10-10-6
2 -0
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