YASKAWA 1000-Series PG-F3 AC Drive Option Installation Manual
広告
広告
YASKAWA AC Drive 1000-Series Option
Motor Encoder Feedback
HEIDENHAIN EnDat 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 1000 シリーズオプション
エンコーダインタフェース
（ EnDat 用）
取扱説明書
形 式 PG-F3
製品を安全にお使い頂くために，本書を必ずお読みください。
また，本書をお手元に保管していただくとともに，最終的に本製品をご使用になる
ユーザー様のお手元に確実に届けられるよう，お取り計らい願います。
MANUAL NO. TOBP C730600 51E
Copyright © 2009 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 51E 1000-Series Option PG-F3 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
8 Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 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:
F3
Option
Yaskawa AC Drive 1000-Series Option
Motor Encoder Feedback
HEIDENHAIN EnDat Interface
PG-F3 Installation Manual (This book)
Manual No: TOBPC73060051
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 51E 1000-Series Option PG-F3 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 Encoder Feedback HEIDENHAIN EnDat Interface:
Type PG-F3
PG:
V/f:
Pulse Generator or Encoder 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 51E 1000-Series Option PG-F3 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 51E 1000-Series Option PG-F3 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 51E 1000-Series Option PG-F3 Installation Manual 7
2 Product Overview
2 Product Overview
◆
About This Product
The PG-F3 Option allows the user to connect a rotary encoder to applicable Yaskawa drives, either EnDat 2.1/01, EnDat 2.2/01, or EnDat 2.2/22 by HEIDENHAIN. The PG-F3 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.
An encoder signal allows the drive to compensate for subtle variations in the load, while providing the drive with the necessary data to control the output frequency and maintain an accurate constant speed.
The PG-F3 Option reads a maximum input frequency from the encoder of 20 kHz when using EnDat 2.1/01 or EnDat 2.2/01. Be sure to select an encoder with an output of maximum of 20 kHz when operating at maximum speed.
The maximum input frequency is not a concern when using EnDat 2.2/22 because compatible encoder models utilize serial communication.
Set the drive motor control mode to operate in the Closed Loop Vector Control for PM
Motors when using the PG-F3 Option. Refer to the drive Technical Manual for details.
◆ Applicable Models
The option can be used with the drive models in Table 1 .
Table 1 Applicable Models
Drive Series
A1000
L1000A
Drive Model Number
<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 is available in drive software PRG:7016 and later.
8 YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 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
F3
MANUAL
–
Quantity: 1
F3
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 51E 1000-Series Option PG-F3 Installation Manual 9
4 Option Components
4 Option Components
◆
PG-F3 Option
Figure 1
A B C
D
E
Underside
F3
G PG-F3
F
A – Terminal block TB1
B – Terminal block TB2
C – Jumper for PG encoder power
D – Connector (CN5)
E – Installation hole
F – Model number
G – Ground terminal and installation hole
<1> Refer to Table 4 on page 22
for details.
<2> The ground wires provided in the option shipping package must be connected during installation.
Figure 1 PG-F3 Option Components
◆
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
Refer to Table 7 on page 27 for details on TB1 and TB2 terminal functions and signal levels.
10 YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 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 51E 1000-Series Option PG-F3 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 51E 1000-Series Option PG-F3 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 51E 1000-Series Option PG-F3 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 51E 1000-Series Option PG-F3 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 51E 1000-Series Option PG-F3 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 51E 1000-Series Option PG-F3 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 51E 1000-Series Option PG-F3 Installation Manual 17
5 Installation Procedure
4.
Prepare and connect the wire ends as shown in
and
Wire Gauges and Tightening Torques on page 26
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
PG option terminal
PG at motor
FE/SD
Ground Terminal
Shield sheath
(Insulate with electrical tape or shrink tubing)
Figure 6 Preparing Ends of Shielded Cable
F3
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
18
Loosen the screws and insert the wire into the opening on the terminal block.
To PG at motor
(do not solder ends)
Figure 7 Preparing and Connecting Cable Wiring
5.
Wire the motor PG encoder to the terminal block on the option.
Option terminal block
F3
• Wiring EnDat 2.1/01 or EnDat 2.2/01 Encoders
Wire the motor PG encoder to the terminal block on the option using a HEIDENHAIN 17-
conductor cable. Refer to Figure 6 and Figure 7
for wiring instructions. Refer to
YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual
5 Installation Procedure
for the connection diagram.
For cables longer than 10 m, the signal “Sensor Up” must be connected to terminal IP on the PG-F3 option, and “Sensor 0 V” must be connected to terminal IG.
Refer to Option Terminal Functions on page 27
for a detailed description of the option terminal functions.
R/L1
S/L2
T/L3
U/T1
V/T1
W/T1
YASKAWA
Drive
FE
CN5-C
8V
5V
0V
TB1,TB2
CN3
IP
IG
IP
IG
PG-F3
Option
CK
CK
DT
DT
A+
A–
B+
B–
FE a+ a– b+ b–
Cable
(by HEIDENHAIN)
Shielded cable
<2>
<1>
M
A pulse monitor signal
B pulse monitor signal
EnDat 2.1/01,
EnDat 2.2/01 encoder
F3
Ground wire 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. If noise problems arise in the PG encoder signal, remove the shield ground from one end of the signal line or remove the shield ground connection on both ends.
Figure 8 PG-F3 Option and PG Encoder Connection Diagram (EnDat 2.1/01, EnDat 2.2/01)
YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual 19
5 Installation Procedure
IG
CK
CK
DT
DT
A+
A–
B+
B–
Table 2 PG 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
PG Encoder Cable
PG Encoder Signal
Up
Sensor Up
0V
Sensor 0V
CLOCK
CLOCK
DATA
DATA
A+
A–
B+
B–
20 YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual
5 Installation Procedure
• Wiring an EnDat 2.2/22 Encoder
Wire the motor PG encoder to the terminal block on the option using a HEIDENHAIN 8-
conductor cable. Refer to Figure 6 and
for the connection diagram.
for wiring instructions. Refer to
For cables longer than 10 m, the signal “Sensor Up” must be connected to terminal IP on
the PG-F3 option, and “Sensor 0 V” must be connected to terminal IG.
functions.
Terminal Functions on page 27 for a detailed description of the option terminal
R/L1
S/L2
T/L3
U/T1
V/T2
W/T3
YASKAWA
Drive
FE
CN5-C
8V
5V
0V
TB1,TB2
CN3
IP
IG
IP
IG
PG-F3
Option
CK
CK
DT
DT
A+
A –
B+
B –
FE
Cable
(by HEIDENHAIN) <1> a+ a – b+ b –
M
EnDat 2.2/22 encoder
F3
Ground wire main circuit terminal control circuit terminal
<1> Ground the shield on the PG encoder side and the drive side. If noise problems arise in the PG encoder signal, remove the shield ground from one end of the signal line or remove the shield ground connection on both ends.
Figure 9 PG-F3 Option and PG Encoder Connection Diagram (EnDat 2.2/22)
YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual 21
5 Installation Procedure
IP
IG
CK
CK
DT
DT
A+
A–
B+
B–
Table 3 PG Encoder Cable Specification (EnDat 2.2/22)
Option Terminal
Color
Brown/Green
Blue
White/Green
White
Purple
Yellow
Gray
Pink
−
−
−
−
PG Encoder Cable
PG Encoder Signal
Up
Sensor Up
0V
Sensor 0V
CLOCK
CLOCK
DATA
DATA
−
−
−
−
6.
Set the voltage for the PG encoder power supply using jumper CN3 located on the option. Position the jumper as shown in
Table 4 to select the voltage level.
NOTICE: The positioning of jumper CN3 selects the PG encoder power supply voltage (5 V or 8 V). Select the voltage level for the PG encoder connected to the option and motor. If the wrong voltage is selected, the
PG encoder may not operate properly or may become damaged as a result.
Table 4 Setting the PG Encoder Power Supply Voltage (IP) with Jumper CN3
Voltage Level 5 V ± 5% (default) 8 V ± 10%
Jumper CN3 Position 5 V
8 V
5 V
8 V
22 YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual
5 Installation Procedure
Figure 8
7.
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
no sharp edges to damage wiring.
Route the wiring inside the enclosure as shown in
-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 10 Wire Routing Examples
YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual 23
5 Installation Procedure
Figure 9
8.
Replace and secure the front covers of the drive (D, F) and replace the digital operator (E).
D
E
F
Figure 11 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.
24 YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual
5 Installation Procedure
Figure 10
9.
Set drive parameters in
Table 8 for proper motor rotation.
• Confirming Motor Rotation with EnDat 2.1/01, EnDat 2.2/01
The leading pulse determines the motor rotation direction. A PG encoder signal with leading A phase is 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 12 Displacement of A and B Phases
After connecting the PG encoder outputs to the option, apply power to the drive and manually rotate the motor and check the rotation direction by viewing monitor U1-05 on the digital operator.
Reverse motor rotation is indicated by a negative value for U1-05; forward motor rotation is indicated by a positive value.
If monitor U1-05 indicates that the forward direction is opposite of what is intended, set drive parameter F1-05 to 1 to switch the direction of how the option reads pulses from the
PG encoder output.
Note: If the drive is initialized using A1-03 =1110, 2220, or 3330, the value for F1-05 will reset to the factory default and the parameter will need to be readjusted to switch the direction.
• 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 PG encoder outputs to the option, apply power to the drive and manually rotate the motor and check the rotation direction by viewing monitor U1-05 on the digital operator.
Reverse motor rotation is indicated by a negative value for U1-05; forward motor rotation is indicated by a positive value.
If the motor is rotating forward, but U1-05 reads that it is rotating in reverse, switch the rotation direction for the PG1 encoder by setting parameter F1-05 to 1.
Note: If the drive is initialized using A1-03 = 1110, 2220, or 3330, the value for F1-05 will reset to the factory default and the parameter will need to be readjusted to switch the direction.
YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual 25
5 Installation Procedure
◆
Wire Gauges, Tightening Torque, and Crimp Terminals
■ Wire Gauges and Tightening Torques
Wire gauge and torque specifications are listed in Table 5 .
Table 5 Wire Gauges and Tightening Torques
Terminal
Signal a+, a–, b+, b–,
FE
Screw
Size
Tightening
Torque
Nxm
(inxlb)
M2
0.22 to 0.25
(1.95 to 2.21)
Bare Cable
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)
Recomm.
Gauge mm 2
0.75
(18 AWG)
IP, IG, DT
DT, B+, B–
CK, CK,
A+, A–
Crimp Terminals
Applicable
Gauges mm 2
0.25 to 0.5
(24 to 20 AWG)
–
Recomm.
Gauge mm
0.5
(20 AWG)
–
2
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
PG Encoder Cable Specification
(EnDat 2.1/01, EnDat 2.2/01) on page 20
for details.
for details.
■ Crimp Terminals
Yaskawa recommends using CRIMPFOX 6 by Phoenix Contact or equivalent crimp
terminals with the specifications listed in Table 6 for wiring to ensure proper connections.
Note: Properly trim wire ends so loose wire ends do not extend from the crimp terminals.
Table 6 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)
26 YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual
5 Installation Procedure
◆
Terminal Functions
Table 7 Option Terminal Functions
Terminal
Block
Terminal
IP
IG
Function
PG encoder power supply
PG encoder power supply common
Description
Supplies power to the PG 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 PG encoder data.
Signal level: RS-485 protocol
Input for the B phase sine-wave from the PG 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.
YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual 27
5 Installation Procedure
Terminal
Block
Terminal
IP
IG
CK
CK
A+
TB2
A– a+ a–
FE
Function
PG encoder power supply
PG encoder power supply common
Communication clock signal output
Inverse communication clock signal output
A phase signal input
Description
Supplies power to the PG encoder.
Connects to terminal IP on the option.
Supplies power to the PG encoder.
Connects to terminal IG on the option.
Outputs the communication clock signal to the PG encoder.
Signal level: RS-485 protocol
Input for the A phase sine-wave from the PG 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.
28 YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual
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)
F1-01
(380)
<2>
F1-02
(381)
F1-03
(382)
F1-04
(383)
F1-05
(384)
Table 8 Related Parameters
Name Description
Control Method
Selection
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-F3.
Control
Mode
All Modes
PG 1 Pulses per
Revolution
Sets the signal periods per revolution to be read from the pulse generator.
CLV
CLV/PM
PG Feedback
Loss Operation
Selection
PG Overspeed
Operation
Selection
PG Deviation
Operation
Selection
PG 1 Rotation
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
CLV
CLV/PM
CLV
CLV/PM
CLV
CLV/PM
CLV
CLV/PM
Values
Default:
Default:
Min:
Default: 1
Range: 0 to 3
Default:
Range: 0 to 3
Default:
Range: 0, 1
YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual 29
6 Related Parameters
No.
(Addr. Hex)
F1-06
(385)
F1-08
(387)
F1-09
(388)
F1-10
(389)
F1-11
(38A)
F1-14
(38D)
F1-18
(3AD)
F1-19
(3AE)
F1-20
(3B4)
F1-50
(3D2)
F1-51
(3D3)
Name
PG 1 Ratio for
PG Pulse
Monitor
PG Overspeed
Level
Overspeed Det.
Time
Description
Control
Mode
Sets the division ratio for PG 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.
CLV
CLV/PM
Sets the level for detecting overspeed as a percentage of the maximum output frequency.
CLV
CLV/PM
Values
Default: 1
Min: 1
Max: 132
Sets the time required for the motor to exceed the level set in F1-08 to trigger a fault.
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
PG Disconnect
Det. Time
Reverse
Rotation Det. for PG 1
Reverse
Rotation Det. for PG 1
PG 1 Hardware
Disconnect
Encoder
Selection
Sets the time in seconds for PG encoder disconnect to be detected.
CLV
CLV/PM
0: Disabled n: Number of times a dv3 situation must be detected to trigger a fault.
0: Disabled n: Number of times a dv4 situation must be detected to trigger a fault.
0: Disabled. No fault if the connection is lost.
1: Enabled. Fault if connection is lost.
0: EnDat 2.1/2.2 Serial+Sin/Cos
1: EnDat 2.2 Serial only
2: Hiperface (Under development)
CLV/PM
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
.
CLV/PM
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
Default: 128
Min: 0
Max: 5000
Default: 1
Range: 0, 1
Default: 0
Range: 0 to 2
Default: 80
Min: 1
Max: 100
30 YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual
6 Related Parameters
No.
(Addr. Hex)
F1-52
(3D4)
Name Description
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.
Note:Hiperface is not supported (Under development).
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)
Control
Mode
CLV/PM
Values
Default: 0
Range: 0 to 3
<1> Varies by drive model.
<2> The output frequency of the PG encoder can be calculated with the following formula:
Operation at maximum output frequency
＝
Motor speed at maximum frequency output (r/min)
60
× PG rating (p/rev) F3
YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual 31
7 Troubleshooting
7 Troubleshooting
◆
Drive-Side Error Codes
Table 9 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 9 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 or too long.
The load is locked up.
Parameters are set inappropriately.
Motor brake is engaged.
Brake control sequence is incorrect.
Digital Operator Display dv3
Cause
E5-11 is not set properly.
An external force on the load side caused the motor to move.
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 the settings of parameters F1-10 and F1-11.
Ensure the motor brake releases properly.
Correct the brake control sequence and verify that the brake is released.
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.
• Make sure the motor is rotating in the proper direction.
• Investigate problems on the load side causing motor rotation in the opposite direction.
32 YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual
7 Troubleshooting
Noise interference along the PG encoder cable is affecting the A channel or B channel.
The PG encoder is disconnected or is not wired properly, or the
PG option or PG encoder are damaged.
The PG encoder rotational direction set to F1-05 is in the opposite direction of the motor wiring.
Digital Operator Display
• Check PG encoder 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 PG encoder.
Make sure motor wiring for each phase (U, V, W) is connected properly.
Cause dv4
E5-11 is not set properly.
Noise interference along the PG encoder cable is affecting the A or B phase.
PG encoder is disconnected or is not wired properly, or the PG option or PG encoder are damaged.
Digital Operator Display
Fault Name
Inversion Prevention Detection
Pulses indicate that the motor is rotating in the opposite direction of the speed reference. Set the number of pulses to trigger inverse detection to F1-19.
Note: To avoid nuisance faults, be sure to disable inverse detection in applications where the motor may rotate in the opposite direction of the speed reference. Set
F1-19 to 0 to disable this feature.
Possible Solution
• Set the value for Δθ to E5-11 as specified on the motor nameplate.
• If the problem continues after cycling power, replace the PG option or the PG encoder.
• 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 PG encoder 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 PG encoder.
Fault Name oFA00
Cause
Non-compatible option is connected to drive port CN5-A.
Digital Operator Display
Non-compatible option is connected to drive port CN5-A.
Possible Solution
Use only compatible options. Connect PG-F3 to CN5-C. For other options, refer to the Installation Manual for that option.
Fault Name oFb00
Cause
Non-compatible option is connected to drive port CN5-B.
Non-compatible option is connected to drive port CN5-B.
Possible Solution
Use only compatible options.Connect PG-F3 to CN5-C. For other options, refer to the Installation Manual for that option.
YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual 33
7 Troubleshooting
Digital Operator Display Fault Name oFC01 Option Connection Error at drive port CN5-C
Cause
Option at drive port CN5-C was changed during run.
Digital Operator Display
Possible Solution
Switch the power off and reconnect the option.
oFC50
Cause
The option is damaged.
Digital Operator Display
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.
Fault Name oFC51
Cause
The option is damaged.
Digital Operator Display
PG Encoder Option Analog Circuit Error
Incorrect signal level (+2.5 V signal)
Possible Solution
Replace the option.
Cause oFC52 oFC53
Fault Name
PG Encoder Communication Timeout
Serial encoder timed out waiting to receive data
Possible Solution Cause
PG encoder wiring is incorrect.
Correct the wiring.
PG encoder cable is disconnected.
Reconnect the cable.
Digital Operator Display Fault Name
PG Encoder Communication Data Error
Serial encoder CRC checksum error
Possible Solution
PG encoder wiring is incorrect.
Correct the wiring.
PG encoder cable is disconnected.
Reconnect the cable.
Digital Operator Display
PG Encoder Error oFC54
Cause
Fault Name
Alarm reading EnDat absolute position data from the PG encoder
(OR flag from EnDat error for overvoltage, undervoltage, etc.)
Possible Solution
Power supply to PG encoder is wired incorrectly.
PG-F3 power supply circuit is damaged.
Correct the wiring.
Replace the option.
34 YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual
7 Troubleshooting
Digital Operator Display
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).
Incorrect speed feedback scaling when terminal RP is used as speed feedback input in V/f control.
Incorrect PG encoder pulse number set.
• 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.
Check and correct parameter F1-01.
Inappropriate parameter settings.
Digital Operator 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
Detected when no PG encoder pulses have been received for a time longer than is set to F1-14.
Possible Solution Cause
PG encoder cable is disconnected.
Reconnect the cable.
PG encoder wiring is incorrect.
Correct the wiring.
PG encoder does not have enough power.
Make sure the correct power supply is properly connected to the PG encoder.
Brake control sequence is incorrect.
Digital Operator Display
Correct the brake control sequence and verify that the brake has been released.
PGoH
PG Encoder Hardware Fault
PG encoder cable is disconnected.
Fault Name
Possible Solution Cause
PG encoder cable is disconnected.
Reconnect the cable.
YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual 35
7 Troubleshooting
Table 10 Operation Error Displays, Causes, and Possible Solutions
Digital Operator Display
Cause
Parameters were set outside the possible range.
oPE02
Digital Operator Display 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 Cause
Control mode requires installing a PG option, but no PG option is installed (A1-02 = 7).
Connect a PG option.
36 YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual
7 Troubleshooting
◆
Preventing Noise Interference
Take the following steps to prevent erroneous operation caused by noise interference:
• Use shielded wire for the PG encoder signal lines.
• Limit the length of all motor output power cables to less than 20 m.
• For PG encoder cables longer than 10 m, the signal “Sensor Up” must be connected to terminal IP on the PG-F3 option, and “Sensor 0 V” must be connected to terminal IG.
• 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 PG encoder side and the drive side. If noise problems arise in the
PG encoder signal, verify that the shield is properly grounded and ground one end of the signal line or remove the ground connection on both ends.
• Properly connect the shield in cable to the IG on the option terminal or remove the ground connection on both ends.
■
Figure 11
Interface Circuit
PG-F3 PG 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 13 Interface Circuit (EnDat 2.1/01, EnDat 2.2/01)
YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual 37
7 Troubleshooting
Figure 12
PG-F3
Clock
Data output
Data input
2.5V
A – ,B –
120
Ω
A+,B+
120 Ω
CK
CK
DT
DT
26LS31 Level a+ ab+ b-
Figure 14 Interface Circuit (EnDat 2.2/22)
PG Encoder
F3
38 YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual
8 Specifications
8 Specifications
Table 11 Option Specifications
Model
Items
Compatible PG
Encoder Types
Multi-turn
PG Encoder Wiring
Length
PG 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)
Not available
20 m(65 ft.) maximum. Wiring length over 10 m (32 ft.) 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)
Closed Loop Vector for PM motors
20 kHz (only EnDat 2.1/01 and EnDat 2.2/01)
Pulse Monitor
Output
Monitor for A and B phase output
Matches RS-422 Level
Note: Not available when using EnDat 2.2/22.
PG Encoder
Disconnect
Detection
Ambient
Temperature
Humidity
Storage
Temperature
Area of Use
Altitude
Software detection
-10
95% RH or lower with no condensation
-20
°C to 50°C (14°F to 122°F)
°C to 60°C (-4°F to 140°F) allowed for short-term transport of the product
Indoor (free of corrosive gas, airborne particles, etc.)
1000 m (3280 ft.) or lower
YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual 39
◆
Revision History
Revision dates and manual numbers appear on the bottom of the back cover.
MANUAL NO.
TOBP C730600 51B
F3
Published in Japan November 2009 09-7 1
Revision number
Date of original publication
Date of publication
Date of
Publication
October 2012
July 2012
July 2011
January 2011
March 2010
November 2009
July 2009
3
2
1
−
Rev. No
6
5
4
Section
Chapter 2
Back cover
Back cover
Revised Content
Revision: Revised in accordance with software and hardware upgrade.
Revision: Address
Revision: Address
Entire Document Addition: EnDat 2.2/22 added along with corresponding data.
Front cover
Back cover
Revision: Format
Revision: Address, format
Entire Document Edited for procedural clarity and readability.
Entire Document Edited for procedural clarity and readability.
− First edition
40 YASKAWA ELECTRIC TOBP C730600 51E 1000-Series Option PG-F3 Installation Manual
YASKAWA AC Drive 1000-Series Option
Motor Encoder Feedback
HEIDENHAIN EnDat Interface
Installation Manual
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MANUAL NO. TOBP C730600 51E
Published in Japan October 2012 09-7
12-7-9
6 -0
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