Individual Functions. YASKAWA Varispeed f7
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Individual Functions
Individual Functions
This section explains the individual functions used in special applications.
Using MEMOBUS Communications
You can perform serial communications with MEMOCON-series Programmable Controllers (PLCs) or similar devices using the MEMOBUS protocol.
MEMOBUS Communications Configuration
MEMOBUS communications are configured using 1 master (PLC) and a maximum of 31 slaves. Serial communications between master and slave are normally started by the master, and the slave responds.
The master performs signal communications with one slave at a time. Consequently, you must set the address of each slave beforehand, so the master can perform signal communications using that address. Slaves receiving commands from the master perform the specified function, and send a response to the master.
MEMOCON-series PLC
Inverter Inverter Inverter
RS-485 connections example
Fig 6.57 Example of Connections between PLC and Inverter
Communications Specifications
The MEMOBUS communications specifications are shown in the following table.
Item
Interface
Communications Cycle
Communications Parameters
Communications Protocol
Number of Connectable Units
Specifications
RS-422, RS-485
Asynchronous (Start-stop synchronization)
Baud rate: Select from 1,200, 2,400, 4,800, 9,600, and 19,200 bps.
Data length:
Parity:
Stop bits:
8 bits fixed
Select from even, odd, or none.
1 bit fixed
MEMOBUS (RTU mode only)
31 units max. (when using RS-485)
6-
95
6
-96
Communications Connection Terminal
MEMOBUS communications use the following terminals: S+, S-, R+, and R-. Set the terminating resistance by turning ON pin 1 of switch S1 for the last Inverter only, as seen from the PLC.
RS-422A or RS-485
S+
-
+
SS1
R+
O
F
F
R-
Switch
1
Terminating resistance (1/2 W, 110 Ohms)
1
2
Fig 6.58 Communications Connection Terminal
OFF ON
Terminating resistance
IMPORTANT
1. Separate the communication cables from the main circuit cables and other wiring and power cables.
2. Use shielded cables for the communication cables, connect the shield cover to the Inverter earth terminal, and arrange the terminals so that the other end is not connected to prevent operating errors due to noise.
3. When using RS-485 communications, connect S+ to R+, and S- to R-, on the Inverter exterior.
R+ R S+ S
Procedure for Communicating with the PLC
Use the following procedure to perform communications with the PLC.
1. Turn OFF the power supply turned and connect the communication cable between the PLC and the
Inverter.
2. Turn ON the power supply.
3. Set the required communications constants (H5-01 to H5-07) using the Digital Operator.
4. Turn OFF the power supply, and check that the Digital Operator display has completely disappeared.
5. Turn ON the power supply once again.
6. Perform communications with the PLC.
INFO
Set the timer on the master to monitor response time from the slave. Set the master so that if the slave does not respond to the master within the set time, the same command message will be sent from the master again.
Individual Functions
Related Constants
Constant
Number
Name Description
Setting
Range
Factory
Setting
Change during
Operation
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register b1-01 b1-02
Reference selection
Operation method selection
Set the frequency reference input method.
0: Digital Operator
1: Control circuit terminal
(analog input)
2: MEMOBUS communications
3: Option board
4: Pulse train input
Set the Run Command input method.
0: Digital Operator
1: Control circuit terminal
(sequence input)
2: MEMOBUS communications
3: Option board
0 to 4
0 to 3
H5-01 Slave address Set the Inverter's slave address.
0 to 20*
H5-02
H5-03
Communication speed selection
Communication parity selection
Set the baud rate for 6CN
MEMOBUS communications.
0: 1200 bps
1: 2400 bps
2: 4800 bps
3: 9600 bps
4: 19200 bps
Set the parity for 6CN MEMO-
BUS communications.
0: No parity
1: Even parity
2: Odd parity
0 to 4
0 to 2
H5-04
H5-05
H5-06
Stopping method after communication error
Communication error detection selection
Send wait time
Set the stopping method for communications errors.
0: Deceleration to stop using deceleration time in C1-02
1: Coast to stop
2: Emergency stop using deceleration time in C1-09
3: Continue operation
Set whether or not a communications timeout is to be detected as a communications error.
0: Do not detect.
1: Detect
Set the time from the Inverter receiving data to when the
Inverter starts to send.
0 to 3
0 or 1
5 to 65
H5-07
RTS control
ON/OFF
Select to enable or disable RTS control.
0: Disabled (RTS is always
ON)
1: Enabled (RTS turns ON only when sending)
0 or 1
* Set H5-01 to 0 to disable Inverter responses to MEMOBUS communications.
1
1
1FH
3
0
3
1
5 ms
1
No
No
No
No
No
No
No
No
No
Q
Q
A
A
A
A
A
A
A
Q
Q
A
A
A
A
A
A
A
Q
Q
A
A
A
A
A
A
A
Q
Q
A
A
A
A
A
180H
181H
425H
426H
427H
428H
429H
A 42AH
A 42BH
6-
97
6
-98
MEMOBUS communications can perform the following operations regardless of the settings in b1-01 and b1-
02.
•
•
Monitoring operation status from the PLC
Setting and reading constants
•
•
Resetting errors
Inputting multi-function commands
An OR operation is performed between the multi-function commands input from the PLC and commands input from multi-function contact input terminals S3 to S8.
Message Format
In MEMOBUS communications, the master sends commands to the slave, and the slave responds. The message format is configured for both sending and receiving as shown below, and the length of data packets is changed by the command (function) contents.
Slave address
Function code
Data
Error check
The space between messages must support the following.
PLC to Inverter
Command message
Inverter to PLC
Response message
PLC to Inverter
Command message
Time (Seconds)
24 bits long H5-06 setting
24 bits long
Fig 6.59 Message Spacing
5 ms min.
Slave Address
Set the Inverter address from 0 to 20 Hex. If you set 0, commands from the master will be broadcast (i.e., the
Inverter will not return responses).
Function Code
The function code specifies commands. There are three function codes, as shown below.
Function Code
(Hexadecimal)
03H
08H
10H
Function
Read storage register contents
Loopback test
Write multiple storage registers
Command Message
Min.
(Bytes)
Max.
(Bytes)
8 8
8
11
8
41
Response Message
Min.
(Bytes)
Max.
(Bytes)
7 37
8
8
8
8
Data
Configure consecutive data by combining the storage register address (test code for a loopback address) and the data the register contains. The data length changes depending on the command details.
Individual Functions
Error Check
Errors are detected during communications using CRC-16. Perform calculations using the following method.
1. The factory setting for CRC-16 communications is usually 0, but when using the MEMOBUS system, set the factory setting to 1 (i.e., set all 16 bits to 1).
2. Calculate CRC-16 using MSB as slave address LSB, and LSB as the MSB of the final data.
3. Also calculate CRC-16 for response messages from the slaves, and compare them to the CRC-16 in the response messages.
MEMOBUS Message Example
An example of MEMOBUS command/response messages is given below.
Reading Storage Register Contents
Read the contents of the storage register only for specified quantities whose addresses are consecutive, starting from a specified address. The contents of the storage register are separated into higher place 8 bits and lower place 8 bits, and comprise the data within response messages in address order.
The following table shows message examples when reading status signals, error details, data link status, and frequency references from the slave 2 Inverter.
Command Message
02H
03H
Response Message
(During Normal Operation)
Slave Address 02H
Function Code 03H
Response Message
(During Error)
Slave Address 02H
Function Code 83H
Slave Address
Function Code
Start
Address
Quantity
CRC-16
Higher place
Lower place
Higher place
Lower place
Higher place
Lower place
00H
20H
00H
04H
45H
F0H
Data quantity
Lead storage register
Next storage register
Next storage register
Next storage register
CRC-16
Higher place
Lower place
Higher place
Lower place
Higher place
Lower place
Higher place
Lower place
Higher place
Lower place
08H
00H
65H
00H
00H
00H
00H
01H
F4H
AFH
82H
Error code
CRC-16
Higher place
Lower place
03H
F1H
31H
6-
99
6
-100
Loopback Test
The loopback test returns command messages directly as response messages without changing the contents to check the communications between the master and slave. You can set user-defined test code and data values.
The following table shows a message example when performing a loopback test with the slave 1 Inverter.
Command Message
Slave address
Function code
Test Code
Data
CRC-16
Higher place
Lower place
Higher place
Lower place
Higher place
Lower place
01H
08H
00H
00H
A5H
37H
DAH
8DH
Response Message
(During Normal Operation)
Slave address 01H
Function code 08H
Test Code
Data
CRC-16
Higher place
Lower place
Higher place
Lower place
Higher place
Lower place
00H
00H
A5H
37H
DAH
8DH
Response Message
(During Error)
Slave address 01H
Function code 89H
Error Code
CRC-16
Higher place
Lower place
01H
86H
50H
Writing to Multiple Storage Registers
Write the specified data to each specified storage register from the specified addresses. The written data must be in the following order in the command message: Higher place 8 bits, then lower place 8 bits, in storage register address order.
The following table shows an example of a message when forward operation has been set at a frequency reference of 60.0 Hz in the slave 1 Inverter by the PLC.
Command Message
Response Message
(During Normal Operation)
Response Message
(During Error)
Slave Address 01H Slave Address 01H Slave Address 01H
10H 10H Function Code 90H Function Code
Start
Address
Quantity
Higher place
Lower place
Higher place
Lower place
No. of data
Lead data
00H
01H
00H
02H
04H
00H
Function Code
Start
Address
Quantity
CRC-16
Higher place
Lower place
Higher place
Lower place
Higher place
Lower place
00H
01H
00H
02H
10H
08H
Error code
CRC-16
Higher place
Lower place
02H
CDH
C1H
Next data
CRC-16
Higher place
Lower place
Higher place
Lower place
Higher place
Lower place
01H
02H
58H
63H
39H
Individual Functions
Set the number of data specified using command messages as quantity of specified messages x 2. Handle response messages in the same way.
INFO
Data Tables
The data tables are shown below. The types of data are as follows: Reference data, monitor data, and broadcast data.
Reference Data
The reference data table is shown below. You can both read and write reference data.
Register No.
0000H
0001H
0002H
0003H
0004H
0005H
0006H
0007H
0008H
Contents
Not used
Frequency reference
Bit 0 Forward Run/Stop Command 1: Forward run 0: Stop
Bit 1
Bit 2 External fault 1: Error (EFO)
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit A
Bit B
Fault reset
ComNet
ComCtrl
1: Reset command
Multi-function input command 3
Multi-function input command 4
Multi-function input command 5
Multi-function input command 6
Multi-function input command 7
Multi-function input command 8
Bit C to F Not used
Frequency reference (Set units using constant o1-03)
Not used
Not used
Not used
PID target value
Analog output 1 setting (-11 V/-1540 to 11 V/1540)
Analog output 2 setting (-11 V/-1540 to 11 V/1540)
Multi-function contact output setting
Bit 0
Reverse Run/Stop Command 1: Reverse run 0: Stop
Contact output (Terminal M1-M2) 1: ON 0: OFF
0009H
Bit 1 PHC1(Contact P1-PC) 1: ON 0: OFF
Bit 2 PHC2(Contact P2-PC)
Bit 3 to 5 Not used
Bit 6
1: ON 0: OFF
Set error contact (terminal MA-MC) output using bit 7. 1: ON 0: OFF
Bit 7 Error contact (terminal MA-MC)
Bits 8 to F Not used
000AH to 000EH Not used
Reference selection settings
000FH
1: ON 0: OFF
Bit 0
Bit 1
Not used
Use MEMOBUS 0006H PID target value 1: Enabled 0: Disabled
Bits 2 to B Not used
C Broadcast data terminal S5 input 1: Enabled 0: Disabled
D
E
F
Broadcast data terminal S6 input 1: Enabled 0: Disabled
Broadcast data terminal S7 input 1: Enabled 0: Disabled
Broadcast data terminal S8 input 1: Enabled 0: Disabled
Note Write 0 to all unused bits. Also, do not write data to reserved registers.
6-
101
6
-102
Monitor Data
The following table shows the monitor data. Monitor data can only be read.
Register No.
0020H
0021H
0022H
0023H
0024H
0025H
0026H
0027H
0028H
0029H
002AH
002BH
Contents
Inverter status
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Operation 1: Operating 0: Stopped
Reverse operation 1: Reverse operation 0: Forward operation
Inverter startup complete 1: Completed 2: Not completed
Error 1: Error
Data setting error 1: Error
Multi-function contact output (terminal M1 - M2) 1: ON 0: OFF
Multi-function PHC output 1 (terminal P1 - PC) 1: ON 0: OFF
Multi-function PHC output 2 (terminal P2 - PC) 1: ON 0: OFF
Bits 8 to B Not used
Error details
Bit 0
Bit 1
Bit 2
Overcurrent (OC) Ground fault (GF)
Main circuit overvoltage (OV)
Inverter overload (OL2)
Inverter overheat (OH1, OH2) Bit 3
Bit 4
Bit 5
Bit 6
Injection brake transistor resistance overheat (rr, rH)
Fuse blown (PUF)
PID feedback reference lost (FbL)
External fault (EF, EFO) Bit 7
Bit 8
Bit 9
Bit A
Bit B
Bit C
Hardware error (CPF)
Motor overload (OL1), overtorque 1 (OL3) detected, or overtorque 2 (OL4) detected
PG broken wire detected (PGO), Overspeed (OS), Speed deviation (DEV)
Main circuit undervoltage (UV) detected
Main circuit undervoltage (UV1), control power supply error (UV2), inrush prevention circuit error (UV3), power loss
Bit D
Bit E
Main Circuit Voltage Fault (PF), Output Open-phase (LF)
MEMOBUS communications error (CE)
Bit F
Data link status
Operator disconnected (OPR)
Bit 0
Bit 1
Bit 2
Bit 3
Writing data
Not used
Not used
Upper and lower limit errors
Bit 4 Data integrity error
Bits 5 to F Not used
Frequency reference (U1-01)
Output frequency (U1-02)
Output voltage reference (U1-06)
Output current (U1-03)
Output power (U1-08)
Torque reference (U1-09)
Not used
Not used
Sequence input status
Bit 0 Multi-function contact input terminal S1 1: ON, 0: OFF
Bit 1
Bit 2
Bit 3
Bit 4
Multi-function contact input terminal S2 1: ON, 0: OFF
Multi-function contact input terminal S3 1: ON, 0: OFF
Multi-function contact input terminal S4 1: ON, 0: OFF
Multi-function contact input terminal S5 1: ON, 0: OFF
Bit 5
Bit 6
Multi-function contact input terminal S6 1: ON, 0: OFF
Multi-function contact input terminal S7 1: ON, 0: OFF
Bit 7 Multi-function contact input terminal S8 1: ON, 0: OFF
Bits 8 to F Not used
Individual Functions
Register No.
Contents
Inverter status
Bit 0 Operation 1: Operating
Bit 1 Zero-speed 1: Zero-speed
Bit 2 Frequency matching 1: Matched
Bit 3
Bit 4
Bit 5
User-defined speed matching
Frequency detection 1
Frequency detection 2
1: Matched
1: Output frequency ≤ L4-01
1: Output frequency ≥ L4-01
1: Startup completed
002CH
Bit 6
Bit 7
Bit 8
Inverter startup completed
Baseblock 1: Inverter output baseblock
Bit 9
Bit A
Frequency reference mode
Run Command mode
1: Not communications 0: Communications
1: Not communications 0: Communications
Bit B Overtorque detection 1: Detected
002DH
Bit C
Bit D
Bit E
Bit F
Frequency reference lost
Retrying error
1: Lost
1: Retrying
Error (including MEMOBUS communications time-out) 1:Error occurred
MEMOBUS communications time-out 1: Timed out
Multi-function contact output status
Bit 0
Bit 1
Multi-function contact output (terminal M1-M2) 1: ON 0: OFF
Multi-function PHC output 1 (terminal P1 - PC) 1: ON 0: OFF
Bit 2 Multi-function PHC output 2 (terminal P2 - PC) 1: ON 0: OFF
Bits 3 to F Not used
002EH - 0030H Not used
0031H Main circuit DC voltage
0032H
0033H
Torque monitor
Output power (U1-08)
0034H - 0037H Not used
0038H PID feedback quantity (Input equivalent to 100%/Max. output frequency; 10/1%; without sign)
0039H
003AH
003BH
003CH
PID input quantity (±100%/±Max. output frequency; 10/1%; with sign)
PID output quantity (±100%/±Max. output frequency; 10/1%; with sign)
CPU software number
Flash software number
003DH
003EH
003FH
Communications error details
Bit 0 CRC error
Bit 1
Bit 2
Invalid data length
Not used
Bit 3
Bit 4
Bit 5
Bit 6
Parity error
Overrun error
Framing error
Time-out
Bits 7 to F Not used kVA setting
Control method
Note Communications error details are stored until an fault reset is input (you can also reset while the Unit is operating).
6-
103
6
-104
Broadcast Data
The following table shows the broadcast data. You can also write this data.
Register
Address
Contents
0001H
0002H
Operation signal
Bit 0 Run Command 1: Operating 0: Stopped
Bit 1 Reverse operation command 1: Reverse 0: Forward
Bits 2 and 3 Not used
Bit 4
Bit 5
External fault 1: Error (set using H1-01)
Fault reset 1: Reset command (set using H1-02)
Bits 6 to B Not used
Bit C Multi-function contact input terminal S5 input
Bit D
Bit E
Bit F
Frequency reference
Multi-function contact input terminal S6 input
Multi-function contact input terminal S7 input
Multi-function contact input terminal S8 input
30000/100%
Note Bit signals not defined in the broadcast operation signals use local node data signals continuously.
ENTER Command
When writing constants to the Inverter from the PLC using MEMOBUS communications, the constants are temporarily stored in the constant data area in the Inverter. To enable these constants in the constant data area, use the ENTER command.
There are two types of ENTER commands: ENTER commands that enable constant data in RAM, and
ENTER commands that write data to EEPROM (non-volatile memory) in the Inverter at the same time as enabling data in RAM.
The following table shows the ENTER command data. ENTER command data can only be written.
The ENTER command is enabled by writing 0 to register number 0900H or 0901H.
Register No.
0900H
0910H
Contents
Write constant data to EEPROM
Constant data is not written to EEPROM, but refreshed in RAM only.
INFO
The maximum number of times you can write to EEPROM using the Inverter is 100 thousand. Do not frequently execute ENTER commands (0900H) written to EEPROM.
The ENTER command registers are write-only. Consequently, if reading these registers, the register address will become invalid (Error code: 02H).
Individual Functions
Error Codes
The following table shows MEMOBUS communications error codes.
Error Code
01H
02H
03H
21H
22H
23H
24H
Contents
Function code error
A function code other than 03H, 08H, or 10H has been set by the PLC.
Invalid register number error
• The register address you are attempting to access is not recorded anywhere.
• With broadcast sending, a start address other than 0000H, 0001H, or 0002H has been set.
Invalid quantity error
• The number of data packets being read or written is outside the range 1 to 16.
• In write mode, the number of data packets in the message is not No. of packets x 2.
Data setting error
• A simple upper limit or lower limit error has occurred in the control data or when writing constants.
• When writing constants, the constant setting is invalid.
Write mode error
• Attempting to write constants from the PLC during operation.
• Attempting to write via ENTER commands from the PLC during operation.
• Attempting to write constants other than A1-00 to A1-05, E1-03, or 02-04 when warning alarm
CPF03 (defective EEPROM) has occurred.
• Attempting to write read-only data.
Writing during main circuit undervoltage (UV) error
• Writing constants from the PLC during UV (main circuit undervoltage) alarm.
• Writing via ENTER commands from the PLC during UV (main circuit undervoltage) alarm.
Writing error during constants processing
Attempting to write constants from the PLC while processing constants in the Inverter.
Slave Not Responding
In the following cases, the slave will ignore the write function. If the slave address specified in the command message is 0, all slaves execute the write function, but do not return response messages to the master.
•
•
When a communications error (overrun, framing, parity, or CRC-16) is detected in the command message.
When the slave address in the command message and the slave address in the Inverter do not agree.
•
•
When the data that configures the message and the data time length exceeds 24 bits.
When the command message data length is invalid.
Application Precautions
Set a timer in the master to monitor response time from the slaves. Make the setting so that if no response is sent to the master from the slave within the set time, the same command message is sent again from the master.
6-
105
6
-106
Self-Diagnosis
The Inverter has a built-in function for self-diagnosing the operations of serial communications interface circuits. This function is called the self-diagnosis function. The self-diagnosis function connects the communications parts of the send and receive terminals, receives the data sent by the Inverter, and checks if communications are being performed normally.
Perform the self-diagnosis function using the following procedure.
1. Turn ON the power supply to the Inverter, and set 67 (communications test mode) in constant H1-05 (Terminal S7 Function Selection).
2. Turn OFF the power supply to the Inverter.
3. Perform wiring according to the following diagram while the power supply is turned OFF.
4. Turn ON the terminating resistance. (Turn ON pin 1 on DIP switch 1.)
5. Turn ON the power supply to the Inverter again.
Fig 6.60 Details of Communications Terminals
“Pass” will be displayed if self-diagnosis is completed without an error occurring.
If an error occurs, a CE (MEMOBUS communications error) alarm will be displayed on the Digital Operator, the error contact output will be turned ON, and the Inverter operation ready signal will be turned OFF.
Individual Functions
Using the Timer Function
Multi-function contact input terminals S3 to S8 can be designated as timer function input terminals, and multifunction output terminals M1-M2, P1-PC, and P2-PC can be designated as timer function output terminals. By setting the delay time, you can erase chattering from the sensors and switches.
•
•
Set one of the constants H1-01 to H1-06 (multi-function contact input terminal S3 to S8) to 18 (timer function input).
Set H2-01 to H2-03 (multi-function output terminals M1-M2, P1-PC, and P2-PC function selection) to 12
(timer function output).
Related Constants
Constant
Number
Name b4-01
Timer function ONdelay time b4-02
Timer function OFFdelay time
Description
Setting
Range
Factory
Setting
Change during
Operation
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register
Sets the timer function output
ON-delay time (dead band) for the timer function input, in 1second units.
Enabled when a timer function is set in H1 or H2 .
Sets the timer function output
OFF-delay time (dead band) for the timer function input, in 1second units.
Enabled when a timer function is set in H1 or H2 .
0.0 to
300.0
0.0 to
300.0
0.0 s
0.0 s
No
No
A
A
A
A
A
A
A 1A3H
A 1A4H
Setting Example
When the timer function input ON time is longer than the value set in b4-01, the timer output function is turned ON. When the timer function input OFF time is longer than the value set in b4-02, the timer output function is turned OFF. An example of timer function operation is given in the following diagram.
Timer function input
Timer function output
Fig 6.61 Timer Function Operation Example
6-
107
6
-108
Using PID Control
PID control is a method of making the feedback value (detection value) match the set target value. By combining proportional control (P), integral control (I), and derivative control (D), you can even control targets
(machinery) with play time.
The characteristics of the PID control operations are given below.
P control
I control
Outputs the amount of operation proportional to the deviation. You cannot, however, set the deviation to zero using P control alone.
Outputs the amount of operation that integrates the deviation. Used for matching feedback value to the target value. I control is not suited, however, to rapid variations.
D control Outputs the amount of operation derived from the deviation. Can respond promptly to rapid variations.
PID Control Operation
To understand the differences between each PID control operation (P, I, and D, the variation in the amount of operation (output frequency) is as shown in the following diagram when the deviation (i.e., the difference between the target value and feedback value) is fixed.
Deviation
Time
Amount of operation
PID control
I control
D control
P control
Time
Fig 6.62 PID Control Operation
PID Control Applications
The following table shows examples of PID control applications using the Inverter.
Application
Control Details
Speed Control
• Feeds back machinery speed information, and matches speed to the target value.
• Inputs speed information from other machinery as the target value, and performs synchronous control using the actual speed feedback.
Pressure
Control
Flow Rate
Control
Temperature Control
Feeds back pressure information, and performs constant pressure control.
Feeds back flow rate information, and controls the flow rate highly accurately.
Feeds back temperature information, and performs temperature adjustment control by rotating the fan.
Example of Sensor Used
Tachometer generator
Pressure sensor
Flow rate sensor
• Thermocouple
• Thermistor
Individual Functions
Related Constants
Constant
Number
Name Description
Setting
Range
Factory
Setting
Change during
Operation
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector b5-01 b5-02 b5-03 b5-04 b5-05 b5-06 b5-07 b5-08 b5-09
PID control method selection
Proportional gain (P)
Integral (I) time
0: Disabled
1: Enabled (Deviation is Dcontrolled.)
2: Enabled (Feedback value is
D-controlled.)
3: PID control enabled
(frequency reference + PID output, D control of deviation)
4: PID control enabled
(frequency reference + PID output, D control of feedback value).
Sets P-control proportional gain as a percentage.
P-control is not performed when the setting is 0.00.
Sets I-control integral time in 1second units.
I-control is not performed when the setting is 0.0.
Integral (I) limit
Derivative
(D) time
PID limit
PID offset adjustment
PID primary delay time constant
PID output characteristics selection
Sets the I-control limit as a percentage of the maximum output frequency.
Sets D-control derivative time in
1-second units.
D-control is not performed when the setting is 0.00.
Sets the limit after PID-control as a percentage of the maximum output frequency.
Sets the offset after PID-control as a percentage of the maximum output frequency.
Sets the time constant for low pass filter for PID-control outputs in 1-second units.
Not usually necessary to set.
Select forward/reverse for PID output.
0: PID output is forward.
1: PID output is reverse
(highlights the output code) b5-10
PID output gain
Sets output gain.
b5-11
PID reverse output selection
0: 0 limit when PID output is negative.
1: Reverses when PID output is negative.
0 limit when reverse prohibit is selected using b1-04.
0 to 4
0.00
to
25.00
0.0 to
360.0
0.0 to
100.0
0.00 to
10.00
0.0 to
100.0
-100.0
to
+100.0
0.00 to
10.00
0 or 1
0.0 to
25.0
0 or 1
0
1.00
1.0 s
No
Yes
Yes
100.0% Yes
0.00 s
100.0% Yes
0.0%
0.00 s
0
1.0
0
Yes
Yes
Yes
No
No
No
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
MEMO
BUS
Register
A 1A5H
A 1A6H
A 1A7H
A 1A8H
A 1A9H
A 1AAH
A 1ABH
A 1ACH
A 1ADH
A 1AEH
A 1AFH
6-
109
6
-110
Constant
Number
Name Description
Setting
Range
Factory
Setting
Change during
Operation
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register b5-12
Selection of
PID feedback command loss detection
0: No detection of loss of PID feedback.
1: Detection of loss of PID feedback.
Operation continues during detection, with the malfunctioning contact not operating.
2: Detection of loss of PID feedback.
Coasts to stop during detection, and fault contact operates.
0 to 2 0 b5-13 b5-14
PID feedback command loss detection level
PID feedback command loss detection time b5-15
PID sleep function operation level
Sets the PID feedback loss detection level as a percent units, with the maximum output frequency at 100%.
Sets the PID feedback loss detection level in s units.
0 to 100
0.0 to
25.5
0%
1.0 s
Set the PID sleep function start level as a frequency.
0.0 to
400.0 *1
0.0 to
300.0 *2
0.0 Hz b5-16
PID sleep operation delay time
Set the delay time until the PID sleep function starts in seconds.
0.0 to
25.5
b5-17
Accel/decel time for PID reference
Set the accel/decel time for PID reference in seconds.
0.0 to
25.5
0.0 to
6000.0
H6-01
Pulse train input function selection
0: Frequency reference
1: PID feedback value
2: PID target value
* 1. When C6-01=0, the upper limit is 150.0.
* 2. When C6-01=1, the upper limit is 400.0.
0 to 2
0.0 s
0.0 s
0
No
No
No
No
No
No
No
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A 1B0H
A 1B1H
A 1B2H
A 1B3H
A 1B4H
A 1B5H
A 42CH
Monitor Functions
Constant
Number
Name
U1-24
PID feedback value
U1-36
PID input volume
U1-37
PID output volume
Description
Output Signal Level During Multi-Function Analog
Output
Min.
Unit
Control Methods
V/f
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register
Monitors the feedback value when PID control is used.
The input for the max. frequency corresponds to 100%.
PID feedback volume
Given as maximum frequency/
100%
PID control output
Given as maximum frequency/
100%
10 V: Max. frequency
(0 to ± 10 V possible)
10 V: Max. frequency
(0 to ± 10 V possible)
10 V: Max. frequency
(0 to ± 10 V possible)
0.01
%
0.01
%
0.01
%
A
A
A
A
A
A
A
A
A
A
A
A
57H
63H
64H
Individual Functions
Constant
Number
Name
U1-38
PID command
Description
Output Signal Level During Multi-Function Analog
Output
Min.
Unit
Control Methods
V/f
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register
PID command + PID command bias
Given as maximum frequency/
100%
10 V: Max. frequency
0.01
%
A A A A 65H
Multi-Function Contact Inputs (H1-01 to H1-06)
Setting
Value
19
30
31
34
35
Function
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
Yes Yes Yes Yes PID control disable (ON: PID control disabled)
PID control integral reset (reset when reset command is input or when stopped during
PID control)
PID control integral hold (ON: Hold)
PID soft starter ON/OFF
PID input characteristics switch
Yes Yes Yes Yes
Yes Yes Yes Yes
Yes Yes Yes Yes
Yes Yes Yes Yes
Multi-Function Analog Input (H3-05, H3-09)
Setting
Value
B
C
Function
PID feedback
PID target value
Contents (100%)
Maximum output frequency
Maximum output frequency
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
Yes Yes Yes Yes
Yes Yes Yes Yes
PID Control Methods
There are four PID control methods. Select the method by setting constant b5-01.
Set Value
1
2
3
4
Control Method
PID output becomes the Inverter output frequency, and D control is used in the difference between PID target value and feedback value.
PID output becomes the Inverter output frequency, and D control is used in the PID feedback value.
PID output is added as compensation value of the Inverter output frequency, and D control is used in the difference between PID target value and feedback value.
PID output is added as compensation value of the Inverter output frequency, and D control is used in the
PID feedback value.
6-
111
6
-112
PID Input Methods
Enable PID control using constant b5-01, and set the PID target value and PID feedback value.
PID Target Value Input Methods
Select the PID control target value input method according to the setting in b1-01 (Reference Selection).
Normally, the frequency reference selected in b1-01 is the PID target value, but you can also set the PID target value as shown in the following table.
PID Target Input Method Setting Conditions
Multi-Function Analog Terminal A2, or A3 Input
MEMOBUS register 0006H
Pulse train input
Set H3-05 or H3-09 to C (PID target value). Also, be sure to set H6-01 (pulse train input function selection) to 1 (PID feedback value).
The negative inputs cannot be used for target values.
Set MEMOBUS bit 1 in register address 000FH to 1 (enable/disable PID target value from communications) to be able to use register number 0006H as the PID target value.
Set H6-01 to 2 (PID target value).
PID Feedback Input Methods
Select one of the following PID control feedback input methods.
Input Method Setting Conditions
Multi-function analog input
Pulse train input
Set H3-09 (Multi-function Analog Input Terminal A2 Selection) or H3-05 (Multi-function Analog Input Terminal A3 Function Selection) to B (PID feedback).
Set H6-01 to 1 (PID feedback).
Adjust PID target value and PID feedback value using the following items.
• Analog input: Adjust using the analog input terminal gain and bias.
• Pulse train input: Adjust using pulse train scaling, pulse train input gain, and pulse train input bias.
INFO
PID Adjustment Methods
Use the following procedure to adjust PID while performing PID control and measuring the response waveform.
1. Set b5-01 (PID Control Method Selection) to 1 or 2 (PID control enabled).
2. Increase b5-02 (Proportional Gain (P)) to within a range that does not vibrate.
3. Reduce b5-03 (Integral (I) time) to within a range that does not vibrate.
4. Increase b5-05 (Derivative (D) time) to within a range that does not vibrate.
Individual Functions
PID Fine Adjustment Methods
This section explains the fine adjustment of PID after setting the PID control constants.
Suppressing Overshoot
If overshoot occurs, reduce derivative time (D), and increase integral time (I).
Response
Before adjustment
After adjustment
Time
Set a Rapidly Stabilizing Control Condition
To rapidly stabilize the control even if overshoot occurs, reduce integral time (I), and lengthen derivative time
(D).
Response
Before adjustment
After adjustment
Time
Suppressing Long-cycle Vibration
If vibration occurs with a longer cycle than the integral time (I) set value, the integral operation is too strong.
Lengthen the integral time (I) to suppress the vibration.
Response Before adjustment
After adjustment
Time
6-
113
6
-114
Suppressing Short Cycle Vibration
If vibration occurs when the vibration cycle is short, and the cycle is almost identical to the derivative time (D) set value, the differential operation is too strong. Shorten the derivative time (D) to suppress the vibration.
If vibration continues even when the derivative time (D) is set to 0.00 (D control disabled), reduce the proportional gain (P), or increase the PID primary delay time constant.
Response
Before adjustment
After adjustment
Time
Setting Precautions
•
•
•
•
•
•
•
•
In PID control, the b5-04 constant is used to prevent the calculated integral control value from exceeding a specified amount. When the load varies rapidly, Inverter response is delayed, and the machine may be damaged or the motor may stall. In this case, reduce the set value to speed up Inverter response.
The b5-06 constant is used to prevent the arithmetic operation following the PID control calculation from exceeding a specified amount. Set taking the maximum output frequency to be 100%.
The b5-07 constant is used to adjust PID control offset. Set in increments of 0.1%, taking the maximum output frequency to be 100%.
Set the low pass filter time constant for the PID control output in b5-08. Enable this constant to prevent machinery resonance from occurring when machinery adhesive abrasion is great, or rigidity is poor. In this case, set the constant to be greater than the resonance frequency cycle. Increase this time constant to reduce Inverter responsiveness.
Using b5-09, you can invert the PID output polarity. Consequently, if you increase the PID target value, you can apply this constant to applications to lower the Inverter output frequency.
Using b5-10, you can apply gain to the PID control output. Enable this constant to adjust the amount of compensation if adding PID control output to the frequency reference as compensation.
When PID control output is negative, you can use constant b5-11 to invert the Inverter. When b1-04 (Prohibition of Reverse Operation) is set to 1 (enabled), however, PID output limit is 0.
With the Inverter, by setting an independent acceleration/deceleration time in constant b5-17, you can increase or decrease the PID target value using the acceleration/deceleration time. The acceleration/ deceleration function (constant C1) used normally, however, is allocated after PID control, so depending on the settings, resonance with PID control and hunting in the machinery may occur. If this happens, reduce constant C1 until hunting does not occur, and maintain the acceleration/deceleration time using b5-
17. Also, you can disable the set value in b5-17 from the external terminals during operation using multifunction input set value 34 (PID soft starter).
PID Control Block
The following diagram shows the PID control block in the Inverter.
Individual Functions
Fig 6.63 PID Control Block
6-
115
6
-116
PID Feedback Loss Detection
When performing PID control, be sure to use the PID feedback loss detection function. If PID feedback is lost, the Inverter output frequency may accelerate to the maximum output frequency.
When setting b5-12 to 1 and the status of the PID feedback value detection level in b5-13 is insufficient and continues for the time set in b5-14, an FbL (PID feedback reference lost) alarm will be displayed on the Digital Operator and Inverter operation will continue.
When b5-12 is set to 2, an FbL (PID feedback reference lost) error alarm will be displayed on the Digital
Operator, the error contact will operate, and Inverter operation will be stopped.
The time chart for PID feedback loss detection (set b5-12 to 2) is shown below.
PID feedback value
Loss detection level
(b5-13)
Loss detection time
(b5-14)
Time
No FbL detection
FbL detection
Loss detection time
(b5-14)
Fig 6.64 PID Feedback Loss Detection Time Chart
PID Sleep
The PID sleep function stops the Inverter when the PID sleep function delay time continues while the PID control target value is at an insufficient level to operate the PID sleep function. When the PID sleep delay time continues and the PID control target value is above the PID sleep function operation level, Inverter operation will automatically resume.
When PID control is disabled, the PID sleep function is also disabled. When using the PID sleep function, select decelerate to stop or coast to stop as the stopping method.
The PID sleep time chart is shown below.
PID target value
Sleep operation level b5-15
Sleep operation delay time b5-16
Internal Run Command
Operation
External Run Command
Operating
Sleep operation delay time b5-16
Stopped
Run Command has been input
Operation status output
Fig 6.65 PID Sleep Time Chart
Individual Functions
Energy-saving
To perform energy saving, set b8-01 (Energy Saving Mode Selection) to 1. Energy-saving control can be performed using both V/f control and vector control. The constants to be adjusted are different for each. In V/f control, adjust b8-04 to b8-06, and in vector control, adjust b8-02 and b8-03.
Related Constants
Constant
Number
Name Description
Setting
Range
Factory
Setting
Change during
Operation
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector b8-01 b8-02 b8-03 b8-04 b8-05 b8-06
E2-02
Energy-saving mode selection
Select whether to enable or disable energy-saving control.
0: Disable
1: Enable
Set the energy-saving gain with the vector control method.
Energy-saving gain
Energy-saving filter time constant
Set the energy-saving filter time constant with the vector control method.
Energy-saving coefficient
Set the maximum motor efficiency value.
Set the motor rated capacity in
E2-11, and adjust the value by
5% at a time until output power reaches a minimum value.
0 or 1
0.0 to
10.0
0.00 to
10.00
0.0 to
655.00
Power detection filter time constant
Search operation voltage limiter
Set the limit value of the voltage control range during search operation.
Perform search operation to optimize operations using minute variations in voltage using energy-saving control. Set to 0 to disable the search operation. 100% is the motor base voltage.
Motor rated slip
Set the time constant for output power detection.
Sets the motor rated slip in Hz units.
These set values will become the reference values for slip compensation.
This constant is automatically set during autotuning.
0 to
2000
0 to 100
0.00 to
20.00
0
0.7
*1
0.50 s
*2
288.20
*3
*4
20 ms
0%
2.90 Hz
*4
No
Yes
Yes
No
No
No
No
A
No
No
A
A
A
A
A
No
No
A
A
A
A
A
A
A
No
No
No
A
E2-11
Motor rated output
Set the rated output of the motor in units of 0.01 kW.
This constant is automatically set during autotuning.
0.00 to
650.00
0.40 kW
*4
No Q Q
* 1. The factory setting is 1.0 when using flux vector control.
* 2. The factory setting is 2.00 s when Inverter capacity is 55 kW min.
The factory setting will change when the control method is changed. The open-loop vector factory setting is given.
* 3. By setting E2-11 (Motor rated output) the appropriate value will be set.
* 4. The factory setting depends on the Inverter capacity. The value for a 200 V Class Inverter of 0.4 kW is given.
Q
MEMO
BUS
Register
A 1CCH
A 1CDH
A 1CEH
No 1CFH
No 1D0H
No 1D1H
A 30FH
Q 318H
6-
117
6
-118
Adjusting Energy-saving Control
The method of adjustment during energy-saving control operations differs depending on the control method.
Refer to the following when making adjustments.
V/f Control
In V/f control method, the voltage for optimum motor efficiency is calculated and becomes the output voltage reference.
•
• b8-04 (Energy-saving Coefficient) is set at the factory for motor use applied to the Inverter. If the motor capacity differs from the motor applied to the Inverter, set the motor capacity in E2-11 (Motor Rated Output). Also, adjust the output voltage in steps of 5 until it reaches minimum. The larger the energy-saving coefficient, the greater the output voltage.
To improve response when the load fluctuates, reduce the power detection filter time constant b8-05. If b8-
05 is set too small, however, motor rotations when the load is light may become unstable.
• Motor efficiency varies due to temperature fluctuations and differences in motor characteristics. Consequently, control motor efficiency online to optimize efficiency by causing minute variations in voltage using the search operation. Constant b8-06 (Search Operation Voltage Limiter) controls the range that control the voltage using the search operation. For 200 V Class Inverters, set the range to 100%/200 V, and for
400 V Class Inverters, set the range to 100%/400 V. Set to 0 to disable the search operation.
Vector Control
In vector control method, control the slip frequency so that motor efficiency is maximized.
• Taking the motor rated slip for the base frequency as optimum slip, calculate the optimum slip for motor efficiency for each frequency. In vector control, be sure to perform autotuning, and set the motor rated slip.
• If the motor performs hunting when using energy-saving control in vector control, reduce the set value in b8-02 (Energy-saving Gain), or increase the set value in b8-03 (Energy-saving Filter Time Constant).
Individual Functions
Setting Motor Constants
In vector control method, the motor constants are set automatically using autotuning. If autotuning does not complete normally, set them manually.
Related Constants
Constant
Number
Name
E2-01
Motor rated current
E2-02
Motor rated slip
E2-03
Motor noload current
E2-04
Number of motor poles
E2-05
Motor lineto-line resistance
E2-06
Motor leak inductance
E2-07
Motor iron saturation coefficient 1
E2-08
Motor iron saturation coefficient 2
Description
Setting
Range
Factory
Setting
Change during
Operation
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register
Sets the motor rated current in 1
A units.
These set values will become the reference values for motor protection, torque limits and torque control.
This constant is automatically set during autotuning.
Sets the motor rated slip in Hz units.
These set values will become the reference values for slip compensation.
This constant is automatically set during autotuning.
Sets the motor no-load current in
1 A units.
This constant is automatically set during autotuning.
Sets the number of motor poles.
This constant is automatically set during autotuning.
Sets the motor phase-to-phase resistance in Ω units.
This constant is automatically set during autotuning.
Sets the voltage drop due to motor leakage inductance as a percentage of the motor rated voltage.
This constant is automatically set during autotuning.
Sets the motor iron saturation coefficient at 50% of magnetic flux.
This constant is automatically set during autotuning.
Sets the motor iron saturation coefficient at 75% of magnetic flux.
This constant is automatically set during autotuning.
0.32 to
6.40
*2
0.00 to
20.00
0.00 to
1.89
*3
0.000
to
65.000
0.0 to
40.0
0.00 to
0.50
0.50 to
0.75
*4
1.90 A
*1
2.90 Hz
*1
1.20 A
*1
2 to 48 4 poles
9.842
*1
18.2%
*1
0.50
0.75
Ω
No
No
No
No
No
No
No
No
Q
A
A
No
A
No
No
No
Q
A
A
Q
A
No
No
No
Q
A
A
No
A
A
A
A
Q 30EH
A 30FH
A
Q
A
A
A
A
310H
311H
312H
313H
314H
315H
6-
119
6
-120
Constant
Number
Name Description
Setting
Range
Factory
Setting
Change during
Operation
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register
E2-09
Motor mechanical loss
Sets motor mechanical loss as a percentage of motor rated output
(W).
Usually setting is not necessary.
Adjust in the following circumstances:
• When torque loss is large due to motor bearing.
• When the torque loss in the pump or fan is large.
The set mechanical loss will compensate for torque.
0.0 to
10.0
0.0
No No No No A 316H
E2-10
Motor iron loss for torque compensation
Sets motor iron loss in W units.
0 to
65535
14 W
*1
No A A No No
E2-11
Motor rated output
Set the rated output of the motor in units of 0.01 kW.
This constant is automatically set during autotuning.
0.00 to
650.00
0.40 kW
*1
No Q Q Q Q
* 1. The factory settings depend on the Inverter capacity. The values for a 200 V Class Inverter of 0.4 kW are given.
* 2. The setting range is 10% to 200% of the Inverter's rated output current. The value for a 200 V Class Inverter of 0.4 kW is given.
* 3. The setting range depends on the Inverter capacity. The value for a 200 V Class Inverter of 0.4 kW is given.
* 4. The lower limit of E2-08 is the setting value of E2-07.
317H
318H
Manual Motor Constant Setting Methods
The motor constants settings methods are given below. Make (enter) settings referring to the motor test report.
Motor Rated Voltage Setting
Set E2-01 to the rated current on the motor nameplate.
Motor Rated Slip Setting
Set E2-02 to the motor rated slip calculated from the number of rated rotations on the motor nameplate.
Amount of motor rated slip = Motor rated frequency (Hz) - No. of rated rotations (min
− 1 ) x No. of motor poles/120.
Motor No-Load Current Setting
Set E2-03 to the motor no-load current using the rated voltage and rated frequency. The motor no-load current is not normally written on the motor nameplate. Consult the motor manufacturer.
Factory setting is the no-load current value for a standard Yaskawa 4-pole motor.
Number of Motor Poles Setting
E2-04 is displayed only when V/f control method with PG or flux vector control method number of motor poles (number of poles) as written on the motor nameplate.
is selected. Set the
Motor Line-to-Line Resistance Setting
E2-05 is set automatically when performing motor line-to-line resistance autotuning. When you cannot perform tuning, consult the motor manufacturer for the line-to-line resistance value. Calculate the resistance from the line-to-line resistance value in the motor test report using the following formula, and then make the setting accordingly.
Individual Functions
•
•
•
E-type isolation: [Line-to-line resistance ( Ω ) at 75 ° C of test report] × 0.92 ( Ω )
B-type isolation: [Line-to-line resistance ( Ω ) at 75 ° C of test report] × 0.92 ( Ω )
F-type isolation: [Line-to-line resistance ( Ω ) at 115 ° C of test report] × 0.87 ( Ω )
Motor Leak Inductance Setting
Set the amount of voltage drop due to motor leak inductance in E2-06 using the percentage over the motor rated voltage. Make this setting when the high-speed motor inductance is small. If the inductance is not written on the motor nameplate, consult the motor manufacturer.
Motor Iron Saturation Coefficients 1 and 2 Settings
E2-07 and E2-08 and are set automatically using rotational autotuning.
Motor Mechanical Loss (SPEC: E or Later Only)
E2-09 is displayed only when the flux vector control method is selected. Adjust mechanical loss in the following cases. (There is normally no reason to make this adjustment.) The mechanical loss setting is used to compensate the torque.
•
•
There is excessive torque loss from the motor bearings.
There is excessive torque loss from a fan, pump, etc.
Motor Iron Loss for Torque Compensation Setting
E2-10 is displayed only when in V/f control method. To increase the torque compensation accuracy when in
V/f control method, set the motor iron loss in Watts.
Motor Rated Output
Set the rated output value of the motor indicated on the motor nameplate to E2-11.
This constant is automatically set during autotuning.
Setting the V/f Pattern
In V/f control method, you can set the Inverter input voltage and the V/f pattern as the need arises.
Related Constants
Constant
Number
Name
E1-01
Input voltage setting
E1-03
V/f pattern selection
Description
Setting
Range
Factory
Setting
Change during
Operation
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register
Set the Inverter input voltage in 1 volt.
This setting is used as a reference value in protection functions.
0 to E: Select from the 15 preset patterns.
F: Custom user-set patterns
(Applicable for settings E1-
04 to E1-10.)
155 to
255
*1
0 to F
200 V
*1
F
No
No
Q
Q
Q
Q
Q
No
Q 300H
No 302H
6-
121
6
-122
Constant
Number
Name Description
Setting
Range
Factory
Setting
Change during
Operation
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
E1-04
E1-05
E1-06
E1-07
E1-08
E1-09
E1-10
Max. output frequency
Max. voltage
Base frequency
Output voltage (V)
Frequency (Hz)
Mid. output frequency
Mid. output frequency voltage
To set V/f characteristics in a straight line, set the same values for
E1-07 and E1-09. In this case, the setting for E1-08 will be disregarded.
Always ensure that the four frequencies are set in the following manner:
E1-04 (FMAX) ≥ E1-06 (FA) > E1-
07 (FB) ≥ E1-09 (FMIN)
40.0 to
400.0
*6
60.0 Hz
*2
40.0 to
300.0
*5
0.0 to
255.0
*1
0.0 to
400.0
*6
200.0
V
*1*2
60.0 Hz
*2
0.0 to
300.0
*5
0.0 to
400.0
*6
3.0 Hz
*2
0.0 to
300.0
*5
0.0 to
255
*1
15.0 V
*1 *2
Min. output frequency
0.0 to
400.0
*6
0.0 to
300.0
*5
1.5 Hz
*2
Min. output frequency voltage
0.0 to
255.0
*1
9.0 V
*1 *2
No
No
No
No
No
No
No
Q
Q
Q
A
A
Q
A
Q
Q
Q
A
A
Q
A
E1-11
E1-12
Mid. output frequency 2
Mid. output frequency voltage 2
Set only to fine-adjust V/f for the output range. Normally, this setting is not required.
0.0 to
400.0
*6
0.0 to
300.0
*5
0.0 to
255.0
*1
0.0 Hz
*3
0.0 V
*3
No
No
A
A
A
A
E1-13
Base voltage
0.0 to
255.0
*1
0.0 V
*4
No A A
* 1. These are values for a 200 V Class Inverter. Values for a 400 V Class Inverter are double.
* 2. The factory setting will change when the control method is changed. The V/f control factory settings are given.
* 3. E1-11 and E1-12 are disregarded when set to 0.0.
* 4. E1-13 is set to the same value as E1-05 by autotuning.
* 5. When C6-01=1, the upper limit is 400.0.
* 6. When C6-01=0, the upper limit is 150.0.
Q
Q
Q
A
A
Q
A
A
A
Q
Q
Q
Q
MEMO
BUS
Register
303H
304H
305H
No 306H
No 307H
A 308H
No 309H
A 30AH
A 30BH
Q 30CH
Setting Inverter Input Voltage
Set the Inverter input voltage correctly in E1-01 to match the power supply voltage. This set value will be the standard value for the protection function and similar functions.
Individual Functions
Setting V/f Pattern
Set the V/f pattern in E1-03 when using V/f control (with or without a PG). There are two methods of setting the V/f pattern: Select one of the 15 pattern types (set value: 0 to E) that have been set beforehand, or set a user-defined V/f pattern (set value: F).
The factory setting for E1-03 is F. The contents of E1-03 when factory-set to F are the same as when E1-03 is set to 1.
To select one of the existing patterns, refer to the following table.
Characteristic Application
Set
Value
0
Specifications
50 Hz specifications
Constant Torque
Characteristic
Variable torque characteristic
This pattern is used in general applications.
Used when the load torque is fixed, regardless of rotation speed, for linear transport systems.
This pattern is used for loads with torque proportional to two or three times the rotation speed, such as fans and pumps.
1 (F) 60 Hz specifications
2
60 Hz specifications, voltage saturation at
50 Hz
3
4
5
6
7
8
72 Hz specifications, voltage saturation at
60 Hz
50 Hz specifications, × 3 decrement
50 Hz specifications, × 2 decrement
60 Hz specifications, × 3 decrement
60 Hz specifications, × 2 decrement
50 Hz specifications, medium startup torque
High Startup
Torque (See
Note)
*
Select the high startup torque V/f pattern only in the following cases.
• The wiring distance between Inverter and motor is large (approx. 150 m min.)
• A large torque is required at startup (elevator loads, etc.)
• An AC reactor is inserted in the Inverter input or output.
• You are operating a motor that is less than optimum.
9
A
B
50 Hz specifications, large startup torque
60 Hz specifications, medium startup torque
60 Hz specifications, large startup torque
Fixed Output
Operation
This pattern is used for frequencies of 60
Hz or higher. A fixed voltage is applied.
C
D
E
90 Hz specifications, voltage saturation at
60 Hz
120 Hz specifications, voltage saturation at
60 Hz
180 Hz specifications, voltage saturation at
60 Hz
* The torque is protected by the fully automatic torque boost function, so normally there is no need to use this pattern.
When you select these patterns, the values of constants E1-04 to E1-10 are changed automatically. There are three types of values for E1-04 to E1-10, depending on the Inverter capacity.
•
•
•
0.4 to 1.5 kW V/f pattern
2.2 to 45 kW V/f pattern
55 to 300 kW V/f pattern
The characteristics diagrams for each are shown in the following pages.
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123
6
-124
0.4 to 1.5 kW V/f Pattern
The diagrams show characteristics for a 200-V Class motor. For a 400-V Class motor, multiply all voltages by
2.
• Constant Torque Characteristics (Set Value: 0 to 3)
Set Value 0 50 Hz Set Value 1 60 Hz
(Initial value of set value F)
Set Value 2 60 Hz Set Value 3 72 Hz
• Decrement Torque Characteristics (Set Value: 4 to 7)
Set Value 4 50 Hz Set Value 5 50 Hz Set Value 6 60 Hz Set Value 7 60 Hz
• High startup torque (Set value 8: to B)
Set Value 8 50 Hz Set Value 9 50 Hz Set Value A 60 Hz Set Value B 60 Hz
• Fixed Output Operation (Set Value: C to E)
Set Value C 90 Hz Set Value D 120 Hz Set Value E 180 Hz
Individual Functions
2.2 to 45 kW V/f Pattern
The diagrams show characteristics for a 200-V Class motor. For a 400-V Class motor, multiply all voltages by
2.
• Constant Torque Characteristics (Set Value: 0 to 3)
Set Value 0 50 Hz Set Value 1 60 Hz
(Initial value of set value F)
Set Value 2 60 Hz Set Value 3 72 Hz
• Decrement Torque Characteristics (Set Value: 4 to 7)
Set Value 4 50 Hz Set Value 5 50 Hz Set Value 6 60 Hz Set Value 7 60 Hz
• High Startup Torque (Set Value: 8 to B)
Set Value 8 50 Hz Set Value 9 50 Hz Set Value A 60 Hz Set Value B 60 Hz
• Fixed Output Operation (Set Value: C to E)
Set Value C 90 Hz Set Value D 120 Hz Set Value E 180 Hz
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125
6
-126
55 to 300 kW V/f Pattern
The diagrams show characteristics for a 200-V Class motor. For a 400-V Class motor, multiply all voltages by
2.
• Constant Torque Characteristics (Set Value: 0 to 3)
Set Value 0 50 Hz Set Value 1 60 Hz
(Initial value of set value F)
Set Value 2 60 Hz Set Value 3 72 Hz
• Decrement Torque Characteristics (Set Value: 4 to 7)
Set Value 4 50 Hz Set Value 5 50 Hz Set Value 6 60 Hz Set Value 7 60 Hz
• High Startup Torque (Set Value: 8 to B)
Set Value 8 50 Hz Set Value 9 50 Hz Set Value A 60 Hz Set Value B 60 Hz
• Fixed Output Operation (Set Value: C to E)
Set Value C 90 Hz Set Value D 120 Hz Set Value E 180 Hz
Individual Functions
When E1-03 is set to F (User-defined V/f pattern), you can set constants E1-04 to E1-10. If E1-03 is set to anything other than F, you can only refer to constants E1-04 to E1-10. If the V/f characteristics are linear, set
E1-07 and E1-09 to the same value. In this case, E1-08 will be ignored.
Output voltage (V)
E1-05
(VMAX)
E1-13
(V Base)
E1-08
(VC)
E1-10
(VMIN)
E1-09
(FMIN)
E1-07
(FB)
E1-06
(FA)
Fig 6.66 User-Set V/f Pattern
E1-04
(FMAX)
Frequency (Hz)
Setting Precautions
When the setting is to user-defined V/f pattern, beware of the following points.
•
•
When changing control method, constants E1-07 to E1-10 will change to the factory settings for that control method.
Be sure to set the four frequencies as follows:
E1-04 (FMAX) ≥ E1-06 (FA) > E1-07 (FB) ≥ E1-09 (FMIN)
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127
6
-128
Torque Control (SPEC: E or Later Only)
With flux vector control, the motor's output torque can be controlled by a torque reference from an analog input. Set d5-01 to 1 to control torque.
Related Constants
Constant
Number
Name Description
Setting
Range
Factory
Setting
Change during
Operation
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register d5-01 d5-02 d5-03 d5-04 d5-05
Torque control selection
Torque reference delay time
Speed limit selection
Speed limit
Speed limit bias
0: Speed control (C5-01 to C5-
07)
1: Torque control
This function is only available in flux vector control method. To use the function for switching between speed and torque control, set to 0 and set the multifunction input to “speed/torque control change.”
Set the torque reference delay time in ms units.
This function can be used to adjust the noise of the torque control signal or the responsiveness with the host controller.
When oscillation occurs during torque control, increase the set value.
Set the speed limit command method for the torque control method.
1: The analog input limit from a frequency reference (see b1-01)
2: Limited by d5-04 constant setting values.
Set the speed limit during torque control as a percentage of the maximum output frequency.
This function is enabled when d5-03 is set to 2. Directions are as follows.
+: Run Command direction
-: Run Command opposite
direction
0 or 1
0 to
1000
1 or 2
-120 to
+120
Set the speed limit bias as a percentage of the maximum output frequency.
Bias is given to the specified speed limit. It can be used to adjust the margin for the speed limit.
0 to 120
0
0 ms
1
0%
10%
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
A 29AH
A 29BH
A 29CH
A 29DH
A 29EH
Individual Functions
Constant
Number
Name Description
Setting
Range
Factory
Setting
Change during
Operation
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register d5-06
H3-04
H3-05
H3-06
H3-07
H3-08
H3-09
H3-10
H3-11
Speed/torque control switching timer
Set the delay time from inputting the multi-function input
“speed/torque control change”
(from On to OFF or OFF to ON) until the control is actually changed, in ms units.
This function is enabled when the multi-function input “speed/ torque control change” is set. In the speed/torque control switching timer, the analog inputs hold the values of when the “speed/ torque control change” changes.
Always be sure to allow time for this process to finish completely.
Signal level selection (terminal A3)
Multi-function analog input (terminal A3) function selection
0: 0 to ±10V
1: 0 to ±10V
Select from the functions listed in the following table. Refer to the next page.
Gain (terminal A3)
Bias (terminal A3)
Sets the input gain (level) when
10 V is input.
Set according to the 100% value selected from H3-05.
Sets the input gain (level) when
0 V is input.
Set according to the 100% value selected from H3-05.
Signal level selection
(terminal A2)
0: 0 to +10V, with lower limit
1: 0 to ±10V , without lower limit
2: 4 to 20 mA
Switch current and voltage input using the switch on the control panel.
Multi-function analog input
(terminal A2) function selection
Select multi-function analog input function for terminal A2.
Refer to the next table.
Gain (terminal A2)
Bias (terminal A2)
Sets the input gain (level) when
10 V (20 mA) is input.
Set according to the 100% value for the function set for H3-09.
Sets the input gain (level) when
0 V (4 mA) is input.
Set according to the 100% value for the function set for H3-09.
0 to
1000
0 or 1
0 to 1F
0.0 to
1000.0
100.0 to
+100.0
0 to 2
0 to 1F
0.0 to
1000.0
-100.0
to
+100.0
0 ms
0
1F
No
No
No
100.0% Yes
0.0%
2
0
Yes
No
No
100.0% Yes
0.0% Yes
No
A
A
A
A
A
A
A
A
No
A
A
A
A
A
A
A
A
No
A
A
A
A
A
A
A
A
A 29FH
A
A
A
A
A
A
A
413H
414H
415H
416H
417H
418H
419H
A 41AH
6-
129
6
-130
Multi-function Contact Input Functions (H1-01 to H1-06)
Setting
Value
71
78
Function
Speed/torque control change (ON: Torque control)
Polarity Reverse Command for external torque reference
Multi-function Contact Output Functions (H2-01 to H2-03)
Setting
Value
Function
32
Speed control circuit operating for torque control (except when stopped).
The external torque reference will be limited if torque control is selected.
Output when the motor is rotating at the speed limit.
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
No No No Yes
No No No Yes
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
No No No Yes
Multi-function Analog Inputs (H3-05, H3-09)
Setting
Value
0
13
14
Function
Add to terminal A1
Torque reference/torque limit at speed control
Torque compensation
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
Yes Yes Yes Yes
No No
No No
No
No
Yes
Yes
Monitor Function
Constant
Number
Name Description
Output Signal Level During Multi-Function Analog
Output
Min.
Unit
Control Methods
V/f
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register
U1-09
Torque reference
Monitor in internal torque reference value for vector control.
10 V: Motor rated torque
(0 to ± 10 V possible)
0.1% No No A A 48H
Inputting Torque References and Torque Reference Directions
The torque reference can be changed according to an analog input by setting H3-09 (Multi-function analog input terminal A2 selection) or H3-05 (Multi-function analog input terminal A3 selection) to 13 (torque reference) or 14 (torque compensation). The torque reference input methods are listed in the following table.
Torque Reference Input
Method
Voltage input (0 to ± 10 V)
Reference Location
Between A3 and AC
Between A2 and AC
(Turn OFF pin 2 of
SW1.)
Selection
Method
H3-04 = 1
H3-05 = 13
H3-08 = 1
H3-09 = 13
Remarks
Set H3-04 to 0 for a 0 to 10-V torque reference.
To switch the torque reference between positive and negative torque, set a multifunction analog input to 78.
Set H3-08 to 0 for a 0 to 10-V torque reference.
To switch the torque reference between positive and negative torque, set a multifunction analog input to 78.
The input can be used for torque compensation by setting H3-09 to 14.
Individual Functions
Torque Reference Input
Method
Reference Location
Selection
Method
Remarks
Current input (4 to 20 mA)
Between A2 and AC
(Turn ON pin 2 of
SW1.)
H3-08 = 2
H3-09 = 13
To switch the torque reference between positive and negative torque, set a multifunction analog input to 78.
The input can be used for torque compensation by setting H3-09 to 14.
Option board (AI-14B)
(0 to ± 10 V)
Between TC2 and TC4
F2-01 = 0
H3-08 = 1
H3-09 = 13
The input can be used for torque compensation by setting H3-05 to 14.
The direction of the torque output from the motor will be determined by the sign of the analog signal input. It does not depend on the direction of the Run Command. The direction of torque will be as follows:
• Positive analog reference: Torque reference for forward motor rotation (counterclockwise as viewed from the motor output axis).
• Negative analog reference: Torque reference for reverse motor rotation (clockwise as viewed from the motor output axis).
Application Precautions
If the analog signal input level is 0 to 10 V or 4 to 20 mA, a forward torque reference will not be applied. To apply reverse torque, use an input level of -10 V to 10 V or switch the direction using a multi-function input set to 78 (polarity Reverse Command for external torque reference).
Torque compensation from analog input
Torque reference from analog input
Speed limit from analog input from terminal A1
Speed limit d5-04
1
Torque primary delay filter d5-02
+
−
2 d5-03
Speed controller
(ASR)
Priority circuit
+
+
+
Torque limit
Internal torque reference
Refer to torque limit setting via constants and analog input
Speed limit bias d5-05
Speed limiter
Speed feedback
Fig 6.67 Torque Control Block Diagram
Speed Limiter and Priority Circuit (Speed Limit Function)
If the external torque reference and load are not balanced during torque control, the motor will accelerate in either the forward or reverse direction. The speed limit function is used to limit the speed to a specified value and it consists of the speed limiter circuit and priority circuit.
When the motor speed exceeds the speed limit value during torque control, the speed limiter circuit generates the suppression torque proportional to the speed above the limit value and adds to the torque reference. The priority circuit switches the internal torque reference to ASR output so that the motor speed does not exceed the speed limit value.
6-
131
6
-132
Application Precautions
There are two ways to set a speed limit: using an input from an analog input terminal and setting a speed limit in d5-04. The inputs methods for a speed limit are listed in the following table.
Speed Limit Input Method
Voltage input (0 to ±10 V)
Current input (4 to 20 mA)
Option board (AI-4B)
(0 to ±10 V)
Location of Reference
Set in d5-04
Between A1 and AC
Between A2 and AC
Between A2 and AC
Between TC1 and TC4
Constant Settings d5-03 = 2 b1-01 = 1
H3-01 = 1
Remarks
Set H3-01 to 0 if the speed limit is always to be positive.
b1-01 = 0
H3-08 = 1
H3-09 = 1 b1-01 = 0
H3-08 = 2
H3-09 = 1 b1-01 = 3
F2-01 = 0
The value will be added to the value input on A1 to determine the speed limit.
Set H3-03 to 0 if the speed limit input on
A2 is always to be positive.
Turn OFF (V side) pin 2 of DIP switch S1 on the terminal board.
The value will be added to the value input on A1 to determine the speed limit.
Turn ON (I side) pin 2 of DIP switch S1 on the terminal board.
If H3-09 is set to 0, the sum of the input between TC2 and TC4 will be added the input between TC1 and TC4 to determine the speed limit.
IMPORTANT
The direction in which speed is controlled is determined by the sign of the speed limit signal and the direction of the Run Command.
• Positive voltage applied: The speed in the forward direction will be limited for forward operation.
• Negative voltage applied: The speed in the reverse direction will be limited for reverse operation.
If the direction of motor rotation and the command direction are not the same, speed will be limited to 0 as long as b5-05 is set to 0.
Torque Limit Operation Examples
Operation examples will be described separately for winding operation, in which the speed and motor torque are in the same directions, and rewinding operation, in which the speed and motor torque are in opposite directions.
Winding Operation
In a winding operation, the line (speed) and torque generated by the motor are in the same direction. For the winding operation, both the speed limit and the torque reference input are positive. The motor will accelerate when the torque reference input is larger than the load and will decelerate when it is smaller than the load. If the motor turns faster than the speed limit, a negative compensation value is output from the speed limiter circuit. When the speed then drops below the speed limit, a positive compensation value is output. The torque compensation is proportional to the ASR proportional gain. When the sum of the torque reference and the torque compensation output by the speed limiter is the same as the actual load, the motor will stop accelerating and run at a constant speed.
Rewinding Operation
In a rewinding operation, the line (speed) and torque generated by the motor are in the opposite directions. (In this example, we’ll assume that the line speed is positive and the torque reference input is negative.) For the rewinding operation, the speed limit is positive and the torque reference input is negative. If the motor turns faster than the speed limit, a negative compensation value is output from the speed limiter circuit. If the motor is rotating in reverse, a negative compensation value is output. If the speed is 0 or is below the speed limit, a 0
Individual Functions compensation value is output. In this way, the output from the speed limiter is used to maintain the motor speed between 0 and the speed limit. When the sum of the torque reference and the torque compensation output by the speed limiter is the same as the actual load, the motor will stop accelerating and run at a constant speed.
Winding Operation Rewinding Operation
N T
T
X X
Configuration
Line direction
N
Line direction
M Motor
M
Normal Rotation
Direction
Torque Reference
Polarity (TREF)
Speed Limit Polarity (SLIM)
Forward Reverse Forward Reverse
Generated Torque
Torque limit
Torque
TREF
N
-(d5-05) 0
SLIM
Speed
Torque limit
N(%)=
TREF(%)
C5-01
Torque limit
Torque Torque limit
Torque
SLIM
(d5-05)
0
TREF
N
Speed
Torque limit
-(d5-05)
N(%)=
TREF(%)
C5-01
0
SLIM
Speed
TREF
N
Torque limit
N(%)=
TREF(%)
C5-01 d5-05(%)
The smaller of these
Torque limit
Torque
TREF
N
SLIM 0
(d5-05)
Speed
Torque limit
N(%)=
TREF(%)
C5-01 d5-05(%)
The smaller of these
Torque Reference Adjustment
Consider the following information when adjusting the torque.
Torque Reference Delay Time: d5-02
The time constant of the primary filter in the torque reference section can be adjusted. This constant is used to eliminate noise in the torque reference signal and adjust the responsiveness to the host controller. Increase the setting if oscillation occurs during torque control.
Setting the Torque Compensation
Set multi-function analog input A2 or A3 to torque compensation (setting 14). When the amount of torque loss for mechanical loss or other factor at the load is input to one of these terminals, it is added to the torque reference to compensate for the loss. The direction of torque will be as follows:
• Positive voltage (current): Torque compensation reference for forward motor rotation (counterclockwise as viewed from the motor output axis).
• Negative voltage: Torque compensation reference for reverse motor rotation (clockwise as viewed from the motor output axis).
Since the polarity of the voltage input determines the direction, only forward torque compensation can be input when the 0 to 10 V or 4 to 20 mA signal level has been selected. If you want to input reverse torque compensation, be sure to select the 0 to ±10 V signal level.
6-
133
6
-134
Speed/Torque Control Switching Function
It is possible to switch between speed control and torque control when one of the multi-function inputs (H1-01 to H1-06) is set to 71 (Speed/Torque Control Change). Speed control is performed when the input is OFF and torque control is performed when the input is ON. Set d5-01 to switch speed/torque control.
Setting the Speed/Torque Control Switching Timer
The delay between a change in the speed/control switching function input (ON to OFF or OFF to ON) and the corresponding change in the control method can be set in d5-06. During the timer delay, the value of the 3 analog inputs will retain the values they had when the ON/OFF status of speed/torque control switching signal was changed. Use this delay to complete any changes required in external signals.
Application Precautions
• The frequency reference (during speed control) is set in b1-01. The speed limit during torque control is set in d5-03.
•
•
•
If the torque reference has been assigned to a multi-function analog input, terminal A2, or terminal A3, the input function changes when the control method is switched between torque control and speed control.
During speed control: The analog input terminal is used as the torque limit input.
During torque control: The analog input terminal is used as the torque reference input.
When the Run Command turns OFF, the control method when stopped will be for speed control. Even from the torque control method, the system will automatically change to speed control and decelerate to a stop when the Run Command turns OFF.
When A1-02 (control method selection) is set to 3 (flux vector control), the speed/torque change command
(a setting of 71) can be set for a multi-function input (H1-01 to H1-06) to switch between speed and torque control during operation. An example is shown below.
Terminal No.
User Constant No.
Factory Setting
S8 H1-06 8
A1
A3 b1-01
C5-03
H3-05
1
1
0
Setting
71
1
1
13
Function
Speed/torque control change
Frequency reference selection
(terminals A1, A2)
Speed limit (terminals A1, A2)
Torque reference/torque limit
A timing chart for switching between speed and torque control is shown in the following figure.
CLOSED CLOSED
OPEN OPEN
Speed/torque change signal
(terminal S8 input)
Run
Run Command
Stop
Control mode Speed (decel to stop)
Terminal A1 input
Terminal A3 input
Speed
Speed reference
Torque limit
Torque
Speed limit
Speed
Speed reference
Torque limit
Torque reference
Torque
Speed limit
Torque reference
Fig 6.68 Speed/Torque Control Switching Time Chart.
Individual Functions
Speed Control (ASR) Structure
Speed control (ASR) during flux vector control adjusts the torque reference so that the deviation between the speed reference and the estimated speed (PG feedback) is 0.
Speed control (ASR) during V/f control with a PG adjusts the output frequency so that the deviation between the speed reference and the estimated speed (PG feedback) is 0.
The following block diagram shows the structure of the speed control for open-loop vector or V/f control with a PG.
Frequency reference
Detected speed
+
−
Torque limits
C5-01, C5-03
I limit
+
+
Torque reference
P
I
Primary filter
C5-06
(C5-10)
L7-01 to L7-04
C5-02, C5-04 C5-08
Speed Control Block Diagram for Open-loop Vector Control
+
Output frequency
Frequency reference
+
Limit
Detected speed
−
+
Change rate limiter
P
+
+
I
C5-01
C5-03
C5-05
C5-02, C5-04
Speed Control Block Diagram for V/f Control with a PG
Fig 6.69 Speed Control Block Diagrams
Related Constants
Constant
Number
Name Description
C5-01
C5-02
ASR proportional
(P) gain 1
Sets the proportional gain of the speed loop (ASR.)
ASR integral (I) time
1
Sets the integral time of the speed loop
(ASR) in 1-second units.
Setting
Range
Factory
Setting
Change during
Operation
Control Methods
V/f
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register
1.00 to
300.00
*1
20.00
*2
Yes No A No A 21BH
0.000 to
10.000
0.500 s
*2
Yes No A No A 21CH
6-
135
6
-136
Constant
Number
Name Description
Setting
Range
Factory
Setting
Change during
Operation
Control Methods
V/f
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register
C5-03
ASR proportional
(P) gain 2
C5-04
ASR integral (I) time
2
Usually setting is not necessary.
Set to change the rotational speed gain.
P I
0
1.00 to
300.00
*1
20.00
*2
P=C5-01
I=C5-02
P=C5-03
I=C5-04
E1-04 Motor speed (Hz)
0.000 to
10.000
0.500 s
*2
Yes
Yes
No A No A 21DH
No A No A 21EH
C5-05 ASR limit
C5-06
ASR primary delay time
Sets the upper limit for the compensation frequency for the speed control loop (ASR) to a percentage of the maximum output frequency.
Sets the filter time constant for outputting torque references from the speed control loop (ASR). It is set in 1-second units.
Usually setting is not necessary.
0.0 to
20.0
0.000 to
0.500
5.0%
0.004 s
No
No
No
No
A
No
No
No
No
A
21FH
220H
C5-07
C5-08
ASR switching frequency
Sets the frequency for switching between Proportion Gain 1, 2 and Integral Time 1, 2 in Hz units.
The multi-function input “ASR switching proportional gain” has the priority.
ASR integral (I) limit
Sets the upper limit for the integral (I) amount for the speed control loop
(ASR) to a percentage of the rated load.
0.0 to
300.0
*3
0 to
400
0.0 Hz
400%
No
No
No
No
No
No
No
No
* 1. When using V/f with PG control, 0.00 to 300.00. The flux vector setting ranges are given.
* 2. When the control method changes, the factory setting is changed. The flux vector control factory settings are given. Refer to
Factory Settings that Change with the Control Method (A1-02) .
* 3. When C6-01=1, the upper limit is 400.0.
A
A
221H
222H
Multi-function Contact Input Functions (H1-01 to H1-06)
Setting
Value
Function
D
E
77
Speed control disable setting for V/f control with PG
OFF: Use speed control V/f control with PG
ON: Do not use speed control for V/f control with PG
Speed control integral reset
Enables switching between PI and P control for the speed control loop.
Speed control (ASR) proportional gain switch (switching between C5-01 and C5-03)
OFF: Use proportional gain in C5-01
ON: Use proportional gain in C5-03
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
No Yes No No
No No No Yes
No No No Yes
Individual Functions
Speed Control (ASR) Gain Adjustment for Flux Vector Control (SPEC: E or Later Only)
Use the following procedure to adjust C5-01 and C5-03 with the mechanical system and actual load connected.
At zero-speed, increase C5-01
(ASR P Gain 1) until there is no oscillation.
At zero-speed, decrease C5-02
(ASR I Time 1) until there is no oscillation.
Does oscillation develop when the motor operates at the maximum normal operating speed?
NO
Adjustment completed.
(When there is higher-level position control, adjust the position loop gain so that overshooting/undershooting doesn't occur.)
YES Decrease C5-01 (ASR P Gain 1).
Increase C5-02 (ASR I Time 1).
Fine Adjustments
When you want even finer gain adjustment, adjust the gain while observing the speed waveform. Constant settings like those shown in the following table will be necessary to monitor the speed waveform.
Constant
No.
H4-01
H4-02
H4-03
Name
Multi-function analog output 1 terminal FM monitor selection
Multi-function analog output 1 terminal FM output gain
Multi-function analog output 1 terminal FM bias
Setting
2
1.00
0.0
Explanation
Settings that allow multi-function analog output 1 to be used to monitor the output frequency.
H4-04
H4-05
Multi-function analog output 2 terminal AM monitor selection
Multi-function analog output 2 terminal AM output gain
5
1.00
Settings that allow multi-function analog output 2 to be used to monitor the motor speed.
H4-06
H4-07
Multi-function analog output 2 terminal AM bias selection
Multi-function analog output 1 terminal signal level selection
0.00
1
H4-08 Multi-function analog output 2 terminal signal level selection 1
Settings that allow a 0 to ± 10 V signal range to be monitored.
The multi-function analog outputs have the following functions with these constant settings.
•
•
Multi-function analog output 1 (terminal FM): Outputs Inverter's output frequency (0 to ±10 V).
Multi-function analog output 2 (terminal AM): Outputs actual motor speed (0 to ± 10 V).
Terminal AC is the multi-function analog output common.
We recommend monitoring both the output frequency and the motor speed to monitor the response delay or deviations from the reference value, as shown in the following diagram.
6-
137
6
-138
Adjusting ASR Proportional Gain 1 (C5-01)
This gain setting adjusts the responsiveness of the speed control (ASR). The responsiveness is increased when this setting is increased. Usually this setting is higher for larger loads. Oscillation will occur if this setting is increased too much.
The following diagram shows the type of changes that can occur in the response when the ASR proportional gain is changed.
Motor speed
The proportional gain is high.
(Oscillation occurs when the gain is too high.)
The proportional gain is low.
Time
Fig 6.70 Responsiveness for Proportional Gain
Adjusting ASR Integral Time 1 (C5-02)
This constant sets the speed control (ASR) integral time.
Lengthening the integral time lowers the responsiveness, and weakens the resistance to external influences.
Oscillation will occur if this setting is too short. The following diagram shows the type of changes that can occur in the response when the ASR integral time is changed.
Motor speed
Short integral time
Long integral time
Time
Fig 6.71 Responsiveness for Integral Time
Individual Functions
Different Gain Settings for Low-speed and High-speed
Switch between low-speed and high-speed gain when oscillation occurs because of resonance with the mechanical system at low speed or high speed. The proportional gain P and integral time I can be switched according to the motor speed, as shown below.
P, I
P = C5-01
I = C5-02
P = C5-03
I = C5-04 (Low speed)
Motor speed (Hz)
C5-07
If C5-07 is set to 0, P = C5-01 and I = C5-02.
Fig 6.72 Low-speed and High-speed Gain Settings
Setting the Gain Switching Frequency (C5-07)
Set the switching frequency to about 80% of the motor operating frequency or the frequency at which oscillation occurs.
Low-speed Gain Adjustments (C5-03, C5-04)
Connect the actual load and adjust these constants at zero-speed. Increase C5-03 (ASR proportional gain 2) until there is no oscillation. Decrease C5-04 (ASR integral time 2) until there is no oscillation.
High-speed Gain Adjustments (C5-01, C5-02)
Adjust these constants at normal operating speed. Increase C5-01 (ASR proportional gain 1) until there is no oscillation. Decrease C5-02 (ASR integral time 1) until there is no oscillation. Refer to Fine Adjustments on page 6-137 for details on making fine adjustments of high-speed operation.
ASR Proportional Gain Switch Setting
When one of the multi-function inputs (H1-01 to H1-06) is set to 77, the input can be used to switch between
C5-01 (proportional gain 1) and C5-03 (proportional gain 2). Proportional gain 2 is used when the multi-function input is ON. This input has higher priority than the ASR switching frequency set in C5-07.
ON
ASR Gain Switch signal
(a multi-function input)
OFF
Proportional gain (P)
Proportional gain determined by motor speed.
C5-03 gain setting
C5-02 C5-02
The gain is changed linearly in integral time 1 (C5-02).
Fig 6.73 ASR Proportional Gain Switch
6-
139
6
-140
Gain Adjustment for Speed Control during V/f Control with PG
When using V/f control with PG, set the proportional gain (P) and the integral time (I) at E1-09 (minimum output frequency) and E1-04 (maximum output frequency). Speed Control Gain Integral Time Adjustment for V/f
Control with PG shows how the proportional gain and integral time change in linear fashion based on the speed.
P and I setting
P = C5-01
I = C5-02
P = C5-03
I = C5-04
0 E1-09
Min. output frequency
Motor speed (Hz)
E1-04
Max. output frequency
Fig 6.74 Speed Control Gain Integral Time Adjustment for V/f Control with PG
Gain Adjustments at Minimum Output Frequency
Operate the motor at the minimum output frequency. Increase C5-03 (ASR proportional gain 2) to a level where there is no oscillation. Decrease C5-04 (ASR integral time 2) to a level where there is no oscillation.
Monitor the Inverter's output current and verify that it is less than 50% of the Inverter rated current. If the output current exceeds 50% of the Inverter's rated current, decrease C5-03 and increase C5-04.
Gain Adjustments at Maximum Output Frequency
Operate the motor at the maximum output frequency. Increase C5-01 (ASR proportional gain 1) to a level where there is no oscillation. Decrease C5-02 (ASR integral time 1) to a level where there is no oscillation.
Fine Adjustments
When you want even finer gain adjustment, adjust the gain while observing the speed waveform. The adjustment method is the same as that for vector control.
Enable integral operation during acceleration and deceleration (by setting F1-07 to 1) when you want the motor speed to closely follow the frequency reference during acceleration and deceleration. Reduce the setting of C5-01 if overshooting occurs during acceleration, and reduce the setting of C5-03 and increase the setting of C5-04 if undershooting occurs when stopping. If overshooting and undershooting cannot be eliminated by adjusting only the gain, reduce the value of C5-05 speed control and reduce the limit of the frequency reference compensation value.
Individual Functions
Increasing the Speed Reference Response (Feed Forward Control)
(SPEC: E or Later Only)
Use feed forward control to increase the responsiveness to speed references. This function is effective for machines for which the ASR gain cannot be increased to a large value because doing so would result in vibrations. There is also the additional effect of making the system less prone to overshoot.
This function is valid only in flux vector control.
Overshooting when acceleration completed is being suppressed
Overshooting
Rotation speed
(min -1 )
Rotation speed
(min -1 )
Time(s)
Feed forward control
Time(s)
Conventional speed control
Overshooting control effect
Related Constants
Constant
Number
Name Description
Setting
Range
Factory
Setting
Change during
Operation
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register
N5-01
N5-02
Feed forward control selection
Select the feed forward control.
0: Disabled
1: Enabled
Motor acceleration time
Set the time required to accelerate the motor at the rated torque
(T
100
) to the rated speed (Nr).
J: GD
2
/4, P: Motor rated output ta =
2 π x J [kgm2] x Nr [min-1]
60 x T100 [N x m]
[s]
However,
60
2 x
P [kW]
Nr [min-1]
× 103 [N x m]
0 or 1 0
0.001 to
10.000
0.178 s
*
No
No
No
No
No
No
No
No
A 5B0H
A 5B1H
N5-03
N5-04
Feed forward proportional gain
Set the proportional gain for feed forward control.
Speed reference response will increase as the setting of N5-03 is increased.
Response frequency for speed command
Sets the response frequency to a speed command in units of 0.01
Hz.
Used when the machine rigidity is high and the N5-03 is correctly adjusted.
Usually, setting is not required.
0.00 to
100.00
0.00 to
50.00
1.0
40.00
No
No
No
No
* The factory setting depends on the Inverter capacity. The value for a 200 V Class Inverter for 0.4 kW is given.
No
No
No
No
A 5B2H
A 5B3H
6-
141
6
-142
Feed Forward Control Structure
• The following block diagram shows the speed controller (ASR) and the feed forward control structure.
N5-02, N5-03 U1-45
Frequency reference
Feed forward controller
Speed controller (ASR)
U1-44
Torque limit
Secondary current reference
Primary filter
C5-06
(C5-10)
L7-01 to L7-04
U1-05
Detected speed
Fig 6.75 Structure of Speed Controller (ASR) and Feed Forward Control
Setting Precautions
•
•
•
When N5-02 (Motor acceleration time) is not properly set, the acceleration time may not increase. The factory setting of N5-02 depends on the Inverter capacity. When the Inverter capacity is different from the motor capacity, calculate an appropriate acceleration time using the equation given in N5-02 of Chapter 5
User Constants or set the time that corresponds to the motor capacity referring to Factory Settings that
Change with the Control Method (A1-02) (Page 5-81)
When setting the feed forward proportional gain (N5-03), take the inertia of the motor to be equivalent to
1. If the speed reference response is slow, increase the feed forward proportional gain (N5-03). If overshoot occurs with the actual speed, or if a negative torque reference is output when acceleration is completed, reduce the feed forward proportional gain (N5-03).
When using the droop control function (i.e., if b7-01 is not set to 0.0), disable feed forward control (i.e., set
N5-01 to 0).
Droop Control Function (SPEC: E or Later Only)
Droop control is a function that allows the user to set the amount of motor slip.
When a single load is operated with two motors (such as in a crane conveyor), a high-resistance motor is normally used. This is to use torque characteristics that exhibit proportion movements due to changes in the secondary resistor to maintain torque balance with the load and overall speed balance with the load.
If droop control is used, a high-resistance motor characteristics can be set for a general-purpose motor.
The balance of the load is very different with different amounts of slip.
Torque Motor A’s torque characteristics
Torque
TA
Load torque
TB
Motor B’s torque characteristics
The difference between
TA and TB is getting larger.
Reference speed
Speed
Load balance when using a general-purpose motor
TB
Motor A’s torque characteristics
Motor B’s torque characteristics
TA
Load torque
The difference between
TA and TB is getting smaller.
Reference speed
Speed
Load balance when using a high-purpose motor
Individual Functions
Related Constants
Constant
Number
Name Description
Setting
Range
Factory
Setting
Change during
Operation
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register b7-01 b7-02
Droop control gain
Sets the slip as a percentage of maximum frequency when the maximum output frequency is specified and the rated torque occurs.
Droop-control is not performed when the setting is 0.0.
Droop control delay time
Droop control responsiveness constant
When hunting or oscillation occurs, increase the value.
0.0 to
100.0
0.0
0.03 to
2.00
0.05 s
Yes
Yes
No
No
No
No
No
No
A 1CAH
A 1CBH
Setting Precautions
•
•
•
•
Droop control is disabled if b7-01 is set to 0.0.
Set b7-01 to the amount of slip as the percentage of slip when the maximum output frequency is input and the rated torque is generated.
Constant b7-02 is used to adjust the responsiveness of droop control. Increase this setting if oscillation or hunting occur.
Disable the feed forward control (N5-01 = 0) when using the droop control function.
Setting the Droop Control Gain
Set the droop control gain as the speed reduction at a 100% motor torque, as a percentage of the maximum output frequency.
Torque b7-01
100%
0 Speed reference
Fig 6.76 Droop Control Gain
Speed
6-
143
6
-144
Zero-servo Function (SPEC: E or Later Only)
The zero-servo function holds the motor when the motor is stopped in what is call a zero-servo status. This function can be used to stop the motor even with an external force acts on the motor or the analog reference input is offset.
The zero-servo function is enabled when one of the multi-function inputs (H1-01 to H1-06) is set to 72 (zeroservo command). If the zero-servo command is ON when the frequency (speed) reference falls below the zerospeed level, a zero-servo status is implemented.
Related Constants
Constant
Number
Name Description
Setting
Range
Factory
Setting
Change during
Operation
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register b2-01 b9-01 b9-02
Zero-speed level (DC injection braking starting frequency)
Zero-servo gain
Zero-servo completion width
Used to set the frequency which starts DC injection braking in units of Hz when deceleration to stop is selected.
When b2-01 is less than E1-09,
E1-09 is used to set the starting frequency for the DC injection braking.
In flux vector control, b2-01 is used to set the starting frequency for the zero-speed control.
Sets the output width of the zero-servo completion signal.
Enabled when the “zero-servo completion (end)” is set for a multi-function input. The zeroservo completion signal is ON when the current position is within the range (the zero-servo start position ± zero-servo completion width.)
Set the allowable position displacement from the zero-servo start position to 4 times the pulse rate of the PG (pulse generator, encoder) in use.
0.0 to
10.0
Adjust the strength of the zeroservo lock.
Enabled when the “zero-servo command” is set for the multifunction input. When the zeroservo command has been input and the frequency reference drop below excitation level (b2-
01), a position control loop is created and the motor stops.
Increasing the zero-servo gain in turn increases the strength of the lock. Increasing it by too much will cause oscillation.
0 to 100
0 to
16383
0.5 Hz
5
10
No
No
No
A
No
No
A
No
No
A
No
No
A 189H
A 1DAH
A 1DBH
Individual Functions
Multi-function Contact Input Functions (H1-01 to H1-06)
Setting
Value
72
Function
Zero-servo command (ON: Zero-servo)
Multi-function Contact Output Functions (H2-01 to H2-03)
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
No No No Yes
Setting
Value
Function
V/f
Control Methods
V/f with
PG
Open
Loop
Vector
Flux
Vector
33
Zero-servo end
ON: Current position is within zero-servo start position ± the zero-servo end width.
No No No Yes
To output the zero-servo status externally, assign the Zero-Servo End signal (setting 33) to one of the multifunction outputs (H2-01 to H2-03).
Monitor Function
Constant
Number
Name
U1-35
Zero-servo movement pulses
Description
Output Signal Level During Multi-Function Analog
Output
Min.
Unit
Control Methods
V/f
V/f with
PG
Open
Loop
Vector
Flux
Vector
MEMO
BUS
Register
Shows the number of PG pulses times 4 for the movement range when stopped at zero.
(Cannot be output.) 1 No No No A 62H
Time Chart
A time chart for the zero-servo function is given in Time Chart for Zero-Servo .
Run Command
Zero-servo command
ON
ON
OFF
OFF
Frequency (speed) reference
Zero-speed level b2-01
Motor speed
Zero-Servo End signal Zero-servo status
Fig 6.77 Time Chart for Zero-Servo
6-
145
6
-146
Application Precautions
•
•
•
•
Be sure to leave the Run Command input ON. If the Run Command is turned OFF, the output will be interrupted and the zero-servo function will become ineffective.
The holding force of the zero-servo is adjusted in b9-01. The holding force will increase if the value of the setting is increased, but oscillation and hunting will occur if the setting is too large. Adjust b9-01 after adjusting the speed control gain.
The zero-servo detection width is set as the allowable position offset from the zero-servo start position. Set
4 times the number of pulses from the PG.
The Zero-Servo End signal will go OFF when the zero-servo command is turned OFF.
IMPORTANT
Do not lock the servo for extended periods of time at 100% when using the zero-servo function. Inverter errors may result. Extended periods of servo lock can be achieved by ensuring that the current during the servolock is 50% or less or by increasing the Inverter capacity.
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