6 Constant Settings by Function. YASKAWA CIMR-F7A

PDF

文档

Constant Settings by

Function

Application and Overload Selections ...........................6-2

Frequency Reference ..................................................6-6

Run Command...........................................................6-15

Stopping Methods ......................................................6-17

Acceleration and Deceleration Characteristics ..........6-25

Adjusting Frequency References...............................6-35

Speed Limit (Frequency Reference Limit Function)...6-41

Improved Operating Efficiency...................................6-43

Machine Protection ....................................................6-49

Continuing Operation.................................................6-66

Inverter Protection .....................................................6-77

Input Terminal Functions............................................6-79

Output Terminal Functions.........................................6-89

Monitor Constants......................................................6-91

Individual Functions ...................................................6-96

Digital Operator Functions .......................................6-148

Options ....................................................................6-157

Using Inverters for Elevating Machines ...................6-169

-2

Application and Overload Selections

Select the Overload to Suit the Application

Set C6-01 (CT: Low carrier constant torque, VT: High carrier variable torque) depending on the application for which the Inverter is used. The setting ranges for the Inverter carrier frequency, overload tolerance, and maximum output frequency depend on the setting in C6-01.

Related Constants

Constant

Number

Name

C6-01

CT/VT selection

C6-02

Carrier frequency selection

C6-03

Carrier frequency upper limit

C6-04

Carrier frequency lower limit

Description

Setting

Range

Factory

Setting

Change during

Operation

Control Methods

V/f

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

0: CT (low carrier, constant torque,

150% per minute)

1: VT (high carrier, variable torque,

120% per minute)

Select carrier wave fixed pattern.

0: Low-noise PWM

1: 2.0 kHz

2: 5.0 kHz

3: 8.0 kHz

4: 10.0 kHz

5: 12.5 kHz

6: 15.0 kHz

F: Enables detailed settings using constants C6-03 to C6-05

Set the carrier frequency upper limit and lower limit in kHz units.

The carrier frequency gain is set as follows:

With the vector control method, the upper limit of the carrier frequency is fixed in C6-03.

Carrier frequency

0 or 1

0, 1

(C6-

01=0)

0 to F

(C6-

01=1)

0 *1

(C6-

01=0)

6*2

(C6-

01=1)

2.0 to

15.0

15.0 kHz

2.0 to

2.5

2.0 kHz

0.4 to

15.0

15.0 kHz

0.4 to

2.5

2.0 kHz

Q 223H

Q 224H

A 225H

A No A 226H

C6-05

Carrier frequency proportional gain

Output frequency x (C6-05) x K

Output frequency

(Max. output frequency)

K is a coefficient that depends on the setting of C6-03.

C6-03 ≥ 10.0 kHz: K = 3

10.0 kHz > C6-03 ≥ 5.0 kHz: K = 2

5.0 kHz > C6-03: K = 1

00 to

00 No A A

* 1. Only 1(VT) can be set for 200 V Class 110 kW as well as 400 V Class 220 kW and 300 kW Inverters.

* 2. The factory settings depend on the capacity of the Inverter. The values for a 200 V Class Inverter of 0.4 kW are given.

* 3. The setting ranges depend on the capacity of the Inverter. The values for a 200 V Class Inverter of 0.4 kW are given.

* 4. This constant can be monitored or set only when F is set for C6-02.

No A 227H

Application and Overload Selections

Difference Between CT and VT

The characteristics of CT (low carrier, constant torque) and VT (high carrier, variable torque) are shown below.

CT: Low Carrier, Constant Torque

Constant Torque

VT: High Carrier, Variable Torque

Variable Torque

Torque Torque

0 Motor speed

Motor speed

Constant torque means a constant load torque for all motor speed, and it requires overload resistance capability. Applications include pushers, conveyors, cranes, and other friction or heavy loads.

Variable torque means that the load torque will decrease as the speed decreases. Normally, overload resistance capability is not required. Applications include fans and pumps.

Low carrier: Electromagnetic noise is present.

High carrier: Electromagnetic noise is not present.

Setting Precautions

C6-01 (CT/VT Selection)

When setting C6-01, observe the following precautions.

• Depending on the set value in C6-01, the setting range of the related constants is limited as follows:

C6-01 Set Value

Inverter Overload Protection Level

C6-02 (Carrier Frequency Selection)

0 (Low Carrier, Constant

Torque)

150% Inverter rated current/1 min.

0: Low carrier, low noise

1: Carrier 2.0 kHz

1 (High Carrier, Variable

Torque)

120% Inverter rated current/1 min.

0: Low carrier low noise

1: Carrier 2.0 kHz

2: Carrier 5.0 kHz

3: Carrier 8.0 kHz

4: Carrier 10.0 kHz

5: Carrier 12.5 kHz

6: Carrier 15.0 kHz

F: User-set*

E1-04 and E3-02 (Max. Output Frequency)

L3-02 (Stall Prevention Level During

Acceleration)

L3-06 (Stall Prevention Level During

Operation)

150Hz, 300 Hz

150%

400 Hz

120%

* Factory settings depend on Inverter capacity.

200 V and 400 V Class Inverters for 0.4 to 22 kW: 6 (15 kHz)

200 V Class Inverters for 30 kW, or 400 V Class Inverters for 30 to 55 kW: 4 (10 kHz)

200 V Class Inverters for 37 to 55 kW, or 400 V Class Inverters for 75 to 110 kW: 3 (8 kHz)

200 V Class Inverters for 75 to 90 kW, or 400 V Class Inverters for 132 to 185 kW: 2 (5 kHz)

200 V Class Inverter for 110 kW, or 400 V Class Inverters for 220 to 300 kW: 1 (2 kHz)

• When the setting in E1-04 or E3-02 is greater than 150 Hz (SPEC: C or earlier), 300 Hz (SPEC: E or later) , if C6-01 is set to 0, an OPE02 (Invalid constant setting range) error will occur.

-4

Carrier Frequency

When selecting the carrier frequency, observe the following precautions items.

• When using a device with C6-01 set to 1 (VT), adjust the carrier frequency according to the cases shown below.

If the wiring distance between Inverter and motor is long: Set the carrier frequency low. (Use the following values as guidelines.

Wiring Length 50 m or less 100 m or less Over 100 m

C6-02 (carrier frequency) setting

0 to 6 (15 kHz) 0 to 4 (10 kHz) 0 to 2 (5 kHz)

If speed and torque are inconsistent at low speeds: Set the carrier frequency low.

If Inverter noise is affecting peripheral devices: Set the carrier frequency low.

If leakage current from the Inverter is large: Set the carrier frequency low.

If metallic noise from the motor is large: Set the carrier frequency high.

Carrier frequency upper limit depends on the Inverter capacity. Refer to Factory Settings that Change with the

Inverter Capacity (o2-04) on page 5-83.

• When using V/f control or V/f control with PG, you can vary the carrier frequency to match the output frequency, as shown in the following diagram, by setting C6-03 (Carrier Frequency Upper Limit), C6-04

(Carrier Frequency Lower Limit), and C6-05 (Carrier Frequency Proportional Gain).

Carrier Frequency

C6-03

C6-04

Output frequency

C6-05

Output frequency

E1-04

Max. Output Frequency

*K is the coefficient determined by the set value in C6-03.

C6-03 ≥ 10.0 kHz: K=3

10.0 kHz > C6-03 ≥ 5.0 kHz: K=2

5.0 kHz > C6-03: K=1

Fig 6.1

•

With vector control, the carrier frequency is fixed by the Carrier Frequency Upper Limit in C6-03 if userset, or by the carrier frequency set in C6-02.

To fix the carrier frequency, set C6-03 and C6-04 to the same value, or set C6-05 to 0.

If the settings are as shown below, OPE11 (Data setting error) will occur.

If Carrier Frequency Proportional Gain (C6-05) > 6 and C6-03 < C6-04.

If C6-01 = 0 and Carrier Frequency Selection C6-02 is set from 2 to E.

If C6-01 = 1 and Carrier Frequency Selection C6-02 is set from 7 to E.

Application and Overload Selections

Carrier Frequency and Inverter Overload Current Level

When C6-01 is set to 1, the Inverter overload level will be reduced. Even when the overload current falls to below 120% constant 1 min, OL2 (Inverter overload) will be detected. The Inverter overload current reduction level is shown below.

Overload current reduction level

100%

200 V Class 37 to 90 kW

400 V Class 75 to 110 kW

200 V Class 22 kW or less

400 V Class 22 kW or less

80%

75%

50%

400 V Class 132 kW

400 V Class 160 kW

200 V Class 30 kW

400 V Class 30 to 55 kW

0 5 kHz 8 kHz 10 kHz 15 kHz

Carrier frequency

Fig 6.2 Overload Current Reduction Level

-6

Frequency Reference

This section explains how to input the frequency reference.

Selecting the Frequency Reference Source

Set constant b1-01 to select the frequency reference source.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

H6-01

H6-02

Reference 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

Pulse train input function selection

Pulse train input scaling

0: Frequency reference

1: PID feedback value

2: PID target value

Set the number of pulses in hertz, taking the reference to be

100%.

0 to 4

0 to 2

1000 to

32000

1440 Hz Yes

Q 180H

A 42CH

A 42DH

Input the Reference Frequency from the Digital Operator

When b1-01 is set to 0, you can input the reference frequency from the Digital Operator.

Input the reference frequency from the Digital Operator's reference frequency setting display.

For details on setting the reference frequency, refer to Chapter 3 Digital Operator and Modes .

Fig 6.3 Frequency Setting Display

Frequency Reference

Inputting the Frequency Reference Using Control Circuit Terminal (Analog Setting)

When b1-01 is set to 1, you can input the frequency reference from control circuit terminal A1 (voltage input), control circuit terminal A2 (voltage or current input) or control circuit terminal A3 (voltage input).

Inputting Master Speed Frequency Reference Only (Voltage Input)

When inputting a voltage for the master speed frequency reference, input the voltage to control circuit terminal A1.

2 k Ω

Inverter

+V Power supply: 15 V,

20 mA

Master speed frequency reference

(voltage input)

Master speed frequency reference

(current input)

Not used

AC Analog common

Fig 6.4 Voltage Input for Master Speed Frequency Reference

Inputting Master Speed Frequency Reference Only (Current Input)

When inputting a current for the master speed frequency reference, input the current to control circuit terminal

A2, input 0 V to terminal A1, and make either of the following settings.

• Set H3-08 (Multi-function analog input terminal A2 signal level selection) to 2 (current input), and set H3-

09 (Multi-function analog input terminal A2 function selection) to 0 ( Add to terminal A1).

• Set H3-09 (Multi-function analog input terminal A2 function selection) to 2 (Auxiliary frequency reference 1), and set H3-13 (Terminal A1/A2 switching) to 1 (Use terminal A2 analog input as the main speed frequency reference).

Inverter

4 to 20-mA input

Power supply: 15 V,

20 mA

Master speed frequency reference

(voltage input)

Master speed frequency reference

(current input)

Not used

AC Analog common

V I

DIP switch

Fig 6.5 Current Input for Master Speed Frequency Reference

IMPORTANT

Turn ON pin 2 of DIP switch S1 (toward I), the voltage/current switch, when inputting a current to terminal A2.

Turn OFF pin 2 of DIP switch S1 (toward V), the voltage/current switch, when inputting a voltage to terminal

A2. Set H3-08 to the correct setting for the type of input signal being used.

-8

Switch between 2 Step Speeds: Master/Auxiliary Speeds

When switching between the master and auxiliary speeds, input the master speed frequency reference to control circuit terminal A1 and the auxiliary speed frequency reference to control circuit terminal A2 or A3 . The master speed frequency reference input to terminal A1 will be used for the Inverter frequency reference when the master speed reference 1 allocated to multi-function input terminal (factory setting: S5) is OFF, and the auxiliary speed frequency reference input to terminal A2 or A3 will be used for the Inverter frequency reference when the multi-speed reference 1 allocated to multi-function input terminal is ON.

When using terminal A2 as the input terminal of auxiliary speed frequency reference, set H3-09 (Multi-function analog input terminal A2 function selection) to 2 [Auxiliary speed reference frequency 1 (2nd speed analog)].

When using terminal A3 as the input terminal of auxiliary speed frequency reference, set H3-05 (Multi-function analog input terminal A3 function selection) to 2 [Auxiliary speed frequency reference 1 (2ndspeed analog)].

Inverter

1 to 20 mA input

+V (Power supply: 15 V,

20 mA)

A1 (Auxiliary speed frequency refrence)

A2 (A3) (Master speed frequency refrence)

AC (Analog common)

DIP switch S1

Fig 6.6 Switching between Master and Auxiliary Frequencies

Precautions on Setting DIP Switches and Constants

• When inputting voltage signals to terminal A2, set the pin 2 of the current/voltage switching DIP switch

S1-2 to OFF side (factory setting: ON).

•

When inputting current signals to terminal A2, set the pin 2 of the current/voltage switching DIP switch

S1-2 to ON side (factory setting: ON).

When setting terminal A2 as the master speed frequency input terminal and terminal A1 as the auxiliary speed frequency input terminal, set the H3-09 (Multi-function analog input terminal A2 function selection) to 2 and H3-05 (Multi-function analog input terminal A3 function selection) to a number other than 0 and

H3-05 (Multi-function analog input terminal A3 function selection) to a number other than 0 and 2.

And then, set H3-13 (Terminal A1/A2 switching) to 1.

• H3-09 and H3-05 cannot be set to 2 at the same time.

Frequency Reference

Setting Frequency Reference Using Pulse Train Signals

When b1-01 is set to 4, the pulse train input to control circuit terminal RP is used as the frequency reference.

Set H6-01 (Pulse Train Input Function Selection) to 0 (frequency reference), and then set the 100% reference pulse frequency to H6-02 (Pulse Train Input Scaling).

Inverter

Pulse Input Specifications

Low level voltage 0.0 to 0.8 V

High level voltage 3.5 to 13.2 V

Heavy duty 30 to 70%

Pulse frequency 0 to 32 kHz

32 kHz max.

3.5 to 13.2 V

Pulse input

RP(Pulse train input terminal)

AC (Analog common)

Fig 6.7 Frequency Reference Using Pulse Train Input

-10

Using Multi-Step Speed Operation

With Varispeed-F7 series Inverters, you can change the speed to a maximum of 17 steps, using 16 frequency references, and one jog frequency reference.

The following example of a multi-function input terminal function shows a 9-step operation using multi-step references 1 to 3 and jog frequency selection functions.

Related Constants

To switch frequency references, set multi-step speed references 1 to 3 and the jog reference selection in the multi-function contact inputs (any of the terminals S3 to S8). Setting examples are shown below. The unused terminals need not be set.

Multi-function Contact Inputs (H1-01 to H1-06)

Terminal

Constant

Number

H1-03

H1-04

H1-05

H1-06

Set Value

Details

Multi-step speed reference 1 [Also used for master speed/auxiliary speed switching when multi-function analog input H3-09 or H3-05 is set to 2 (auxiliary frequency reference).]

Multi-step speed reference 2

[Also used for auxiliary frequency reference 2 when multi-function analog input H3-09 or

H3-05 is set to 3 (auxiliary frequency reference 2).]

Multi-step speed reference 3

Jog frequency selection (given priority over multi-step speed reference)

Combination of Multi-Function References and Multi-Function Contact Inputs. In the Above

Setting Example

You can change the selected frequency reference by combining the ON/OFF status of S5 to S8 (multi-function contact input terminals) to set multi-step speed references 1 to 3 and the jog frequency selection. The following table shows the possible combinations.

Speed

TerminalS5

Multi-step

Speed Reference 1

OFF

TerminalS6

Multi-step

Speed Reference 2

OFF

TerminalS7

Multi-step

Speed Reference 3

OFF

TerminalS8

Jog Frequency Selection

OFF

Selected Frequency

Frequency reference 1 d1-01, master speed frequency

Frequency reference 2 d1-02, auxiliary frequency 1

Frequency reference 3 d1-03, auxiliary frequency 2

Frequency reference 4 d1-04

Frequency reference 5 d1-05

Frequency reference 6 d1-06

Frequency reference 7 d1-07

Frequency reference 8 d1-08

9 ON * Jog frequency d1-17

* Terminal S8's jog frequency selection is given priority over multi-step speed references.

Frequency Reference

Setting Precautions

Refer to the following to set step 1 to step 3 to analog inputs.

• Step 1

When setting terminal A1's analog input to step 1, set b1-01 to 1, and when setting d1-01 (Frequency Reference 1) to step 1, set b1-01 to 0.

• Step 2

When setting terminal A2's (or A3's) analog input to step 2, set H3-09 (H3-05 when A3 is used) to 2 (auxiliary frequency reference 1). When setting d1-02 (Frequency Reference 2) to step 2, do not set H3-09

(H3-05 when A3 is used) to 2.

• Step 3

When setting terminal A3's (or A2's) analog input to step 3, set H3-05 (H3-09 when A2 is used) to 3 (auxiliary frequency reference 2). When setting d1-03(Frequency Reference 3) to step 3, do not set H3-05 (H3-

09 when A2 is used) to 3.

Connection Example and Time Chart

The following diagram shows a time chart and control circuit terminal connection example during a 9-step operation.

Inverter

S1 Forward/stop

S2 Reverse/stop

S3 External fault

S4 Fault reset

S5 Multi-step speed reference 1

S6 Multi-step speed reference 2

S9 Multi-step speed reference 3

S7 Jog frequency

SC Sequence common

+V Frequency setting power (+15 V)

A1 Master speed referennce (0 to 10 V)

[Master speed frequency (b1-01=1)]

A2 Master speed referennce (4 to 20 mA)

[Auxiliary speed frequency 1 (H3-09=2)]

Auxiliary speed frequency (0 to 10 V)

[Auxiliary speed frequency 2 (H3-05=3)]

Analog common 0 V

Fig 6.8 Control Circuit Terminal During 9-step Operation

-12

Frequency reference

Frequency reference 8

Frequency reference 7

Frequency reference 6

Frequency reference 5

Frequency reference 4

Frequency reference 2: Auxiliary speed frequency 1

Frequency reference 3

Auxiliary speed frequency 2

Frequency reference 1: Master speed frequency

Forward/stop

Multi-step speed reference 1

Multi-step speed reference 2

Multi-step speed reference 3

Jog frequency selection

Jog frequency

Fig 6.9 Multi-step speed reference/Jog Frequency Selection Time Chart

Frequency Reference

Varispeed F7 Function Block

The following diagram shows the function block diagram of Varispeed F7. The shaded sections apply only to

Inverters with SPEC: E or later.

When FJOG, RJOG (Jog frequency command) of

Frequency reference

Multi-function analog input is invalid.

When 2nd speed analog is selected Multi-function analog input is invalid.

When 3rd speed analog is selected Multi-function analog input is invalid.

Frequency reference 1 Frequency reference 2 Frequency reference 3 Frequency reference 4 Frequency reference 5 Frequency reference 6 Frequency reference 7 Frequency reference 8 Frequency reference 9 Frequency reference Frequency reference Frequency reference Frequency reference Frequency reference Frequency reference Frequency reference frequency refrence is

H3-02 H3-03

Flux V ec- tor

Open Loop V ec- tor

V/f with PG frequency refrence is

Set- ting Value

Auxiliary frequency reference 1 (2nd step analog) Auxiliary frequency reference 2 (3rd step analog) Accel/decel change (reduction coef DC injection braking current Overtorque/undertorque detection level Stall prevention level during run Frequency reference lower limit level Regenerative torque limit Torque refrence/torque limit at speed control Positive/negative torque limit

-14

Primary delay filter

* 2 is current input.

≠

Primary delay filter

* The same value can not be set in H3-05 and H3-09.

Fig 6.11 AI Input Detailed Diagram

≠

Run Command

This section explains input methods for the Run Command.

Selecting the Run Command Source

Set constant b1-02 to select the source for the Run Command.

Related Constants

Constant

Number

Name Description b1-02

Operation method selection

Set the Run Command input method.

0: Digital Operator

1: Control circuit terminal

(sequence input)

2: MEMOBUS communications

3: Option board

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

0 to 3 1 No Q Q Q Q 181H

Performing Operations Using a Digital Operator

When b1-02 is set to 0, you can perform Inverter operations using the Digital Operator keys (RUN, STOP,

JOG, and FWD/REV). For details on the Digital Operator, refer to Chapter 3 Digital Operator and Modes .

Performing Operations Using Control Circuit Terminals

When b1-02 is set to 1, you can perform Inverter operations using the control circuit terminals.

Performing Operations Using a 2-wire Sequence

The factory setting is set to a 2-wire sequence. When control circuit terminal S1 is set to ON, forward operation will be performed, and when S1 is turned OFF, the Inverter will stop. In the same way, when control circuit terminal S2 is set to ON, reverse operation will be performed, and when S2 is turned OFF, the Inverter will stop.

Inverter

Forward/stop

Reverse/stop

Sequence common

Fig 6.12 2-wire Sequence Wiring Example

-16

Performing Operations Using a 3-wire Sequence

When any constant from H1-01 to H1-6 (multi-function contact input terminals S3 to S8) is set to 0, terminals

S1 and S2 are used for a 3-wire sequence, and the multi-function input terminal that has been set functions as a Forward/Reverse Run Command terminal.

When the Inverter is initialized for 3-wire sequence control with A1-03, multi-function input 3 (terminal S5) becomes the input terminal for the Forward/Reverse Run Command.

Stop switch

(NC contact)

Operation switch

(NO contact)

Run Command (operates when ON)

Stop Command (stopped when ON)

Forward/Reverse Command (multi-function input)

Sequence input common

Run Command

Stop Command

Forward/Reverse

Command

Fig 6.13 3-wire Sequence Wiring Example

50 ms min.

Can be either ON or OFF

OFF

(stopped)

OFF (forward) ON (reverse)

Motor speed

Stop Forward Reverse

Fig 6.14 Three-wire Sequence Time Chart

Stop Forward

INFO

1. Use a sequence that turns ON terminal S1 for 50 ms or longer for the Run Command. This will make the

Run Command self-holding in the Inverter.

2. When the 3-wire sequence is set, do not make the wiring for the control circuit unless the multi-function input terminal constant is set. Failure to observe this warning may result in injury.

Stopping Methods

This section explains methods of stopping the Inverter.

Selecting the Stopping Method when a Stop Command is Sent

There are four methods of stopping the Inverter when a Stop Command is sent:

• Deceleration to stop

•

Coast to stop

DC braking stop

Coast to stop with timer

Set constant b1-03 to select the Inverter stopping method. A DC braking stop and coasting to a stop with a timer cannot be set for flux vector control.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Stopping method selection

Used to set the stopping method used when a Stop Command is input.

0: Deceleration to stop

1: Coast to stop

2: DC injection braking stop

(Stops faster than coast to stop, no regenerative operation.)

3: Coast to stop with timer

(Run Commands are disregarded during deceleration.)

Operation selection for setting E1-09 or less

Used to set the method of operation when the frequency reference input is less than the minimum output frequency (E1-

09).

0: Run at frequency reference

(E1-09 not effective).

1: STOP (Frequencies below

E1-09 in the coast to stop state.)

2: Run at min. frequency.

(E1-09)

3: Run at zero-speed (Frequencies below E1-09 are zero)

Zero-speed level (DC injection braking starting frequency)

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.

0 to 3 *

0 to 3

0.0 to

10.0

0.5 Hz

182H

184H

189H

-18

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

DC injection braking current

Sets the DC injection braking current as a percentage of the

Inverter rated current.

The DC injection braking current in flux control is affected by any change to the setting of E2-

03.

DC injection braking time at start

Used to set the time to perform

DC injection braking at start in units of 1 second.

Used to stop coasting motor and restart it. When the set value is

0, DC injection braking at start is not performed.

b2-04

DC injection braking time at stop

Used to set the time to perform

DC injection braking at stop

(zero-speed control in flux vector control) in units of 1 second.

Used to prevent coasting after the Stop Command is input.

When the set value is 0.00, DC injection braking at stop is not performed.

* 0 or 1 for flux vector control.

0 to

100

0.00

10.00

0.00

10.00

50%

0.00 s

0.50 s

No 18AH

A 18BH

A 18CH

Stopping Methods

Deceleration to Stop

If the Stop Command is input (i.e., the Run Command is turned OFF) when b1-03 is set to 0, the motor decelerates to a stop according to the deceleration time that has been set. (Factory setting: C1-02 (Deceleration

Time 1))

If the output frequency when decelerating to a stop falls below b2-01, the DC injection brake will be applied using the DC current set in b2-02 only for the time set in b2-04.

For deceleration time settings, refer to page 6-25 Setting Acceleration and Deceleration Times .

Run Command

Output frequency

Decelerates to stop at deceleration time

OFF

Fig 6.15 Deceleration to Stop

DC injection brake

DC injection brake time when stopping (b2-04)

-20

The following only applies to Inverters with SPEC: E or later.

The operation after starting or stopping depends on the setting of b1-05 when flux vector control is selected

(A1-02 = 3).

Run Command OFF ON OFF

Frequency reference via analog input

E1-09 b1-05=0

(frequency reference)

Injection brake time at start

Baseblock b2-03 b1-05=1

(Coast)

Injection brake time at start

Baseblock b1-05=2

(Run on E1-09)

Injection brake time at start b2-03

Run Command turns OFF and zero-speed control starts when motor speed drops to b2-01.

Zero-speed control

Baseblock b2-04

Frequency reference drops to less than E1-09 and zero-speed control starts when motor speed drops to b2-01.

b2-04

Baseblock

Run Command turns OFF and zero-speed control starts when motor speed drops to b2-01.

Zero speed control

Baseblock b2-03 b1-05=3

(Zero-speed)

Injection brake time at start

Baseblock b2-04

Run Command turns OFF and zero-speed control starts when motor speed drops to b2-01.

Zero-speed control

Baseblock b2-03 b2-04

Baseblock

Fig 6.16 Deceleration to Stop (for Flux Vector Control)

Setting Precautions

• When using flux vector control, the zero-speed control starts when motor speed drops to b2-01 during deceleration. Also, the setting b2-01 < E1-09 is possible.

• The current level during injection brake time at start is the value of E2-03 (motor no-load current). Accordingly, b2-02 is invalid in flux vector control.

Stopping Methods

Coast to Stop

If the Stop Command is input (i.e., the Run Command is turned OFF) when b1-03 is set to 1, the Inverter output voltage is interrupted. The motor coasts to a stop at the deceleration rate that counterbalances damage to the machine and inertia including the load.

Run Command

OFF

Output frequency

Inverter output freqeuencty interrupted.

Fig 6.17 Coast to Stop

After the Stop Command is input, Run Commands are ignored until the Minimum Baseblock Time (L2-03) has elapsed.

INFO

DC Braking Stop

If the Stop Command is input (i.e., the Run Command is turned OFF) when b1-03 is set to 2, a wait is made for the time set in L2-03 (Minimum Baseblock (BB) Time) and then the DC injection brake current set in b2-

02 is sent to the motor to apply a DC injection brake to stop the motor. The DC injection brake time is determined by the set value in b2-04 and the output frequency when the Stop Command is input.

Run Command

Output frequency

Minimum baseblock time (L2-03)

OFF

DC injection brake time b2-04 10

Inverter output voltage interrupted

DC injection brake b2-04

DC injection brake time

Fig 6.18 DC Injection Braking (DB) Stop

Output frequency at

Stop Command input

100% (maximum output frequency)

Lengthen the Minimum Baseblock Time (L2-03) when an overcurrent (OC) occurs during stopping.

INFO

-22

Coast to Stop with Timer

If the Stop Command is input (i.e., the Run Command is turned OFF) when b1-03 is set to 3, the Inverter output is interrupted to coast the motor to a stop. After the Stop Command is input, Run Commands are ignored until the time T has elapsed. The time T depends upon the output frequency when the Stop Command is input and the deceleration time.

Run Command

Output frequency

Inverter output voltage interrupted

OFF

Operation wait time T

Deceleration time

(e.g., C1-02)

Operation wait time T Minimum baseblock time (L2-03)

Minimum output frequency

Fig 6.19 Coast to Stop with Timer

Output frequency at

Stop Command input

100% (Maximum output frequency)

Using the DC Injection Brake

Set constant b2-03 to apply the DC injection braking current to the motor while it is coasting to a stop, to stop the motor and then restart it.

Set b2-03 to 0 to disable the DC injection brake at start.

Set the DC injection brake current using b2-02. DC injection braking is used at startup for flux vector control with the current set in E2-03 (Motor no-load current).

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

DC injection braking current

Sets the DC injection braking current as a percentage of the

Inverter rated current.

The DC injection braking current in flux control is affected by any change to the setting of E2-

03.

DC injection braking time at start

Used to set the time to perform

DC injection braking at start in units of 1 second.

Used to stop coasting motor and restart it. When the set value is

0, DC injection braking at start is not performed.

0 to

100

0.00

10.00

50%

0.00 s

No 18AH

A 18BH

Stopping Methods

Inputting the DC Injection Brake Command from Control Circuit Terminals

If you set a multi-function contact input terminal (H1 ) to 60 (DC injection brake command), you can apply the DC injection brake to the motor by turning ON the terminal for which the DC injection brake command has been set when the Inverter is being stopped. DC injection braking is used at startup for flux vector control.

The time chart for the DC injection brake is shown below.

DC injection brake command

FRUN

Output frequency

DC injection brake

(DC injection braking at startup is used for flux vector control.)

E1-09 b2-01

DC injection brake

(DC injection braking at startup is used for flux vector control.)

If you input the DC injection brake command from an external terminal, or if the Run Command and jog command are input, the DC injection brake will be disabled, and operation will resume.

Fig 6.20 DC Injection Brake Time Chart

Changing the DC Injection Brake Current Using an Analog Input

If you set H3-09 (Multi-function Analog Input Terminal A2 Function Selection) or H3-05(Multi-function

Analog Input Terminal A3 Function Selection) to 6 (DC injection brake current), you can change the DC injection brake current level using the analog input.

At 10 V input (voltage) or 20 mA input (current), 100% of the Inverter rated current will be applied.

DC injection brake voltage level

Inverter rated current

Fig 6.21 DC Injection Brake Current Using an Analog Input

-24

Using an Emergency Stop

Set a multi-function input terminal (H1 ) to 15 or 17 (emergency stop) to decelerate to a stop at the deceleration time set in C1-09. If inputting the emergency stop with an NO contact, set the multi-function input terminal (H1 ) to 15, and if inputting the emergency stop with an NC contact, set the multi-function input terminal (H1 ) to 17.

After the emergency Stop Command has been input, operation cannot be restarted until the Inverter has stopped. To cancel the emergency stop, turn OFF the Run Command and emergency Stop Command.

Related Parameters

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

C1-09

Emergency stop time

The deceleration time when the multi-function input “Emergency (fast) stop” is set to ON.

This function can be used as a stopping method when a fault has been detected.

0.0 to

6000.0

10.0 s No A A A A

* The setting range for acceleration/deceleration times will depends on the setting for C1-10. When C1-10 is set to 0, the setting range for acceleration/deceleration times becomes 0.00 to 600.00 seconds.

208H

Acceleration and Deceleration Characteristics

This section explains the acceleration and deceleration characteristics of the Inverter.

Setting Acceleration and Deceleration Times

Acceleration time indicates the time taken for the output frequency to climb from 0% to 100%. Deceleration time indicates the time taken for the output frequency to reduce to 0%. The factory setting of the acceleration time is C1-01, and the factory setting of the deceleration time is C1-02.

Related Parameters

Constant

Number

C1-01

C1-02

C1-03

C1-04

C1-05

C1-06

C1-07

C1-08

C1-10

C1-11

Name

Acceleration time 1

Deceleration time 1

Acceleration time 2

Deceleration time 2

Acceleration time 3

Deceleration time 3

Description

Setting

Range

Factory

Setting

Change during

Operation

Control Methods

V/f

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Sets the acceleration time to accelerate from 0 to the maximum output frequency, in 1-second units.

Sets the deceleration time to decelerate from the maximum output frequency to 0, in 1-second units.

The acceleration time when the multifunction input “accel/decel time 1” is set to ON.

The deceleration time when the multifunction input “accel/decel time 1” is set to ON.

0.0 to

6000.0

The acceleration time when the multifunction input “accel/decel time 2” is set to ON.

The deceleration time when the multifunction input “accel/decel time 2” is set to ON.

10.0 s

Yes

Q 200H

Q 201H

A 202H

A 203H

A 204H

A 205H

Acceleration time 4

Deceleration time 4

The acceleration time when the multifunction input “accel/decel time 1” and

“accel/decel time 2” are set to ON.

The deceleration time when the multifunction input “accel/decel time 1” and

“accel/decel time 2” are set to ON.

Accel/ decel time setting unit

0: 0.01-second units

1: 0.1-second units

Accel/ decel time switching frequency

Sets the frequency for automatic acceleration/deceleration switching.

Below set frequency: Accel/decel time 4

Above set frequency: Accel/decel time 1

The multi-function input “accel/decel time 1” or “accel/decel time 2” take priority.

0 or 1 1

0.0 to

400.0

0.0 to

300.0

0.0 Hz No

A 206H

A 207H

A 209H

A 20AH

-26

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

Control Methods

V/f

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

C2-01

C2-02

C2-03

C2-04

S-curve characteristic time at acceleration start

S-curve characteristic time at acceleration end

S-curve characteristic time at deceleration start

All sections of the S-curve characteristic time are set in seconds units.

When the S-curve characteristic time is set, the accel/decel times will increase by only half of the S-curve characteristic times at start and end.

Run Command

Output frequency

C2-02

C2-01

OFF

C2-03

C2-04

Time

S-curve characteristic time at deceleration end

0.00 to

2.50

0.00 to

2.50

0.00 to

2.50

0.00 to

2.50

0.20 s

0.00 s

20BH

20CH

20DH

20EH

* 1. The setting range for acceleration/deceleration times will depend on the setting for C1-10. When C1-10 is set to 0, the setting range for acceleration/deceleration times become 0.00 to 600.00 seconds.

* 2. When C6-01=0, the upper limit is 150.0.

* 3. When C6-01=1, the upper limit is 400.0.

Setting Acceleration and Deceleration Time Units

Set the acceleration/deceleration time units using C1-10. Constant C1-10 is set to 1 at the factory.

Set value

Details

The acceleration/deceleration time settings range is 0.00 to 600.00 in units of 0.01 s.

The acceleration/deceleration time settings range is 0.00 to 6000.0 in units of 0.1 s.

Switching Acceleration and Deceleration Time Using Multi-Function Input Terminal

Commands

Using the Inverter, you can set four acceleration times and four deceleration times. When the multi-function input terminals (H1 ) are set to 7 (acceleration/deceleration time selection 1) and 1A (acceleration/deceleration time selection 2), you can switch the acceleration/deceleration time even during operation by combining the ON/OFF status of the terminals.

The following table shows the acceleration/deceleration time switching combinations.

Acceleration/Deceleration Time Selection 1 Terminal

OFF

Acceleration/Deceleration Time Selection 2 Terminal

OFF

Acceleration Time

C1-01

C1-03

C1-05

C1-07

Deceleration Time

C1-02

C1-04

C1-06

C1-08

Acceleration and Deceleration Characteristics

Switching Acceleration and Deceleration Time Automatically

Use this setting when you want to switch acceleration/deceleration time automatically using the set frequency.

When the output frequency reaches the set value in C1-11, the Inverter switches the acceleration/deceleration time automatically as shown in the following diagram.

Set C1-11 to a value other than 0.0 Hz. If C1-11 is set to 0.0 Hz, the function will be disabled.

Output frequency

Acceleration/ deceleration time switching frequency

(C1-11)

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

When output frequency ≥ C1-11, acceleration and deceleration are performed using

Acceleration/deceleration Time 1 (C1-01, C1-02).

When output frequency < C1-11, acceleration and deceleration are performed using

Acceleration/deceleration Time 4 (C1-07, C1-08).

Fig 6.22 Acceleration/deceleration Time Switching Frequency

Adjusting Acceleration and Deceleration Time Using an Analog Input

If you set H3-09 (Multi-function Analog Input Terminal A2 Function Selection) or H3-05 (Multi-function

Analog Input Terminal A3 Function Selection) to 5 (acceleration/deceleration time gain), you can adjust the acceleration/deceleration time using terminal A2's or A3's input voltage.

The Inverter's acceleration time when the acceleration time has been set in C1-01 is as follows:

Acceleration time = C1-01 set value x acceleration/deceleration time gain

Acceleration/deceleration time gain (set value: 5)

(Acceleration/deceleration gain from 1 to

10 V) = 10 V/Input voltage (V) x 10 (%)

Fig 6.23 Acceleration/Deceleration Time Gain Using an Analog Input

-28

Entering S-curve Characteristics in the Acceleration and Deceleration Time

By performing acceleration and deceleration using an S-curve pattern, you can reduce shock when starting and stopping the machine.

Using the Inverter, you can set an S-curve characteristic time for each of the following: Acceleration start time, deceleration start time, acceleration end time, and deceleration end time.

INFO

Set the S-curve characteristic time to lengthen acceleration/deceleration time as follows:

Acceleration time = Selected acceleration time + (Acceleration start time S-curve characteristic time +

Acceleration end time S-curve characteristic time) / 2

Deceleration time = Selected deceleration time + (Deceleration start time S-curve characteristic time +

Deceleration end time S-curve characteristic time) / 2

Setting Example

The S-curve characteristic when switching operation (forward/reverse) is shown in the following diagram.

Forward

Reverse

C2-02 C2-03 C2-04

Output frequency

C2-01

C2-02

Fig 6.24 S-curve Characteristic during Operation Switching

C2-03

C2-04

Acceleration and Deceleration Characteristics

Accelerating and Decelerating Heavy Loads (Dwell Function)

The dwell function stores the output frequency when starting or stopping heavy loads. By temporarily storing the output frequency, you can prevent the motor from stalling. When using the dwell function, you must select a deceleration stop. Set b1-03 (Stopping Method Selection) to 0.

Related Parameters

Constant

Number b6-01 b6-02 b6-03

Name Description

Dwell frequency at start

Run Command

Dwell time at start

Output frequency

Dwell frequency at stop

OFF b6-01 b6-03 Time b6-02 b6-04

The dwell function is used to output frequency temporarily when driving a motor with a heavy load.

b6-04

Dwell time at stop

* 1. When C6-01=0, the upper limit is 150.0.

* 2. When C6-01=1, the upper limit is 400.0.

Setting

Range

Factory

Setting

Change during

Operation

Control Methods

V/f

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

0.0 to

400.0

0.0 to

300.0

0.0 to

10.0

0.0 to

400.0

0.0 to

300.0

* 2

0.0 to

10.0

0.0 Hz

0.0 s

0.0 Hz

0.0 s

A 1B6H

A 1B7H

A 1B8H

A 1B9H

-30

Preventing the Motor from Stalling During Acceleration (Stall Prevention

During Acceleration Function)

The Stall Prevention During Acceleration function prevents the motor from stalling if a heavy load is placed on the motor, or sudden rapid acceleration is performed.

If you set L3-01 to 1 (enabled) and the Inverter output current exceeds the -15% level of the set value in L3-

02, the acceleration rate will begin to slow down. When L3-02 is exceeded, acceleration will stop.

If you set L3-01 to 2 (optimum adjustment), the motor current accelerates to the value set in L3-02. With this setting, the acceleration time setting is ignored.

Related Parameters

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

L3-01

L3-02

Stall prevention selection during accel

0: Disabled (Acceleration as set. With a heavy load, the motor may stall.)

1: Enabled (Acceleration stopped when L3-02 level is exceeded. Acceleration starts again when the current is returned.)

2: Intelligent acceleration mode

(Using the L3-02 level as a basis, acceleration is automatically adjusted. Set acceleration time is disregarded.)

0 to 2

Stall prevention level during accel

Effective when L3-01 is set to 1 or 2.

Set as a percentage of Inverter rated current.

Usually setting is not necessary.

The factory setting reduces the set values when the motor stalls.

0 to 200

L3-03

Stall prevention limit during accel

Sets the lower limit for stall prevention during acceleration, as a percentage of the Inverter rated current, when operation is in the frequency range above E1-06.

Usually setting is not necessary.

0 to 100

* C6-01=1: 120%, C6-01=0: 150%

120%

150%

50%

No 48FH

No 490H

No 491H

Acceleration and Deceleration Characteristics

Time Chart

The following figure shows the frequency characteristics when L3-01 is set to 1.

Output current

Stall level during acceleration

Time

Output frequency

Output frequency is controlled to prevent the motor stalling.

Time

Fig 6.25 Time Chart for Stall Prevention During Acceleration

Setting Precautions

•

If the motor capacity is small compared to the Inverter capacity, or if the motor is operated using the factory settings, resulting in the motor stalling, lower the set value of L3-02.

If using the motor in the constant output range, L3-02 will be automatically lowered to prevent stalling.

L3-03 is the limit value to prevent the stall prevention level in the constant output range from being reduced more than necessary.

Set the constants as a percent taking the Inverter rated voltage to be 100%.

Stall prevention level during acceleration

L3-02 (Stall Prevention Level during Acceleration)

L3-02 x L3-03 (Stall Prevention Limit during Acceleration)

Output frequency

E1-06

Base Frequency (FA)

Fig 6.26 Stall Prevention Level and Limit During Acceleration

-32

Preventing Overvoltage During Deceleration (Stall Prevention During

Deceleration Function)

The Stall Prevention During Deceleration function makes the rate of deceleration more gentle to suppress increases in DC bus voltage when the DC bus voltage exceeds the set value during motor deceleration.

This function automatically lengthens the deceleration time with respect to the bus voltage, even if the deceleration time has been set to a considerably small value.

If L3-04 is set to 1 or 2, when the main circuit DC voltage approaches the stall prevention level during deceleration, deceleration stops, and when deceleration falls below the level, is restarted. Using this operation, deceleration time is automatically lengthened. If L3-04 is set to 1, deceleration time returns to the set value, and if L3-04 is set to 2, deceleration is automatically adjusted to a faster deceleration time within the range of the stall prevention level during deceleration.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

L3-04

Stall prevention selection during decel

0: Disabled (Deceleration as set. If deceleration time is too short, a main circuit overvoltage may result.)

1: Enabled (Deceleration is stopped when the main circuit voltage exceeds the overvoltage level.

Deceleration restarts when voltage is returned.)

2: Intelligent deceleration mode (Deceleration rate is automatically adjusted so that in Inverter can decelerate in the shortest possible time. Set deceleration time is disregarded.)

3: Enabled (with Braking

Resistor Unit)

When a braking option (Braking

Resistor, Braking Resistor Unit,

Braking Unit) is used, always set to 0 or 3.

* When using flux vector control, 0 to 2.

0 to 3

* 1 No Q Q Q Q 492H

Acceleration and Deceleration Characteristics

Setting Example

An example of stall prevention during deceleration when L3-04 is set to 1 as shown below.

Output frequency Deceleration time controlled to prevent overvoltage

Time

Deceleration time

(set value)

Fig 6.27 Stall Prevention During Deceleration Operation

Setting Precautions

• The stall prevention level during deceleration differs depending on the Inverter capacity. Refer to the following table for details.

200 V Class

400 V Class

Inverter Capacity

E1-01 ≥ 400 V

E1-01 < 400 V

Stall Prevention Level during Deceleration (V)

380

760

660

•

When using the braking option (braking resistor, Braking Resistor Units, and Braking Units), be sure to set constant L3-04 to 0 or 3.

To decelerate at a shorter time than the deceleration time set when L3-04 is set to 0 with the braking option enabled, set L3-04 to 3.

• The setting of L3-04 is ignored for flux vector control.

Preventing Overvoltage by Automatically Reducing the Regenerative

Torque Limit (Overvoltage Inhibit Function, SPEC: E or later only)

The overvoltage inhibit function is a function that, by reducing the regenerative torque limit to a value less than its set value according to the main circuit voltage level, suppresses voltage rises with regenerative torque.

Using this function means that if, for example, the main circuit voltage rises during deceleration, the regenerative torque limit will be reduced and so the deceleration rate will be reduced automatically, suppressing rises in the main circuit voltage.

This function is effective for suppressing overvoltages that occur during stabilization after an overshoot following sudden acceleration. This function differs from the stall prevention during deceleration function in this respect.

This function is enabled during vector control.

-34

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

L3-11

Overvoltage inhibit selection

0: Disabled

1: Enabled

Used to enable or disable the function for inhibiting main circuit overvoltages by reducing the regenerative torque limit according to the main circuit overvoltage level.

If this function is enabled, when the main circuit voltage rises, operation will be performed with the regenerative torque less than the set value.

0 or 1 0

L3-12

Overvoltage inhibit voltage level

Sets the main circuit voltage level for which the regenerative torque limit is restricted to 0.

Usually, there is no need to change this setting.

If main circuit overvoltages occur even with the overvoltage inhibit function enabled, reduce this setting.

350 to

390

380V *

* These are values for a 200 V Class Inverter. Values for a 400 V Class Inverter are double.

A 4C7H

A 4C8H

Setting Precautions

When this function is enabled, if the main circuit voltage rises, the regenerative torque limit will decrease to a value less than its set value and so the motor will not rotate at the speed specified by the speed reference.

Therefore, in applications where it is necessary to rotate the motor at the speed specified by the speed reference, disable this function and use a converter, a dynamic braking resistor, or a power regenerative unit to suppress rises in the main circuit voltage.

Adjusting Frequency References

This section explains methods of adjusting frequency references.

Adjusting Analog Frequency References

Gain and bias are among the constants used to adjust analog inputs.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

H3-01

H3-02

H3-03

H3-04

H3-05

H3-06

H3-07

H3-08

H3-09

H3-10

H3-11

Signal level selection (terminal A1)

0: 0 to 10 V

1: − 10 to 10 V

Gain (terminal A1)

Bias (terminal A1)

Sets the frequency when 10 V is input. as a percentage of the maximum output frequency.

Sets the frequency when 0 V is input, as a percentage of the maximum frequency.

Signal level selection (terminal A3)

Multi-function analog input (terminal A3) function selection

0: 0 to 10 V

1: − 10 to 10 V

Select from the functions listed in the following table. Refer to the next page.

Gain (terminal A3)

Bias (terminal A3)

Signal level selection

(terminal A2)

Sets the input gain (level) when

10V 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.

0: 0 to +10V, with lower limit

1: − 10 to 10 V limit

without lower

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 or 1

0.0 to

1000.0

-100.0

+100.0

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

+100.0

0 No

100.0% Yes

0.0%

Yes

100.0% Yes

0.0%

Yes

100.0% Yes

0.0% Yes

410H

411H

412H

413H

414H

415H

416H

417H

418H

419H

A 41AH

-36

Constant

Number

Name Description

H3-12

Analog input filter time constant

Sets primary delay filter time constant in seconds for the analog input terminal.

Effective for noise control etc.

Setting

Range

0.00 to

2.00

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

0.00 s

No A A A A 41BH

0.03 s

Adjusting Analog Frequency Reference Using Constants

The frequency reference is input from the control circuit terminals using analog voltage and current.

If using frequency reference terminal A1 as an input terminal, perform adjustments using constants H3-02 and

H3-03. If using multi-function analog input terminal A2 as a frequency reference terminal, perform adjustments using H3-10 and H3-11.

Adjustment can be made using H3-06 and H3-07 when multi-function analog input terminal A3 is used as a frequency reference terminal.

Frequency reference Frequency reference

(H3-06)

(H3-07) input voltage

Terminal A1, A3 input

Note: ( ) is for when terminal A3 is used.

Fig 6.28 Terminals A1 and A2 Inputs

Terminal A2 input

Terminal A2 input voltage (current)

Adjusting Frequency Gain Using an Analog Input

When H3-09 or H3-05 is set to 1 (frequency gain), you can adjust the frequency gain using the analog input terminal A2 or A3 .

Frequency gain

Multi-function analog input terminal A2 input level

Fig 6.29 Frequency Gain Adjustment (Terminal A2 Input)

Adjusting Frequency References

The frequency gain for terminal A1 is the product of H3-02 and terminal A2 gain. For example, when H3-02 is set to 100% and terminal A2 is set to 5 V, the terminal A1 frequency reference will be 50%.

Frequency reference

100% H3-02

50% H3-02 0.5

0 10 V

Terminal A1 input voltage

Adjusting Frequency Bias Using an Analog Input

When constant H3-09 or H3-05 is set to 0 (add to terminal A1), the frequency equivalent to the terminal A2 or A3 input voltage is added to A1 as a bias.

Frequency bias terminal A2 or A3 input

Multi-function analog input terminal A2 or A3 input level

Fig 6.30 Frequency Bias Adjustment (Terminal A2 or A3 or A3 Input)

For example, if H3-02 is 100%, H3-03 is 0%, and terminal A2 is set to 1 V, the frequency reference from terminal A1 when 0 V is input to A1 will be 10%.

Frequency reference

H3-02

10%

Bias

0 V 10 V

Terminal A1 input voltage

When constant H3-09 or H3-05 is set to D (frequency bias 2), the frequency equivalent to the terminal A2 or

A3 input voltage is added to A1 as a bias.

-38

Operation Avoiding Resonance (Jump Frequency Function)

The jump frequency function operates the motor while avoiding resonance caused by characteristic frequencies in the machinery.

This function is effective in creating a frequency reference dead band.

During constant-speed operation, operation within the jump frequency range is prohibited. Smooth operation still used during acceleration and deceleration, i.e., jumps are not performed.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Jump frequency 1

Jump frequency 2

Jump frequency 3

Set the center values of the jump frequencies in Hz.

This function is disabled by setting the jump frequency to 0 Hz.

Always ensure that the following applies: d3-01 ≥ d3-02 ≥ d3-03

Operation in the jump frequency range is prohibited but during acceleration and deceleration, speed changes smoothly without jump.

d3-04

Jump frequency width

Sets the jump frequency bandwidth in Hz.

The jump frequency will be the jump frequency ± d3-04.

* 1. When C6-01=0, the upper limit is 150.0.

* 2. When C6-01=1, the upper limit is 400.0.

0.0 to

400.0

0.0 to

300.0

0.0 to

20.0

0.0 Hz

1.0 Hz

294H

295H

296H

297H

The relationship between the output frequency and the jump frequency reference is as follows:

Output frequency

Frequency reference descending

Jump frequency width d3-04

Frequency reference ascending

Jump frequency width d3-04

Jump frequency reference

Jump frequency

3 (d3-03)

Jump frequency

2 (d3-02)

Jump frequency

1 (d3-01)

Fig 6.31 Jump Frequency

Adjusting Frequency References

Setting Jump Frequency Reference Using an Analog Input

When constant H3-09 (Multi-function Analog Input Terminal A2 Function Selection) or H3-05 (Multi-function Analog Input Terminal A3 Function Selection) is set to A (jump frequency), you can change the jump frequency using the terminal A2 or A3 input level.

Jump frequency

Max. output frequency

E1-04

0 V

(4 mA)

10 V

(20 mA)

Multi-function analog input terminal A2 or A3 input level

Fig 6.32 Jump Frequency Setting Using an Analog Input

Setting Precautions

•

Set the jump frequency according to the following formula: d3-01 ≥ d3-02 ≥ d3-03 > Analog input.

When constants d3-01 to d3-03 are set to 0 Hz, the jump frequency function is disabled.

-40

Adjusting Frequency Reference Using Pulse Train Inputs

The frequency reference can be adjusted when b1-01 (Reference Selection) is set to 4 (Pulse Train Input). Set the pulse frequency in constant H6-02 to 100% reference, and then adjust the gain and bias accordingly using

H6-03 and H6-04.

Related Constants

Constant

Number

H6-01

H6-02

H6-03

H6-04

H6-05

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Pulse train input function selection

Pulse train input scaling

0: Frequency reference

1: PID feedback value

2: PID target value

Set the number of pulses in hertz, taking the reference to be

100%.

Pulse train input gain

Pulse train input bias

Pulse train input filter time

0 to 2

1000 to

32000

Set the input gain level as a percent when the pulse train set in

H6-02 is input.

Set the pulse train input primary delay filter time constant in seconds.

0.0 to

1000.0

Set the input bias when the pulse train is 0.

-100.0 to 100.0

0.00 to

2.00

1440 Hz Yes

100.0%

0.0%

0.10 s

Yes

A 42CH

A 42DH

42EH

42FH

430H

The following diagram shows the method for adjusting the frequency reference using pulse inputs.

Pulse

Cycle measurement

Filter

1+sT

H6-05

Gain and bias

H6-03

H6-04

0 100

H6-01

Scaling using H6-02

Fig 6.33 Frequency Reference Adjustments Using Pulse Train Inputs

Master speed frequency

PID feedback

PID target value

Speed Limit (Frequency Reference Limit Function)

This section explains how to limit the motor speed.

Limiting Maximum Output Frequency

If you do not want the motor to rotate above a given frequency, use constant d2-01.

Set the upper limit value of the Inverter output frequency as a percent, taking E1-04 (Maximum Output Frequency) to be 100%.

Related Constants

Constant

Number

Name Description d2-01

Frequency reference upper limit

Set the output frequency upper limit as a percent, taking the max. output frequency to be

100%.

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

0.0 to

110.0

100.0% No A A A A 289H

Limiting Minimum Frequency

If you do not want the motor to rotate at below a given frequency, use constants d2-02 or d2-03.

There are two methods of limiting the minimum frequency, as follows:

• Adjust the minimum level for all frequencies.

• Adjust the minimum level for the master speed frequency (i.e., the lower levels of the jog frequency, multistep speed frequency, and auxiliary frequency will not be adjusted).

Related Constants

Constant

Number

Name Description d2-02 d2-03

Frequency reference lower limit

Sets the output frequency lower limit as a percentage of the maximum output frequency.

Master speed reference lower limit

Set the master speed reference lower limit as a percent, taking the max. output frequency to be

100%.

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

0.0 to

110.0

0.0% No A A A A 28AH

0.0 to

110.0

0.0% No A A A A 293H

-42

Adjusting Frequency Lower Limit Using an Analog Input

If you set constant H3-09 (Multi-function Analog Input Terminal A2 Function Selection) or H3-05 (Multifunction Analog Input Terminal A3 Function Selection) to 9 (output frequency lower level), you can adjust the frequency lower level using the terminal A2 or A3 input level.

Output frequency lower level

Max. output frequency

E1-04

INFO

0 V

(4 mA)

10 V

(20 mA)

Multi-function analog input terminal A2 or A3 input level

Fig 6.34 Output Frequency Lower Level for Multi-function Analog Input

If constant d2-02 and terminal A2 output frequency lower level have been set at the same time, the larger set value will become the frequency lower limit.

Improved Operating Efficiency

This section explains functions for improving motor operating efficiency.

Reducing Motor Speed Fluctuation (Slip Compensation Function)

When the load is large, the amount of motor slip also grows large and the motor speed decreases. The slip compensation function controls the motor at a constant speed, regardless of changes in load. When the motor is operating at the rated load, constant E2-02 (Motor Rated Slip) × the frequency in constant C3-01 is added to the output frequency.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

C3-01

C3-02

C3-03

C3-04

C3-05

Slip compensation gain

Slip compensation primary delay time

Slip compensation limit

Slip compensation selection during regeneration

Output voltage limit operation selection

Used to improve speed accuracy when operating with a load.

Usually setting is not necessary.

Adjust this constant at the following times.

• When actual speed is low, increase the set value.

• When actual speed is high, decrease the set value.

Used as the applicable control gain when using flux vector control.

Slip compensation primary delay time is set in ms units.

Usually setting is not necessary.

Adjust this constant at the following times.

• Reduce the setting when slip compensation responsive is slow.

• When speed is not stabilized, increase the setting.

Sets the slip compensation limit as a percentage of motor rated slip.

0: Disabled.

1: Enabled.

When the slip compensation during regeneration function has been activated, as regeneration capacity increases momentarily, it may be necessary to use a braking option (braking resistor,

Braking Resistor Unit or Braking Unit.)

0: Disabled.

1: Enabled. (The motor flux will be lowered automatically when the output voltage become saturated.)

0.0 to

2.5

0 to

10000

0 to

250

0 or 1

0.0*

2000 ms

200%

Yes

* The factory setting will change when the control method is changed. The V/f control factory settings are given.

MEMO

BUS

No 210H

No 211H

No 212H

20FH

213H

-44

Adjusting Slip Compensation Gain

You can switch the C3-01 constant settings as shown below by changing the control method.

• V/f control: 0.0

• Open-loop vector control: 1.0

• Flux vector control: 1.0

Set C3-01 to 1.0 to compensate the rated slip set using the rated torque output status.

Adjust the slip compensation gain using the following procedure.

1. Set E2-02 (Motor Rated Slip) and E2-03 (Motor No-load Current) correctly.

You can calculate the motor rated slip from the values on the motor nameplate using the following formula.

Amount of motor rated slip (Hz) = Motor rated frequency (Hz) - No. of rated rotations (min

− 1

.) × No. of motor poles / 120

Set the values for rated voltage, rated frequency, and no-load current in the motor unladen current. The motor rated slip is set automatically in the vector control using autotuning.

2. In V/f control, set C3-01 to 1.0. Setting this constant to 0.0 disables slip compensation.

3. Apply a load, and measure the speed to adjust the slip compensation gain. Adjust the slip compensation gain by 0.1 at a time. If the speed is less than the target value, increase the slip compensation gain, and if the speed is greater than the target value, reduce the slip compensation gain.

For flux vector control, the slip compensation gain is used as the motor temperature compensation gain. When the motor temperate increases, the motor’s internal constant increases, resulting in an increase in slip. If C3-01 is set, the amount of slip is adjusted as the temperature rises. Set C3-01 if the amount of torque varies with the temperature when using torque control or a torque limit. The larger the value of C3-01, the larger the compensation.

Adjusting Slip Compensation Primary Delay Time Constant

Set the slip compensation primary delay time constant in ms.

You can switch the factory settings as follows by changing the control method.

• V/f control: 2000 ms

• Open-loop vector control: 200 ms

Normally, there is no need to make these settings. When the slip compensation response is low, lower the set value. When the speed is unstable, increase the set value.

Adjusting Slip Compensation Limit

The upper limit for the slip compensation amount can be set in C3-03 as a percent, taking the motor rated slip amount as 100%.

If the speed is lower than the target value but does not change even when you adjust the slip compensation gain, the motor may have reached the slip compensation limit. Increase the limit, and check the speed again.

Make the settings, however, to make sure that the value of the slip compensation limit and reference frequency does not exceed the tolerance of the machine.

The following diagram shows the slip compensation limit for the constant torque range and fixed output range.

Improved Operating Efficiency

Slip compensation limit

Output frequency

E1-06: Base frequency

E1-04: Maximum output frequency

Fig 6.35 Slip Compensation Limit

Selecting Slip Compensation Function During Regeneration

Whether to enable or disable the slip compensation function during regeneration can be set in C3-04.

If the slip compensation function operates during regeneration, you might have to use the braking option

(braking resistor, Braking Resistor Unit, and Braking Unit) to momentarily increase the regenerative amount.

Selecting Output Voltage Limit Operation

If output voltage saturation occurs while the output voltage limit operation is disabled, the output current will not change, but torque control accuracy will be lost. If torque control accuracy is required, set C3-05 to 1 to enable the output voltage limit operation.

If the output voltage limit operation is enabled, motor magnetic flux current is controlled automatically, and torque control accuracy is maintained to limit the output voltage references. Consequently, the output current will increase by approximately 10% maximum (with rated load) compared with when the output voltage limit operation is disabled, so check the Inverter current margin.

Setting Precautions

• If using the device at medium to low speed only, if the power supply voltage is 10% or more higher than the motor rated voltage, or if the torque control accuracy at high speeds is insufficient, it is not necessary to change the output voltage limit operation.

• If the power supply voltage is too low compared with the motor rated voltage, torque control accuracy may be lost even if the output voltage limit operation is enabled.

Compensating for Insufficient Torque at Startup and Low-speed Operation (Torque Compensation)

The torque compensation function detects that the motor load has increased, and increases the output torque.

V/f control calculates and adjusts the motor primary loss voltage according to the output voltage (V), and compensates for insufficient torque at startup and during low-speed operation. Calculate the compensation voltage as follows: Motor primary voltage loss × constant C4-01.

Vector control separates the motor excitation current and the torque current by calculating the motor primary current, and controlling each of the two separately.

Calculate the torque current as follows: Calculated torque reference × C4-01

-46

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

C4-01

C4-02

Torque compensation gain

Sets torque compensation gain as a ratio.

Usually setting is not necessary.

Adjust in the following circumstances:

• When the cable is long; increase the set value.

• When the motor capacity is smaller than the Inverter capacity (Max. applicable motor capacity), increase the set values.

• When the motor is oscillating, decrease the set values.

Adjust the output current range at minimum speed rotation so that it does not exceed the

Inverter rated output current.

Do not alter the torque compensation gain from its default

(1.00) when using the open loop vector control method.

Torque compensation primary delay time constant

The torque compensation delay time is set in ms units.

Usually setting is not necessary.

Adjust in the following circumstances:

• When the motor is oscillating, increase the set values.

• When the responsiveness of the motor is low, decrease the set values.

0.00 to

2.50

0 to

10000

1.00

200 ms

Yes

* The factory setting will change when the control method is changed. The V/f control factory setting is given.

MEMO

BUS

No 215H

No 216H

Adjusting Torque Compensation Gain

Normally, there is no need to make this adjustment. Do not adjust the torque compensation gain when using open-loop vector control.

Adjust the torque compensation gain using V/f control in the following circumstances.

• If the cable is very long, increase the set value.

•

If the (maximum applicable) motor capacity is smaller than the Inverter capacity, increase the set value.

If the motor is vibrating, reduce the set value.

Adjust this constant so that the output current during low-speed rotation does not exceed the Inverter rated output current range.

Adjusting the Torque Compensation Primary Delay Time Constant

Set the torque compensation function primary delay in ms.

You can switch the factory settings as follows by changing the control method settings:

• V/f control: 200 ms

•

V/f control with PG: 200 ms

Open-loop vector control: 20 ms

Improved Operating Efficiency

Normally, there is no need to make this setting. Adjust the constant as shown below.

• If the motor is vibrating, increase the set value.

• If the motor response is low, decrease the set value.

Hunting-prevention Function

The hunting-prevention function suppresses hunting when the motor is operating with a light load. This function can be used in V/f and V/f with PG.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

N1-01

Hunting-prevention function selection

N1-02

Hunting-prevention gain

0: Hunting-prevention function disabled

1: Hunting-prevention function enabled

The hunting-prevention function suppresses hunting when the motor is operating with a light load.

This function is enabled in V/f control method only.

If high response is to be given priority over vibration suppression, disable the hunting-prevention function.

Set the hunting-prevention gain multiplication factor.

Normally, there is no need to make this setting.

Make the adjustments as follows:

• If vibration occurs with light load, increase the setting.

• If the motor stalls, reduce the setting.

If the setting is too large, the voltage will be too suppressed and the motor may stall.

0 or 1

0.00 to

2.50

1.00

No 580H

No 581H

-48

Stabilizing Speed (Speed Feedback Detection Function)

The speed feedback detection control (AFR) function measures the stability of the speed when a load is suddenly applied, by calculating the amount of fluctuation of the torque current feedback value, and compensating the output frequency with the amount of fluctuation.

Related Constants

Constant

Number

Name

N2-01

Speed feedback detection control

(AFR) gain

Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Set the internal speed feedback detection control gain using the multiplication function.

Normally, there is no need to make this setting.

Adjust this constant as follows:

• If hunting occurs, increase the set value.

• If response is low, decrease the set value.

Adjust the setting by 0.05 at a time, while checking the response.

0.00 to

10.00

1.00

No No No A No 584H

N2-02

N2-03

Speed feedback detection control

(AFR) time constant

Speed feedback detection control

(AFR) time constant 2

Set the time constant to decide the rate of change in the speed feedback detection control.

Set the time constant to decide the amount of change in the speed.

0 to

2000

0 to

2000

50 ms

750 ms

No 585H

No 586H

Machine Protection

This section explains functions for protecting the machine.

Limiting Motor Torque (Torque Limit Function)

The motor torque limit function is enabled with flux vector control and open-loop vector control.

In the open-loop vector control and flux vector control, the user-set value is applied to the torque limit by calculating internally the torque output by the motor. Enable this function if you do not want a torque above a specified amount to be applied to the load, or if you do not want a regeneration value above a specified amount to occur.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

Control Methods

V/f

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

L7-01

L7-02

L7-03

L7-04

L7-06

L7-07

Forward drive torque limit

Sets the torque limit value as a percentage of the motor rated torque.

Four individual regions can be set.

Reverse drive torque limit Output torque

Positive torque

Forward regenerative torque limit

Reverse

Regenerative state

No. of motor rotations

Forward

Reverse regenerative torque limit

Negative torque

Integral time setting for torque limit

Set the integral time for the torque limit. When integral control is set for the torque limit, reduce this setting to increase the change in frequency for the torque limit.

Control method selection for torque limit during acceleration and deceleration

Select the control method for the torque limit during acceleration and deceleration.

0: Proportional control (integral control during constant speed)

1: Integral control

Usually, this constant does not need to be set.

For applications in which the torque limit will be reached during acceleration and deceleration, torque control can be given priority by selecting integral control.

When the torque is limited, the acceleration and deceleration times may increase or the motor speed may not agree with the speed reference value.

0 to

300

0 to

300

0 to

300

0 to

300

5 to

10000

0 or 1

200%

200 ms No

0 No

No No A

A 4A7H

A 4A8H

A 4A9H

A 4AAH

No No A No 4ACH

No No A No 4C9H

-50

Multi-function Analog Input ( H3-05, H3-09)

Setting

Value

Function Contents (100%)

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

No No Yes Yes 10

Positive torque limit

Negative torque limit

Regenerative torque limit

Positive/negative torque limit

Motor's rated torque

Yes

Yes Yes

Note The forward torque limit is the limit value when the analog input signal generates forward torque. This torque limit setting is enabled even when the analog input signal generates forward torque while the motor is operating (regeneration).

Setting the Torque Limit in Constants

Using L7-01 to L7-04, you can set individually four torque limits in the following directions: Forward drive, reverse drive, forward regeneration, and reverse regeneration.

Set the Torque Limit Value Using an Analog Input

You can change the analog input level torque limit value by setting the torque limit in multi-function analog input terminals A2 and A3 .

The analog input terminal signal level is factory-set as follows:

Multi-function analog input terminal A2: 4 to 20 mA

Multi-function analog input terminal A3: 0 to 10

The following diagram shows the relationship between the torque limits.

Output torque

Positive

Positive/negative torque limits

Forward torque limit

Regenerative torque limit

Reverse operation

Negative torque limit

Negative

Fig 6.36 Torque Limit by Analog Input

No. of motor rotations

Forward operation

Regenerative torque limit

Positive/negative torque limits

Machine Protection

Setting Torque Limits Using Constants and an Analog Input

The following block diagram shows the relationship between torque limit using constants and torque limit using an analog input.

The lowest torque limit set from among the following is enabled: Torque limit using constants, torque limit using an analog input, 150% of Inverter rating (when set to CT), or 120% of Inverter rating (when set to VT) set in C6-01.

Multi-function analog input

Terminal or A3

(set value = 10)

Constants

Negative torque limit

(set value = 11)

Regenerative torque limit

(set value = 12)

Positive/negative torque limit

(set value = 15)

Positive forward drive torque

Reverse drive reverse torque

Reverse positive regenerative torque

Forward negative regenerative torque

Forward torque limit

(L7-01)

Reverse torque limit

(L7-02)

Forward regenerative torque limit (L7-03)

Reverse regenerative torque limit (L7-04)

150% (when set to CT) or 120% (when set to VT) of Inverter rated current

Min: Minimum value priority circuit

Forward torque limit

Reverse torque limit

Forward regenerative torque limit

Reverse regenerative torque limit

Fig 6.37 Torque Limit Using Constants and an Analog Input

Selecting the Control Method for Torque Limit during Acceleration and Deceleration

(SPEC: E or later only)

L7-07 is used to select the control method for the torque limit during acceleration and deceleration. The selections are proportional control and integral control. For applications, in which the torque limit will be reached during acceleration and deceleration, torque control can be given priority by selecting integral control. To increase the change in frequency for the torque limit when integral control is selected, decrease the value set for L7-06 (Integral Time Setting for Torque Limit).

Setting Precautions

•

When the torque limit function is operating, control and compensation of the motor speed is disabled because torque control is given priority. Therefore, the acceleration and deceleration times may increase or the number of motor rotations may decrease.

When using the torque limit to raise and lower loads, do not carelessly lower the torque limit value, as this may result in the motor falling or slipping.

Torque limits using an analog input are the upper limit value (during 10 V or 20 mA input) of 100% of the motor rated torque. To make the torque limit value during 10 V or 20 mA input 150% of the rated torque, set the input terminal gain to 150.0 (%). Adjust the gain for multi-function analog input terminal A2 using

H3-10 and for multi-function analog input terminal A3 using H3-06.

•

The torque limit accuracy is ±5% at the output frequency of 10 Hz or above. When output frequency is less than 10 Hz, accuracy is lowered.

When the torque is limited while L7-07 is set to 1 (integral control), the acceleration and deceleration times may increase or the motor speed may not agree with the speed reference value.

-52

Preventing Motor Stalling During Operation

Stall prevention during operation prevents the motor from stalling by automatically lowering the Inverter's output frequency when a transient overload occurs while the motor is operating at a constant speed.

Stall prevention during operation is enabled only during V/f control. If the Inverter output current continues to exceed the setting in constant L3-06 for 100 ms or longer, the motor speed is reduced. Set whether to enable or disable deceleration time using constant L3-05. Set the deceleration time using C1-02 (Acceleration time 1) or

C1-04 (Acceleration Time 2).

If the Inverter output current reaches the set value in L3-06 - 2% (Inverter Rated Output Current), the motor will accelerate again at the frequency set or the acceleration time set.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

L3-05

L3-06

Stall prevention selection during running

0: Disabled (Runs as set. With a heavy load, the motor may stall.)

1: Deceleration time 1 (the deceleration time for the stall prevention function is C1-

02.)

2: Deceleration time 2 (the deceleration time for the stall prevention function is C1-

04.)

Stall prevention level during running

Effective when L3-05 is 1 or 2.

Set as a percentage of the

Inverter rated output current.

Usually setting is not necessary.

The factory setting reduces the set values when the motor stalls.

* C6-01= 1: 120%, C6-01= 0: 150%

0 to 2

30 to

200

120%

150%

No 493H

No 494H

Machine Protection

Changing Stall Prevention Level during Operation Using an Analog Input

If you set H3-09 (Multi-function Analog Input Terminal A2 Function Selection) or H3-05 (Multi-function

Analog Input Terminal A3 Function Selection) to 8 (stall prevention level during run), you can change the stall level during operation by setting H3-10 [Gain (Terminal A2)] and H3-11 [Bias (Terminal A2)] or H3-06 [Gain (Terminal A3)] and H3-07 [Bias (Terminal A3)].

The stall prevention level during operation enabled is the multi-function analog input terminal A2 or A3 input level or the set value in constant L3-06, whichever is the smaller.

Stall prevention level during operation

Multi-function analog input terminal A2, A3 input level

(4 mA) (8.8 mA) (20 mA)

Fig 6.38 Stall Prevention Level during Operation Using an Analog Input

If the motor capacity is smaller than the Inverter capacity or the motor stalls when operating at the factory settings, lower the stall prevention level during operation.

INFO

Using Frequency Detection

Set these constants when outputting one of the frequency agree or frequency detection signals from a multifunction output. When using flux vector control, the motor speed is detected.

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

L4-01

Speed agreement detection level

L4-02

Speed agreement detection width

Effective when “Desired frequency (ref/setting) agree 1,”

“Frequency detection 1,” or

“Frequency detection 2" is set for a multi-function output.

Frequencies to be detected are set in Hz units.

Effective when “Frequency

(speed) agree 1,” “Desired frequency (speed) agree 1,” or

“Frequency (FOUT) detection

1,” Frequency (FOUT) detection

2 is set for a multi-function output.

Sets the frequency detection width in Hz units.

0.0 to

400.0

0.0 to

300.0

0.0 to

20.0

0.0 Hz

2.0 Hz

A 499H

A 49AH

-54

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

L4-03

L4-04

Speed agreement detection level (+/

Effective when “Desired frequency (speed) agree 2,” “Frequency (FOUT) detection 3,” or

“Frequency (FOUT) detection

4" is set for a multi-function output.

Frequency that should be detected is set in Hz units.

Speed agreement detection width (+/

Effective when “Frequency

(speed) agree 2,” “Desired frequency (speed) agree 2,” Frequency (FOUT) detection 3 or

“Frequency detection 4" is set for a multi-function output.

Frequency detection width is set in Hz units.

-400.0 to

+400.0

-300.0 to

+300.0

0.0 to

20.0

0.0 Hz

2.0 Hz

A 49BH

A 49CH

* 1. When C6-01 = 0, the upper limit is 150.0.

* 2. When C6-01 = 1, the upper limit is 400.0.

* 3. When C6-01 = 0, -150.0 to +150.0.

* 4. When C6-01 = 1, -400.0 to +400.0

Constants and Output Signals

User Constant Number

L4-01

Name

Speed agree detection level

L4-02

L4-03

L4-04

Speed agree detection width

Speed agree detection level (+/-)

Speed agree detection width (+/-)

Function

Fref/Set Agree 1

Frequency Detection 1

Frequency Detection 2

Frequency Detection 5

Fref/Fout Agree 1

Fref/Set Agree 1

Frequency Detection 1

Frequency Detection 2

Frequency Detection 5

Fref/Set Agree 2

Frequency Detection 3

Frequency Detection 4

Fref/Fout Agree 2

Fref/Set Agree 2

Frequency Detection 3

Frequency Detection 4

Set the corresponding setting in the multi-function output (H2-01 to H2-03) to output the desired Fref/Fout

Agree signal, Fref/Set Agree signal, or Frequency Detection signal.

Function

Fref/Fout Agree 1

Fref/Set Agree 1

Frequency Detection 1

Frequency Detection 2

Fref/Fout Agree 2

Fref/Set Agree 2

Frequency Detection 3

Frequency Detection 4

Frequency Detection 5

Setting

Machine Protection

Timing Chart for Frequency Detection Operation

Related constant

L4-01: Speed Agree Level

L4-02: Speed Agree Width

Fref/Fout Agree 1

Frequency reference

Fref/Fout

Agree

Output frequency or motor speed

L4-02

L4-03: Speed Agree Level +/ −

L4-04: Speed Agree Width +/ −

Fref/Fout Agree 2

Frequency reference

Output frequency or motor speed

L4-04

Fref/Set

Agree

Fref/Fout Agree 1 OFF ON

(Multi-function output setting = 2)

Fref/Set Agree 1

(ON at the following conditions during frequency agree)

L4-02

L4-01

Output frequency or motor speed

L4-01

L4-02

Fref/Set Agree 1 OFF ON

(Multi-function output setting = 3)

Frequency (FOUT) Detection 1

(L4-01 > | Output frequency | )

L4-02

L4-01

Output frequency or motor speed

L4-01

L4-02

Freq. Detection 1

ON OFF

(Multi-function output setting = 4)

Frequency (FOUT) Detection 2

(L4-01 < | Output frequency | )

L4-02

Frequency

Detection

Output frequency or motor speed

L4-01

L4-02

Freq. Detection 2

OFF ON

(Multi-function output setting = 5)

Frequency (FOUT) Detection 5

(L4-01 < | Output frequency | )

L4-02

L4-01

Output frequency or motor speed

Freq. Detection 5 OFF ON

(Multi-function output setting = 36)

L4-01

L4-02

OFF during baseblock

Fref/Fout Agree 2 OFF ON

(Multi-function output setting = 13)

Fref/Set Agree 2

(ON at the following conditions during frequency agree)

L4-04

L4-03

Output frequency or motor speed

Fref/Set Agree 2 OFF ON

(Multi-function output setting = 14)

Frequency (FOUT) Detection 3

(L4-03 > Output frequency)

L4-04

Output frequency or motor speed

Freq. Detection 4 OFF ON

(Multi-function output setting = 16)

L4-03

Freq. Detection 3

ON OFF

(Multi-function output setting = 15)

Frequency (FOUT) Detection 4

(L4-01 < Output frequency)

L4-04

L4-03

Output frequency or motor speed

-56

Detecting Motor Torque

If an excessive load is placed on the machinery (overtorque) or the load is suddenly lightened (undertorque), you can output an alarm signal to multi-function output terminal M1-M2, P1-PC, or P2-PC.

To use the overtorque/undertorque detection function, set B, 17, 18, 19 (overtorque/undertorque detection NO/

NC) in one of the following constants: H2-01 to H2-03 (multi-function output terminals M1-M2, P1-PC, and

P2-PC function selection).

The overtorque/undertorque detection level is the current level (Inverter rated output current 100%) in V/f control, and the motor torque (motor rated torque 100%) in vector control.

Related Constants

Constant

Number

L6-01

L6-02

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Torque detection selection

0: Overtorque/undertorque detection disabled.

1: Overtorque detection only with speed agreement; operation continues after overtorque (warning).

2: Overtorque detected continuously during operation; operation continues after overtorque

(warning).

3: Overtorque detection only with speed agreement; output stopped upon detection (protected operation).

4: Overtorque detected continuously during operation; output stopped upon detection (protected operation).

5: Undertorque detection only with speed agreement; operation continues after overtorque (warning).

6: Undertorque detected continuously during operation; operation continues after overtorque

(warning).

7: Undertorque detection only with speed agreement; output stopped upon detection (protected operation).

8: Undertorque detected continuously during operation; output stopped upon detection (protected operation).

0 to 8 0

Torque detection level 1

Open loop vector control: Motor rated torque is set as 100%.

V/f control: Inverter rated current is set as 100%.

0 to 300 150%

A 4A1H

A 4A2H

Machine Protection

Constant

Number

Name Description

L6-03

L6-04

L6-05

L6-06

Torque detection time 1

Sets the overtorque/undertorque detection time in 1-second units.

Torque detection selection

Torque detection level 2

Output of torque detection 1 is enabled by setting B or 17 for

H2 and output of torque detection 1 is enabled by setting

18 or 18 for H2 .

Torque detection time 2

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

0.0 to

10.0

0.1 s No A A A A 4A3H

0 to 8

0 to

300

0.0 to

10.0

150%

0.1 s

A 4A4H

A 4A5H

A 4A6H

Multi-function Output (H2-01 to H2-03)

Setting

Value

Function

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

Yes Yes Yes Yes

Overtorque/undertorque detection 1 NO (NO contact: Overtorque/undertorque detection at ON)

Overtorque/undertorque detection 1 NC (NC Contact: Overtorque/undertorque detection at OFF)

Overtorque/undertorque detection 2 NO (NO Contact: Overtorque/undertorque detection at ON)

Overtorque/undertorque detection 2 NC (NC Contact: Overtorque/undertorque detection at OFF)

Yes Yes Yes Yes

-58

L6-01 and L6-04 Set Values and LED Indications

The relationship between alarms displayed by the Digital Operator when overtorque or undertorque is detected, and the set values in L6-01 and L6-04, is shown in the following table.

Set

Value

Function

LED Indications

Overtorque/

Undertorque

Detection 1

Overtorque/

Undertorque

Detection 2

Overtorque/undertorque detection disabled.

Overtorque detection only with speed matching; operation continues after overtorque (warning).

Overtorque detected continuously during operation; operation continues after overtorque (warning).

Overtorque detection only with speed matching; output stopped upon detection (protected operation).

Overtorque detected continuously during operation; output stopped upon detection (protected operation).

Undertorque detection only with speed matching; operation continues after overtorque (warning).

Undertorque detected continuously during operation; operation continues after overtorque (warning).

Undertorque detection only with speed matching; output stopped upon detection (protected operation).

Undertorque detected continuously during operation; output stopped upon detection (protected operation).

OL3 flashes

OL3 lit

UL3 flashes

UL3 lit

OL4 flashes

OL4 lit

UL4 flashes

UL4 lit

Setting Example

The following diagram shows the time chart for overtorque and undertorque detection.

• Overtorque Detection

Motor current (output torque)

* *

L6-02 or L6-05

Overtorque detection 1 NO or overtorque detection 2 NO

L6-03 or

L6-06

L6-03 or

L6-06

ON ON

* Overtorque detection disabled band is approximately 10% of the Inverter rated output

current (or motor rated torque).

Machine Protection

• Undertorque Detection

Motor current (output torque)

L6-02 or L6-05

Undertorque detection 1 NO or Undertorque detection 2 NO

L6-03 or

L6-06

L6-03 or

L6-06 ON ON

The undertorque detection disabled margin is approximately 10% of the Inverter rated output

current (or motor rated torque)

Changing Overtorque and Undertorque Detection Levels Using an Analog Input

If you set constant H3-09 (Multi-function Analog Input Terminal A2 Function Selection) or H3-05 (Multifunction Analog Input Terminal A3 Function Selection) to 7 (overtorque/undertorque detection level), you can change the overtorque/undertorque detection level.

If you change the overtorque/undertorque detection level using the multi-function analog input, only overtorque/undertorque detection level 1 will be enabled.

The following diagram shows the overtorque/undertorque detection level using an analog input.

Detection level

Multi-function analog input terminal A2, A3 input level

(4 mA) (20 mA)

Fig 6.39 Overtorque/Undertorque Detection Level Using an Analog Input

Multi-Function Analog Input ( H3-05, H3-09)

Setting

Value

Function Contents (100%)

Overtorque/undertorque detection level

Motor rated torque for vector control

Inverter rated output current for V/f control

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

Yes Yes Yes Yes

-60

Motor Overload Protection

You can protect the motor from overload using the Inverter's built-in electronic thermal overload relay.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

E2-01

E4-01

L1-01

L1-02

Motor rated current

Motor 2 rated current

Motor protection selection

Motor protection time constant

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 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 whether the motor overload function is enabled or disabled at electric thermal overload relay.

0: Disabled

1: General-purpose motor protection

2: Inverter motor protection

3: Vector motor protection

In some applications when the

Inverter power supply is turned off, the thermal value is reset, so even if this constant is set to

1, protection may not be effective.

When several motors are connected to one Inverter, set to 0 and ensure that each motor is installed with a protection device.

Sets the electric thermal detection time in seconds units.

Usually setting is not necessary.

The factory setting is 150% overload for one minute.

When the motor's overload resistance is known, also set the overload resistance protection time for when the motor is hot started.

0.32 to

6.40

0.32

to 6.40

0 to 3

0.1 to

5.0

1.90 A

1.0 min

* 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.

For the motor no-load current, set E2-03 to a value less than that of E2-01.

MEMO

BUS

30EH

321H

480H

481H

Machine Protection

Multi-Function Outputs (H2-01 to H2-03)

Setting

Value

Function

Motor overload (OL1, including OH3) pre-alarm (ON: 90% or more of the detection level)

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

Yes Yes Yes Yes

Setting Motor Rated Current

Set the rated current value on the motor nameplate in constants E2-01 (for motor 1) and E4-01 (for motor 2).

This set value is the electronic thermal base current.

Setting Motor Overload Protection Characteristics

Set the overload protection function in L1-01 according to the applicable motor.

The induction motor's cooling abilities differ according to the speed control range. Consequently, you must select the electronic thermal protection characteristics to match the applicable motor's tolerance load characteristics.

The following table shows the motor type and tolerance load characteristics.

L1-01

Set

Value

Motor Type Tolerance Load Characteristics Cooling Ability

Electronic Thermal

Operation (at 100%

Motor Load)

General-purpose motor (standard motor)

Short time 60 s.

Rated rotation speed

= 100% speed

Continuous

Frame number

Max. speed of 200

LJ min.

Frame number Max. speed of 160 MJ to 160 LJ min.

Frame number Max. speed of 132 MJ

Use this motor for operations using a commercial power supply. This motor construction yields best cooling effect when operating at 50/

60 Hz.

When operating continuously at 50/60 Hz or less, motor overload detection

(OL1) is detected. The

Inverter outputs the error contact, and the motor coasts to a stop.

Rotation speed (%)

Inverter motor

(constant torque)

(1:10)

Short time 60

Rated rotation speed

= 100% speed

Continuous

Frame number Max. speed of 200 LJ min.

Frame number Max. speed of 160 MJ to 180 LJ

Frame number Max. speed of 132 MJ

This motor yields a cooling effect even when operating at low speeds (approx.

6 Hz).

Operates continuously at 6 to 50/60 Hz.

Rotation speed (%)

-62

L1-01

Set

Value

Motor Type Tolerance Load Characteristics

Short time 60 s.

Rated rotation speed

= 100% speed

Cooling Ability

Vector motor

(1:100)

Electronic Thermal

Operation (at 100%

Motor Load)

Continuous

Frame number

Max. speed of

200 LJ min.

Frame number Max. speed of 160 MJ to 180 LJ

Frame number Max. speed of 132 MJ

This motor yields a cooling effect even when operating at extremely low speeds

(approx. 0.6 Hz).

Operates continuously at

0.6 to 60 Hz.

Rotation speed (%)

Setting Motor Protection Operation Time

Set the motor protection operation time in L1-02.

If, after operating the motor continuously at the rated current, a 150% overload is experienced, set the (hot start) electronic thermal protection operation time. The factory setting is resistance to 150% for 60 seconds.

The following diagram shows an example of the characteristics of the electronic thermal protection operation time (L1-02 = 1.0 min., operation at 60 Hz, general-purpose motor characteristics, when L1-01 is set to 1)

Operating time (min.)

Cold start

Hot start

Motor current (%)

E2-01 is set to 100%

Fig 6.40 Motor Protection Operation Time

Setting Precautions

• If multiple motors are connected to one Inverter, set constant L1-01 to 0 (disabled). To protect the motor, install a thermal relay in the motor power cable, and perform overload protection on each motor.

• With applications where the power supply is often turned ON and OFF, there is a risk that the circuit cannot be protected even if this constant has been set to 1 (enabled), because the thermal value will be reset.

• To detect overloads in good time, set the set value in constant L1-02 to a low setting.

• When using a general-purpose motor (standard motor), the cooling ability will be lowered by f 1/4 (frequency). Consequently, the frequency may cause motor overload protection (OL1) to occur, even below the rated current. If operating using the rated current at a low frequency, use a special motor.

Machine Protection

Setting the Motor Overload Pre-Alarm

If the motor overload protection function is enabled (i.e., L1-01 is set to other than 0) and you set H2-01 to

H2-03 (multi-function output terminals M1-M2, P1-PC, and P2-PC function selection) to 1F (motor overload

OL1 pre-alarm), the motor overload pre-alarm will be enabled. If the electronic thermal value reaches minimum 90% of the overload detection level, the output terminal that has been set will be turned ON.

Motor Overheating Protection Using PTC Thermistor Inputs

Perform motor overheating protection using the thermistor temperature resistance characteristics of the PTC

(Positive Temperature Coefficient) built into the windings of each motor phase.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

L1-03

L1-04

L1-05

Alarm operation selection during motor overheating

Set Multi-function input terminal

A3 (H3-05)

or A2 (H3-09) to E and select the operation when the input motor temperature (thermistor) input exceeds the alarm detection level [1.17 V

(±5%)].

0: Decelerate to stop

1: Coast to stop

2: Emergency stop using the deceleration time in C1-09.

3: Continue operation (H3 on the Operator flashes).

Motor overheating operation selection

Set Multi-function input terminal

A3 (H3-05)

or A2 (H3-09) to E and select the operation when the motor temperature

(thermistor) input exceeds the operation detection level [2.34V

(±5%)].

0: Decelerate to stop

1: Coast to stop

2: Emergency stop using the deceleration time in C1-09.

Motor temperature input filter time constant

Set Multi-function input terminal A3 (H3-05) or A2 (H3-09) to E and set the primary delay time constant for motor temperature (thermistor) inputs in seconds.

0 to 3

0 to 2

0.00 to

10.00

0.20 s

482H

483H

484H

-64

PTC Thermistor Characteristics

The following diagram shows the characteristics of the PTC thermistor temperature to the resistance value.

Resistance (ohms)

Class F

150

Class H

180

1330

Tr: Temperature threshold value

550

Temperature

Tr 5 Tr Tr+5

Fig 6.41 PTC Thermistor Temperature-Resistance Value Characteristics

Operation during Motor Overheating

Set the operation if the motor overheats in constants L1-03 and L1-04. Set the motor temperature input filter time constant in L1-05. If the motor overheats, the OH3 and OH4 error codes will be displayed on the Digital

Operator.

Error Codes If the Motor Overheats

Error Code

OH3

OH4

Details

Inverter stops or continues to operate, according to the setting in L1-03.

Inverter stops according to the setting in L1-04.

By setting H3-09 (Multi-function Analog Input Terminal A2 Function Selection) or H3-05 (Multi-function

Analog Input Terminal A3 Function Selection) to E (Motor temperature input), you can detect alarm OH3 or OH4 using the PTC temperature-resistance characteristics, and protect the motor. The terminal connections are shown in the following diagram. Set H3-08 〔 Signal level selection (terminal A2) 〕 (H3-04 when A3 is used) to 0 (0 to + 10 V).

Inverter

Multi-function contact input

Multi-function contact output

Fault contact output

Branch resistance

18 k Ω

PTC thermistor

A2, A3

(0-10 V) *

Multi-function

PHC output

* When using terminal A2, set DIP switch S1-2 to OFF (0 to 10 V).

Fig 6.42 Mutual Connections During Motor Overheating Protection

Machine Protection

Limiting Motor Rotation Direction

If you set motor reverse rotation prohibited, a Reverse Run Command will not be accepted even if it is input.

Use this setting for applications in which reverse motor rotation can cause problems (e.g., fans, pumps, etc.)

Related Constants

Constant

Number

Name Description b1-04

Prohibition of reverse operation

0: Reverse enabled

1: Reverse disabled

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

0 or 1 0 No A A A A 183H

-66

Continuing Operation

This section explains functions for continuing or automatically restarting Inverter operation using speed search even if an error occurs.

Restarting Automatically After Power Is Restored

Even if a temporary power loss occurs, you can perform estimated/current detection speed search using the speed search function (b3-01) and restart the Inverter automatically after power is restored to continue motor operation. To restart the Inverter after power has been restored, set L2-01 to 1 or 2. Make settings of L2-01 to

L2-05 and b3-01 for related details of restarting.

• If L2-01 is set to 1: when power is restored within the time set in L2-02, the Inverter will restart. If the time set in L2-02 is exceeded, alarm UV1 (main circuit undervoltage) will be detected.

• If L2-01 is set to 2: when the main power supply is restored while the control power supply (i.e., power supply to the control panel) is backed up, the Inverter will restart. Consequently, alarm UV1 (main circuit undervoltage) will not be detected.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

L2-01

Momentary power loss detection

L2-02

Momentary power loss ridethru time

L2-03

Min. baseblock time

0: Disabled [main circuit undervoltage (UV1) detection]

1: Enabled [Restarted when the power returns within the time for L2-02. When L2-02 is exceeded, main circuit undervoltage (UV1) detection.]

2: Enabled while CPU is operating. [Restarts when power returns during control operations. Does not detect main circuit undervoltage

(UV1).]

Ridethrough time, when

Momentary Power Loss Selection (L2-01) is set to 1, in units of seconds.

0 to 2

0 to 25.5

Sets the Inverter's minimum baseblock time in units of one second, when the Inverter is restarted after power loss ridethrough.

Sets the time to approximately

0.7 times the motor secondary circuit time constant.

When an overcurrent or overvoltage occurs when starting a speed search or DC injection braking, increase the set values.

0.1 to

5.0

0.1 s

0.2 s

485H

486H

487H

Continuing Operation

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

L2-04

Voltage recovery time

Sets the time required to return the Inverter output voltage to normal voltage at the completion of a speed search, in units of one second.

Sets the time required to recover from 0 V to the maximum voltage.

0.0 to

5.0

0.3 s

No A A A A 488H

L2-05

Undervoltage detection level

Sets the main circuit undervoltage (UV) detection level (main circuit DC voltage) in V units.

Usually setting is not necessary.

Insert an AC reactor in the

Inverter input side to lower the main circuit undervoltage detection level.

150 to

210

190 V

No A A A A 489H

Note Attach a Backup Capacitor Unit for Momentary Power Loss if compensation for power interruptions of up to 2.0 seconds is required for 200 V/400 V

Class Inverters with outputs of 0.4 to 11 kW.

* 1. The factory settings depend on the Inverter capacity. The values for a 200 V Class Inverter of 0.4 kW are given.

* 2. These are values for a 200 V Class Inverter. Values for a 400 V Class Inverter are double.

Setting Precautions

•

Error output signals are not output during momentary power loss recovery.

To continue Inverter operation after power has been restored, make settings so that Run Commands from the control main circuit terminal are stored even while power is suspended.

If the momentary power loss operation selection is set to 0 (Disabled), when the momentary power loss exceeds 15 ms during operation, alarm UV1 (main circuit undervoltage) will be detected.

Speed Search

The speed search function finds the actual speed of the motor that is rotating on inertia, and then starts smoothly from that speed. When restoring power after a temporary power loss, the speed search function switches the connection from the commercial power supply, and then restarts the fan that is rotating on inertia.

IMPORTANT

Speed search will be performed in the following cases.

• When Momentary power loss detection (L2-01) is set to 1 or 2 (Enabled) and power is restored after a momentary power loss.

• When Number of auto restart attempts (L5-01) is set from 1 to 10 and the auto restart is performed after a fault.

• Multi-function contact inputs (H1 ) are set to External search command (61, 62, or 64) and the command is sent.

• Multi-function contact inputs (H1 ) are set to External baseblock (8 or 9) and the release command is sent.

The selected speed search type in b1-01, speed calculation or current detection, will be performed.

-68

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Enables/disables the speed search function for the Run

Command and sets the speed search method.

0: Disabled, speed calculation

1: Enabled, speed calculation

2: Disabled, current detection

3: Enabled, current detection b3-01

Speed search selection

(current detection or speed calculation)

Speed Calculation:

When the search is started, the motor speed is calculated and acceleration/deceleration is performed from the calculated speed to the specified frequency (motor direction is also searched).

0 to 3 b3-02 b3-03 b3-05 b3-10

Current Detection:

The speed search is started from the frequency when power was momentarily lost and the maximum frequency, and the speed is detected at the search current level.

Speed search operating current (current detection)

Sets the speed search operation current as a percentage, taking the Inverter rated current as

100%.

Not usually necessary to set.

When restarting is not possible with the factory settings, reduce the value.

Speed search deceleration time (current detection)

Sets the output frequency deceleration time during speed search in 1-second units.

Set the time for deceleration from the maximum output frequency to the minimum output frequency.

Speed search wait time

(current detection or speed calculation)

Sets the magnetic contactor operating delay time when there is a magnetic contactor on the output side of the Inverter.

When a speed search is performed after recovering from a momentary power loss, the search operation is delayed by the time set here.

Sets the magnetic flux compensation as a percentage of the no-load current.

Operation restarts at a speed obtained by multiplying the speed from the speed search by the compensation gain (excitation search only.)

Increase this setting if overvoltages occur when a speed search is performed after a long baseblock, for example, in searches at startup.

0 to

200

0.1 to

10.0

0.0 to

20.0

1.00 to

1.20

2 *1

120%

*1 *3

150%

*1 *3

2.0 s

0.2 s

1.10

No 191H

No 192H

No 193H

A 195H

No 19AH

Continuing Operation

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

L2-03

L2-04

Rotation direction search selection

0: Disabled (operates with specified rotation direction)

1: Enabled (operates with rotation direction found by search)

Speed search retrial current level

Sets the current level to retry a speed search as a percentage, taking the Inverter rated current as 100%.

Speed search retrial detection time

Sets the time for detection in a speed search retrial in units of seconds.

Number of speed search retrials

Sets the number of times that a speed search can be retried.

Min. baseblock time

Sets the Inverter's minimum baseblock time in units of one second, when the Inverter is restarted after power loss ridethrough.

Sets the time to approximately

0.7 times the motor secondary circuit time constant.

When an overcurrent or overvoltage occurs when starting a speed search or DC injection braking, increase the set values.

Voltage recovery time

Sets the time required to return the Inverter output voltage to normal voltage at the completion of a speed search, in units of one second.

Sets the time required to recover from 0 V to the maximum voltage.

0 or 1

0 to 200

0.00 to

1.00

0 to 10

0.1 to

5.0

0.0 to

5.0

150%

* 3

0.10 s

0.2 s

0.3 s

No 19EH

No 1F0H

No 1F1H

No 1F2H

487H

488H

* 1. The factory setting will change when the control method is changed. The V/f control factory settings are given.

* 2. The factory settings depend upon the Inverter capacity. The values for a 200 V Class Inverter of 0.4 kW are given.

* 3. C6-01 = 1:120%, C6-01 = 0:150%

Multi-function Contact Inputs (H1-01 to H1-06)

Setting

Value

Function

External search command 1

OFF: Speed search disabled (Start from lowest output frequency)

ON: Speed estimation (Estimate the motor speed, and start search from estimated speed)

Current detection (Start speed search from maximum output frequency)

External search command 2

OFF: Speed search disabled (Start from lowest output frequency)

ON: Speed estimation (Estimate the motor speed, and start search from estimated speed) (Same operation as external search command 1)

Current detection: Start speed search from set frequency (reference frequency when search command was input).

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

Yes No Yes No

-70

Setting Precautions

•

When both external search commands 1 and 2 are set for the multi-function contact terminals, an OPE03

(invalid multi-function input selection) operation error may occur. Set either external search command 1 or external search command 2.

If speed search during startup is selected when using V/f control with PG, the Unit will start from the frequency detected by PG.

If performing speed search using external search commands, add an external sequence so that the period when the Run Command and external search command are both ON is at the very least the Minimum

Baseblock Time (L2-03).

If the Inverter output is equipped with a contact, set the contact operation delay time in the Speed Search

Wait Time (b3-05). The factory setting is 0.2 s. When not using the contact, you can reduce the search time by making the setting 0.0 s. After waiting for the speed search wait time, the Inverter starts the speed search.

Constant b3-02 is a current detection speed search (current detection level for search completion). When the current falls below the detection level, the speed search is viewed as completed, and the motor accelerates or decelerates to the set frequency. If a motor overload (OL1) or an Inverter overload (OL2) occurs and the motor cannot restart, lower the set value.

If an overcurrent (OC) is detected when using speed search after recovery following a power loss, lengthen the Minimum Baseblock Time (L2-03).

If a main circuit over voltage (OV) is detected when using a current detection speed search after a momentary power loss, lengthen the Speed Search Detection Time (b3-03).

Application Precautions for Speed Searches Using Estimated Speed

•

When using V/f control with or without a PG, always perform stationary autotuning for only line-to-line resistance before using speed searches based on estimated speeds.

When using vector control, always perform rotational or stationary autotuning (not stationary autotuning for line-to-line resistance only) before using speed searches based on estimated speeds.

If the cable length between the motor and Inverter is changed after autotuning has been performed, perform stationary autotuning for line-to-line resistance only again.

The motor will not operate when stationary autotuning or stationary autotuning for line-to-line resistance only is performed.

IMPORTANT

Continuing Operation

Speed Search Selection

Set whether to enable or disable speed search at startup, and set the type of speed search (estimated speed or current detection) using setting b3-01. To perform speed search when inputting the Run Command, set b3-01 to 1 or 3.

Search Name

Search Method

Estimated Speed (b3-01 = 0 or 1)

Estimates the motor speed when the search starts, and accelerates and decelerates from the estimated speed to the set frequency. You can also search including direction of motor rotation.

Current Detection (b3-01 = 2 or 3)

Starts speed search from the frequency when the temporary power loss was detected, or from the highest frequency, and performs speed detection at the current level during the search.

External Speed Search

Command

Application Precautions

External search command 1 and external search command 2 become the same operation, estimating the motor speed and starting the search from the estimated speed.

External speed search command 1:

Starts speed search from the maximum output frequency.

External speed search command 2:

Starts speed search from the frequency reference set before the search command.

Cannot be used multi-motor drives, motors two or more frames smaller than the Inverter capacity, and high-speed motors (130 Hz min.)

In control method without PG, the motor may accelerate suddenly with light loads.

Estimated Speed Search (b3-01=0 or 1)

The time chart for estimated speed searches is shown below.

Search at Startup (b3-01=1)

The time chart when speed search at startup or external speed search command of multi-function inputs has been selected is shown below.

Run Command

OFF ON

Set frequency reference

Start using speed detected

Output frequency b3-02

Output current

1.0 s

* Lower limit set using Speed Search Wait Time (b3-05).

Minimum baseblock time (L2-03)

0.7*

Note: If the stopping method is set to coast to stop, and the Run Command turns ON in a short time,

the operation may be the same as the search in case 2.

Fig 6.43 Speed Search at Startup (Estimated Speed)

-72

Speed Search after Short Baseblock (during Power Loss Recovery, etc.) (b3-01=0)

The time chart when the Inverter operation is restarted after power has been restored is shown below.

• Loss Time Shorter Than the Minimum Baseblock Time (L2-03)

AC power supply

Output frequency

ON OFF

Start using speed detected

Set frequency reference

Output current

10 ms

Minimum baseblock time (L2-03) x 0.75*1

*1 Baseblock time may be reduced by the output frequency

immediately before the baseblock.

*2 After AC power supply recovery, motor waits for the

minimum Speed Search Wait Time (b3-05).

Fig 6.44 Speed Search after Baseblock (When Estimated Speed: Loss Time Is Set in L2-03)

• Loss Time Longer Than the Minimum Baseblock Time (L2-03)

AC power supply

Output frequency

ON OFF

Start using speed detected

Set frequency reference

Output current

10 ms

Minimum baseblock time

(L2-03)

Speed Search Wait Time

(b3-05)

Note: If the frequency immediately before the baseblock is low or the power supply break time is long, operation may be the same as the search in case 1.

Fig 6.45 Speed Search After Baseblock (Estimated Speed: Loss Time > L2-03)

Continuing Operation

Current Detection Speed Search (b3-01=2 or 3)

The time charts for current detection speed search is shown below.

Speed Search at Startup (b3-01=3)

The time chart when speed search at startup or external speed search command of multi-function inputs has been selected is shown below.

Run Command

OFF ON

Maximum output frequency or set frequency

Output frequency

Deceleration time set in b3-03

Set frequency reference b3-02

Output current

Minimum baseblock time

(L2-03)

* Lower limit is set using Speed Search Time (b3-05).

Fig 6.46 Speed Search at Startup (Using Current Detection)

Speed Search after Short Baseblock (during Power Loss Recovery, etc.) (b3-01=2)

The time chart when the Inverter operation is restarted after power has been restored is shown below.

• Loss Time Shorter Than Minimum Baseblock Time

AC power supply

Output frequency

ON OFF Output frequency before power loss

Deceleration time set in b3-03

Set frequency reference b3-02 speed search operating current

Output current

Minimum baseblock time (L2-03)

*1 Baseblock time may be reduced by the output frequency

immediately before baseblock.

*2 After AC power supply recovery, motor waits for the minimum

Speed Search Wait Time (b2-03).

Fig 6.47 Speed Search After Baseblock (Current Detection: Loss Time < L2-03)

• Loss Time Longer Than Minimum Baseblock Time

AC power supply ON OFF Output frequency before power loss

Deceleration speed set in b3-03

Set frequency reference

Output frequency b3-02

Speed search operating time

Output current

Speed search wait time (b3-05)

Minimum baseblock time

(L2-03)

Fig 6.48 Speed Search After Baseblock (Current Detection: Loss Time > L2-03)

-74

Continuing Operation at Constant Speed When Frequency Reference Is

Lost

The frequency reference loss detection function continues operation using 80% speed of the frequency reference before loss when the frequency reference using an master speed analog input* is reduced 90% or more in 400 ms.

When the error signal during frequency reference loss is output externally, set H2-01 to H2-03 (multi-function contact output terminal M1-M2, P1-PC, and P2-PC function selection) to C (frequency reference lost).

* Frequency references using the following master speed analog inputs are used to detect a frequency loss.

• Analog input using terminal A1

• Analog input using terminal A2 when H3-09 (Multi-function analog input terminal A2 function selection) is set to 0 (Add to terminal A1).

• Analog input using terminal A2 when H3-09 (Multi-function analog input terminal A2 function selection) is set to 2 (Auxiliary frequency reference 1) and H3-13 (Terminal A1/A2 switching) is set to 1 (Use terminal A2 analog input as the main speed frequency reference).

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

L4-05

Operation when frequency reference is missing

0: Stop (Operation follows the frequency reference.)

1: Operation at 80% speed continues. (At 80% of speed before the frequency reference was lost)

Frequency reference is lost: Frequency reference dropped over

90% in 400 ms.

0 or 1 0 No A A A A 49DH

Continuing Operation

Restarting Operation After Transient Fault (Auto Restart Function)

If an Inverter fault occurs during operation, the Inverter will perform self-diagnosis. If no fault is detected, the

Inverter will automatically restart using the speed search function (b3-01). This is called the auto restart function.

Set the number of auto restarts in constant L5-01. A fault reset is attempted every 5 ms after a fault occurs and minimum baseblock time has passed. The number of auto restarts is counted when the Inverter attempts a fault reset and restarts operation. The protection function will operate if a fault continues to occur after auto restarting the number of times set in L5-01.

The auto restart function can be applied to the following faults. If a fault not listed below occurs, the protection function will operate and the auto restart function will not.

• OC (Overcurrent) • RH (Braking resistor overheated)

• GF (Ground fault)

• PUF (Fuse blown)

• RR (Braking transistor error)

• OL1 (Motor overload)

• OV (Main circuit overvoltage) • OL2 (Inverter overload)

• UV1 (Main Circuit Undervoltage, Main Circuit Magnetic Contactor Operation

Failure)

• OH1 (Motor overheat)

• PF (Main circuit voltage fault)

• LF (Output phase failure)

• OL3 (Overtorque)

• OL4 (Overtorque)

* When L2-01 is set to 1 or 2 (continue operation during momentary power loss)

Auto Restart External Outputs

To output auto restart signals externally, set H2-01 to H2-03 (multi-function contact output terminals M1-M2,

P1-PC, and P2-PC function selection) to 1E (auto restart).

Related Constants

Constant

Number

Name

L5-01

Number of auto restart attempts

L5-02

Auto restart operation selection

Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Sets the number of auto restart attempts.

Automatically restarts after a fault and conducts a speed search from the run frequency.

Sets whether a fault contact output is activated during fault restart.

0: Not output (Fault contact is not activated.)

1: Output (Fault contact is activated.)

0 to 10

0 or 1

A 49EH

A 49FH

Application Precautions

• The number of auto restarts count is reset under the following conditions:

After auto restart, normal operation has continued for 10 minutes.

After the protection operation has been performed, and the fault has been verified, and an fault reset has been input.

After the power supply is turned OFF, and then ON again.

• Do not use the auto restart function with variable loads.

-76

Operation Selection After Cooling Fan Fault (SPEC: E or Later Only)

Use the constant setting to select the operation of the motor after a cooling fan fault occurs. This function can be used for times when a motor should not be stopped quickly (with an emergency stop.)

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

L 8 -32*

OH1 detection of

Inverter’ s cooling fan

0: Disabled (FAN minor fault detection)

1: Enabled (OH1 major fault detection)

0 or 1

* Applicable for F7-Series Inverters with software versions PRG:1031 or later.

1 No A A A A 4E2H

The following table describes the operation of the motor and the display of the Digital Operator in accordance with the settings of the L8-32 if a cooling fan fault occurred.

Setting

Value

Fault Digital Operator Motor Operation

Multi-function Contact Output

Fault

Cooling Fin Overheating OH1 (lit)

Inverter’s Cooling Fan Fault FAN (blink)

Coast to a stop

Continue operation

* Minor fault

Cooling Fin Overheating OH (lit)

Inverter’s Cooling Fan Fault OH1 (lit)

Coast to a stop

Fault

* If L8-32 is set to 0, the motor will continue running even if a cooling fan fault occurred. However, the Inverter rated output current and the overload capacity will be reduced. The rated output current will be reduced to 80% if the normal rated output current is 100%, and the overload capacity will be reduced to the values as follows.

When CT is selected: 100% per every 3 minutes, 150% per every 15 seconds

When VT is selected: 100% per every 30 seconds, 120% per every 10 seconds

IMPORTANT

If L8-32 is set to 0, be sure to set H2-01 to H2-03 multi-function contact outputs to 10 (minor fault) or to 3D

(Inverter’s cooling fan fault.) If a cooling fan fault occurs, stop the Inverter immediately and replace the cooling fan. If the Inverter continues to run while a cooling fan fault occurs, the Inverter’s cooling ability will be affected and the Inverter’s internal temperature will increase and shorten the Inverter’s life.

During a cooling fan fault, the cooling fan stops for about 3 seconds every minute (interval operation.)

Inverter Protection

This section explains the functions for protecting the Inverter and the braking resistor.

Inverter Protection

Performing Overheating Protection on Mounted Braking Resistors

Perform overheating protection on Inverter-mounted braking resistors (Model: ERF-150WJ ).

When overheating in a mounted braking resistor is detected, an alarm RH (Mounted braking resistor overheating) is displayed on the Digital Operator, and the motor coasts to a stop.

Related Constants

Constant

Number

Name Description

L8-01

Protect selection for internal DB resistor (Type

ERF)

0: Disabled (no overheating protection)

1: Enabled (overheating protection)

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

0 or 1

Multi-function Contact Outputs (H2-01 to H2-03)

0 No A A A A 4ADH

Setting

Value

Function

Braking resistor fault (ON: Resistor overheat or braking transistor fault)

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

Yes Yes Yes Yes

INFO

The most likely causes of RH (Mounted braking resistor overheating) being detected are that the deceleration time is too short or that the motor regeneration energy is too large. In these cases, lengthen the deceleration time or replace the Braking Resistor Unit with one with a higher breaking capacity.

-78

Reducing Inverter Overheating Pre-Alarm Warning Levels

The Inverter detects the temperature of the cooling fins using the thermistor, and protects the Inverter from overheating. You can receive Inverter overheating pre-alarms in units of 1 ° C.

The following overheating pre-alarm warnings are available: Stopping the Inverter as error protection, and continuing operation, with the alarm OH (Radiation fins overheating) on the Digital Operator flashing.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

L8-02

Overheat prealarm level

Sets the detection temperature for the Inverter overheat detection pre-alarm in ° C.

The pre-alarm detects when the cooling fin temperature reaches the set value.

50 to

130

95 ° C* No A

L8-03

Operation selection after overheat prealarm

Sets the operation for when the

Inverter overheat pre-alarm goes

ON.

0: Decelerate to stop in deceleration time C1-02.

1: Coast to stop

2: Fast stop in fast-stop time

C1-09.

3: Continue operation (Monitor display only.)

A fault will be given in setting 0 to 2 and a minor fault will be given in setting 3.

0 to 3 3 No A

* The factory setting depends on the Inverter capacity. The value for a 200 V Class Inverter of 0.4 kW is given.

A 4AEH

A 4AFH

Input Terminal Functions

This section explains input terminal functions, which set operating methods by switching functions for the multi-function contact input terminals (S3 to S8).

Temporarily Switching Operation between Digital Operator and Control

Circuit Terminals

You can switch the Inverter Run Command inputs and frequency reference inputs between local (i.e., Digital

Operator) and remote (input method using b1-01 and b1-02).

You can switch between local and remote by turning ON and OFF the terminals if an output from H1-01 to

H1-06 (multi-function contact input terminal S3 to S8 function selection) has been set to 1 (local/remote selection).

To set the control circuit terminals to remote, set b1-01 and b1-02 to 1 (Control circuit terminals).

Related Constants

Constant

Number

Name Description b1-01

Reference selection b1-02

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

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

0 to 4

0 to 3

Q 180H

Q 181H

You can also perform local/remote switching using the LOCAL/REMOTE Key on the Digital Operator. When the local/remote function has been set in the external terminals, the LOCAL/REMOTE Key function on the

Digital Operator will be disabled.

INFO

-80

Blocking Inverter Outputs (Baseblock Commands)

Set 8 or 9 (Baseblock command NO/NC) in one of the constants H1-01 to H1-06 (multi-function contact input terminal S3 to S8 function selection) to perform baseblock commands using the terminal's ON/OFF operation, and prohibit Inverter output using the baseblock commands. At this time, the motor will be coasting and “BB” will blink on the Digital Operator.

Clear the baseblock command to restart the operating using speed search from frequency references from the previous baseblock command input.

Multi-function Contact Inputs (H1-01 to H1-06)

Setting

Value

Function

External baseblock NO (NO contact: Baseblock at ON)

External baseblock NC (NC contact: Baseblock at OFF)

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

Yes Yes Yes Yes

Time Chart

The time chart when using baseblock commands is shown below.

Forward operation/Stop

Baseblock command

Frequency reference

Input Cleared

Search from stored frequency reference

?Output frequency

Hold

Fig 6.49 Baseblock Commands

IMPORTANT

If using baseblock commands with a variable load, do not frequently input baseblock commands during operation, as this may cause the motor to suddenly start coasting, and may result in the motor falling or slipping.

Input Terminal Functions

Stopping Acceleration and Deceleration (Acceleration/Deceleration

Ramp Hold)

The acceleration/deceleration ramp hold function stops acceleration and deceleration, stores the output frequency at that point in time, and then continues operation.

Set one of the constants H1-01 to H1-06 (multi-function contact input terminal S3 to S8 function selection) to

A (acceleration/deceleration ramp hold) to stop acceleration and deceleration when the terminal is turned ON and to store the output frequency at that point in time. Acceleration and deceleration will restart when the terminal is turned OFF.

If d4-01 is set to 1 and the Acceleration/Deceleration Ramp Hold command is input, the output frequency is still stored even after the power supply is turned OFF.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Frequency reference hold function selection

Sets whether or not frequencies on hold will be recorded.

0: Disabled (when operation is stopped or the power is turned on again starts at 0.)

1: Enabled (when operation is stopped or the power is turned on again starts at the previous hold frequency.)

This function is available when the multi-function inputs “accel/ decel Ramp Hold” or “up/down” commands are set.

0 or 1 0 No A A A A 298H

Time Chart

The time chart when using Acceleration/Deceleration Ramp Hold commands is given below.

Power supply

Forward/Stop

Acceleration/Deceleration

Ramp Hold

Frequency reference

Output frequency

Hold Hold

Fig 6.50 Acceleration/Deceleration Ramp Hold

-82

Application Precautions

•

When d4-01 is set to 1, the output frequency on hold is stored even after the power supply is turned OFF. If performing operations using this frequency after the Inverter has also been turned OFF, input the Run

Command with the Acceleration/Deceleration Ramp Hold turned ON.

When d4-01 is set to 0 and a Run Command is input while the Acceleration/Deceleration Ramp Hold is turned ON, the output frequency will be set to zero.

If you input an Acceleration/Deceleration Ramp Hold command by error when decelerating during positioning, deceleration may be canceled.

Raising and Lowering Frequency References Using Contact Signals (UP/

DOWN)

The UP and DOWN commands raise and lower Inverter frequency references by turning ON and OFF a multifunction contact input terminal S3 to S8.

To use this function, set one of the constants H1-01 to H1-06 (multi-function contact input terminal S3 to S8 function selection) to 10 (UP command) and 11 (DOWN command). Be sure to allocate two terminals so that the UP and DOWN commands can be used as a pair.

The output frequency depends on the acceleration and deceleration time. Be sure to set b1-02 (Run Command selection) to 1 (Control circuit terminal).

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Frequency reference upper limit

Frequency reference lower limit

Set the output frequency upper limit as a percent, taking the max. output frequency to be

100%.

Sets the output frequency lower limit as a percentage of the maximum output frequency.

Master speed reference lower limit

Set the master speed reference lower limit as a percent, taking the max. output frequency to be

100%.

0.0 to

110.0

0.0 to

110.0

0.0 to

110.0

100.0% No

0.0%

A 28AH

289H

293H

Precautions

When setting and using UP and DOWN commands, observe the following precautions.

Setting Precautions

If multi-function input terminals S3 to S8 are set as follows, operation error OPE03 (Invalid multi-function input selection) will occur:

•

Only either the UP command or DOWN command has been set.

UP/DOWN commands and Acceleration/Deceleration Ramp Hold have been allocated at the same time.

Input Terminal Functions

Application Precautions

• Frequency outputs using UP/DOWN commands are limited by the frequency reference upper and lower limits set in constants d2-01 to d2-03. Here, frequency references from analog frequency reference terminal A1 becomes the frequency reference lower limit. If using a combination of the frequency reference from terminal A1 and the frequency reference lower limit set in either constant d2-02 or d2-03, the larger lower limit will become the frequency reference lower limit.

•

If inputting the Run Command when using UP/DOWN commands, the output frequency accelerates to the frequency reference lower limit.

When using UP/DOWN commands, multi-step operations are disabled.

When d4-01 (Frequency Reference Hold Function Selection) is set to 1, the frequency reference held using the UP/DOWN functions is stored even after the power supply is turned OFF. When the power supply is turned ON and the Run Command is input, the motor accelerates to the frequency reference that has been stored. To reset (i.e., to 0 Hz) the stored frequency reference, turn ON the UP or DOWN command while the Run Command is OFF.

Connection Example and Time Chart

The time chart and settings example when the UP command is allocated to the multi-function contact input terminal S3, and the DOWN command is allocated to terminal S4, are shown below.

Constant

H1-01

H1-02

Name

Multi-function input (terminal S3)

Multi-function input (terminal S4)

Set Value

0 to 10 V analog signal

Inverter

Forward operation/Stop

Reverse operation/Stop

Up command

Down command

Sequence common

Frequency reference lower limit

Fig 6.51 Connection Example when UP/DOWN Commands Are Allocated

-84

Output frequency

Upper limit

Accelerates to lower limit

Lower limit

Same frequency

Forward operation/stop

UP command

DOWN command

Reference frequency reset

Frequency matching signal*

Power supply

* The frequency matching signal turns ON when the motor is not accelerating/ decelerating while the Run Command is ON.

Fig 6.52 UP/DOWN Commands Time Chart

Input Terminal Functions

Accelerating and Decelerating Constant Frequencies in the Analog References (+/- Speed)

The +/- speed function increments or decrements the frequency set in analog frequency reference d4-02 (+/-

Speed Limit) using two contact signal inputs.

To use this function, set One of the constants H1-01 to H1-06 (multi-function contact terminal inputs S3 to S8 function selection) to 1C (Trim Control Increase command) and 1D (Trim Control Decrease command). Be sure to allocate two terminals so that the Trim Control Increase command and Trim Control Decrease command can be used as a pair.

Related Constants

Constant

Number

Name d4-02

+ - Speed limits

Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

Set the frequency to be add to or subtracted from the analog frequency reference as a percent, taking the maximum output frequency to be 100%.

Enabled when the increase (+) speed command or decrease (-) speed command is set for a multi-function input.

0 to 100 10% No A A A A

MEMO

BUS

299H

Trim Control Increase/Decrease Command and Frequency Reference

The frequency references using Trim Control Increase/Decrease command ON/OFF operations are shown below.

Frequency Reference

Set Frequency

Reference

+ d4-02

Set Frequency

Reference

- d4-02

Set Frequency Command

Trim Control Increase

Command Terminal

Trim Control Decrease

Command Terminal

OFF

Application Precautions

•

Trim Control Increase/Decrease command is enabled when speed reference > 0 and the speed reference is from an analog input.

When the analog frequency reference value - d4-02 < 0, the frequency reference is set to 0.

If only the Trim Control Increase command or Trim Control Decrease command has been set for a multifunction contact input terminal S3 to S8, operation error OPE03 (invalid multi-function input selected) will occur.

-86

Hold Analog Frequency Using User-set Timing

When one of H1-01 to H1-06 (multi-function contact input terminal S3 to S8 function selection) is set to 1E

(sample/hold analog frequency command), the analog frequency reference will be held from 100 ms after the terminal is turned ON, and operation will continue thereafter at that frequency.

The analog value 100 ms after the command is turned ON is used as the frequency reference.

Sample/hold command

Analog input

Frequency reference

Fig 6.53 Sample/Hold Analog Frequency

Precautions

When setting and executing sample and hold for analog frequency references, observe the following precautions.

Setting Precautions

When using sample/hold of analog frequency reference, you cannot use the following commands at the same time. If these commands are used at the same time, operation error OPE03 (invalid multi-function input selection) will occur.

•

Acceleration/Deceleration Ramp Hold command

UP/DOWN command

Trim Control Increase/Decrease command

Application Precautions

• When performing sample/hold of analog frequency references, be sure to store references of 100 ms minimum. If the reference time is less than 100 ms, the frequency reference will not be held.

• The analog frequency reference that is held will be deleted when the power supply is turned OFF.

Switching Operations between a Communications Option Board and

Control Circuit Terminals

You can switch reference input between the Communications Option Board and the control circuit terminals.

Set one of the constants H1-01 to H1-06 (multi-function contact input terminal S3 to S8 function selection) to

2 (Option/Inverter selection) to enable switching reference input using the terminal ON/OFF status when the

Inverter is stopped.

Input Terminal Functions

Setting Precautions

To switch command inputs between the Communications Option Board and the control circuit terminals, set the following constants.

•

Set b1-01 (Reference Selection) to 1 (Control circuit terminal [analog input])

Set b1-02 (Operation Method Selection to 1 (Control circuit terminal (sequence inputs])

Set one of the constants H1-01 to H1-06 (multi-function contact input terminal S3 to S8 function selection) to 2 (Option/Inverter selection).

Terminal Status

OFF

Frequency Reference and Run Command Selection

Inverter

(Can be operated from frequency reference or control circuit terminal from analog input terminal.)

Communications Option Board

(Frequency reference and Run Command are enabled from Communications Option Board.)

Jog Frequency Operation without Forward and Reverse Commands

(FJOG/RJOG)

The FJOG/RJOG command functions operate the Inverter using jog frequencies by using the terminal ON/

OFF operation. When using the FJOG/RJOG commands, there is no need to input the Run Command.

To use this function, set one of the constants H1-01 to H1-06 (multi-function contact input terminal S3 to S8 function selection) to 12 (FJOG command) or 13 (RJOG command).

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector d1-17

Jog frequency reference

The frequency reference when the jog frequency reference selection, FJOG command, or

RJOG command is ON.

0.00 to

400.00

*1 *3

0.00 to

300.00

*1 *2

* 1. The upper limit of the setting range depends on the upper limit set in E1-04.

* 2. When C6-01 = 1, the upper limit is 400.00.

* 3. When C6-01 = 0, the upper limit is 150.00.

6.00 Hz Yes Q Q Q Q

MEMO

BUS

292H

Multi-Function Contact Inputs (H1-01 to H1-06)

Setting

Value

Function

FJOG command (ON: Forward run at jog frequency d1-17)

RJOG command (ON: Reverse run at jog frequency d1-17)

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

Yes Yes Yes Yes

-88

Application Precautions

•

Jog frequencies using FJOG and RJOG commands are given priority over other frequency references.

When both FJOG command and RJOG commands are ON for 500 ms or longer at the same time, the

Inverter stops according to the setting in b1-03 (stopping method selection).

Stopping the Inverter by Notifying Programming Device Errors to the

Inverter (External Fault Function)

The external fault function performs the error contact output, and stops the Inverter operation if the Inverter peripheral devices break down or an error occurs. The digital operator will display EFx (External fault [input terminal Sx]). The x in EFx shows the terminal number of the terminal that input the external fault signal. For example, if an external fault signal is input to terminal S3, EF3 will be displayed.

To use the external fault function, set one of the values 20 to 2F in one of the constants H1-01 to H1-06 (multifunction contact input terminal S3 to S8 function selection).

Select the value to be set in H1-01 to H1-06 from a combination of any of the following three conditions.

• Signal input level from peripheral devices

•

External fault detection method

Operation during external fault detection

The following table shows the relationship between the combinations of conditions and the set value in H1-

Set

Value

Input Level

(See Note 1.)

NO Contact

Yes

NC Contact

Yes

Error Detection Method

(See Note 2.)

Constant

Detection

During

Operation

Yes

Operation During Error Detection

Decelerate to Stop

(Error)

Yes

Coast to

Stop

(Error)

Emergency Stop

(Error)

Continue

Operation

(Warning)

Yes

Note 1. Set the input level to detect errors using either signal ON or signal OFF. (NO contact: External fault when ON; NC contact: External fault when

OFF).

2. Set the detection method to detect errors using either constant detection or detection during operation.

Constant detection: Detects while power is supplied to the Inverter.

Detection during operation: Detects only during Inverter operation.

Output Terminal Functions

The output terminal function, which sets the output methods by switching the settings of H2-01 to H2-03

(Multi-function contact output terminals M1-M2, P1-PC, and P2-PC), is described here.

During Run (Setting: 0)

OFF

The Run Command is OFF and there is not output voltage.

The Run Command is ON or a voltage is being output.

During Run 2 (Setting: 37)

OFF

The Inverter is not outputting a frequency. (Baseblock, DC injection braking, initial excitation, or stopped)

The Inverter is outputting a frequency.

• These outputs can be used to indicate the Inverter's operating status.

Run Command

OFF ON

Baseblock command

OFF ON

Output frequency

During run 1 output

OFF ON

During run 2 output

OFF ON

Fig 6.54 Timing Chart for “During RUN” Output

Zero-speed (Setting: 1)

OFF

The output frequency is greater than the minimum output frequency (E1-09).

[With flux vector control, is greater than the zero-speed level (b2-01).]

The output frequency is less than the minimum output frequency (E1-09).

[With flux vector control, is less than the zero-speed level (b2-01).]

Output frequency

Minimum output frequency (E1-09)

[Zero-speed level (b2-01) when flux vector control is being used.]

Zero-speed output

OFF ON

Fig 6.55 Timing Chart for Zero-speed

-90

Motor Overload (OL1) Pre-alarm (Setting: 1F)

OFF The motor protection function's electronic thermal value is less than 90% of the detection level.

ON The motor protection function's electronic thermal value is greater than 90% of the detection level.

•

This output function is valid when the motor overload protection function is enabled (L1-01 =1).

This output can be used to warn of overheating before the protection function itself operates.

Inverter Overheat (OH) Pre-alarm (Setting: 20)

OFF

The cooling fin temperature is less than the "OH Pre-Alarm Level" set in L8-02.

The cooling fin temperature exceeds the "OH Pre-Alarm Level" set in L8-02.

• This output function indicates that the temperature of the cooling fins reaches the temperature set in L8-02

(the Inverter overheating alarm detection level).

Speed reference limit (Setting: 31) (SPEC: E or later only)

OFF

Other than ON condition

Enables the speed reference limit in the following conditions (During flux vector control method):

1. Frequency reference ≥ Frequency reference upper limit (d2-01)

Frequency reference ≤ Frequency reference lower limit (d2-02)

Frequency reference ≥ Output frequency lower limit of the multi-function analog input

(Setting: 9)

2. The frequency reference is less than the Min. output frequency (E1-09), and b1-05 is set to 1,

2, or 3.

Zero-servo End (Setting: 33) (SPEC: E or later only)

OFF The zero-servo command isn't being input or zero-servo position control hasn't been completed.

The position has been brought within the zero-servo completion width (b9-02) after the zero-servo command was input.

•

This output function indicates that zero-servo position control has been completed.

The output is turned ON after the zero-servo command is input and the difference between the zero-servo operation starting position and the current position is within the zero-servo completion width (b9-02).

Monitor Constants

This section explains the analog monitor and pulse monitor constants.

Using the Analog Monitor Constants

This section explains the analog monitor constants.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

H4-01

H4-02

H4-03

H4-04

H4-05

Monitor selection (terminal FM)

Sets the number of the monitor item to be output (U1 ) from terminal FM. The monitor items that can be set depends on the control method.

4, 10 to 14, 25, 28 to 31, 34, 35,

39 to 43 cannot be set.

Gain (terminal FM)

Bias (terminal FM)

Sets the multi-function analog output 1 voltage level gain.

Sets whether the monitor item output will be output in multiples of 10 V.

The maximum output from the terminal is 10 V.

A meter calibration function is available.

Sets the multi-function analog output 1 voltage level bias.

Sets output characteristic up/ down parallel movement as a percentage of 10 V.

The maximum output from the terminal is 10 V.

A meter calibration function is available.

Monitor selection (terminal AM)

Sets the number of the monitor item to be output (U1 ) from terminal AM.

The monitor items that can be set depends on the control method.

4, 10 to 14, 25, 28 to 31, 34, 35,

39 to 43 cannot be set.

Gain (terminal AM)

Set the voltage level gain for multi-function analog output 2.

Set the number of multiples of

10 V to be output as the 100% output for the monitor items.

The maximum output from the terminal is 10 V.

A meter calibration function is available.

1 to 99

0.00 to

2.50

-10.0 to

+10.0

1 to 99

0.00 to

2.50

1.00

0.0%

0.50

Yes

A 41DH

Q 41EH

A 41FH

420H

421H

-92

Constant

Number

Name

H4-06

Bias (terminal AM)

H4-07

Analog output 1 signal level selection

F4-01

F4-02

F4-03

Channel 1 monitor selection

Channel 1 gain

Channel 2 monitor selection

F4-04

Channel 2 gain

F4-05

F4-06

F4-07

F4-08

Channel 1 output monitor bias

Channel 2 output monitor bias

Analog output signal level for channel 1

Analog output signal level for channel 2

Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Sets the multi-function analog output 2 voltage level bias.

Sets output characteristic up/ down parallel movement as a percentage of 10 V.

The maximum output from the terminal is 10 V.

A meter calibration function is available.

Sets the signal output level for multi-function output 1 (terminal FM)

0: 0 to +10 V output

1: − 10 to 10 V output

Effective when the Analog

Monitor Board is used.

Monitor selection:

Set the number of the monitor item to be output. (U1 )

The monitor items that can be set depends on the control method.

Gain:

Set the multiple of 10 V for outputting monitor items.

4, 10 to 14, 25, 28, 31, 34, 35,

39, 40, 42 cannot be set. 29 to 31 are not used. When the AO-12

Analog Monitor Board is used, outputs of ± 10 V are possible.

To output ± 10 V, set F4-07 or

F4-08 to 1. When the AO-08

Analog Monitor Board is used, only outputs of 0 to +10 V are possible.

A meter calibration function is available.

Sets the channel 1 item bias to

100%/10 V when the Analog

Monitor Board is used.

Sets the channel 2 item bias to

100%/10 V when the Analog

Monitor Board is used.

-10.0 to

+10.0

0 or 1

1 to 99

0.00 to

2.50

1 to 99

0.00 to

2.50

-10.0 to

10.0

-10.0 to

10.0

0.0%

1.00

0.50

0.0%

Yes

422H

423H

391H

392H

393H

394H

395H

396H

0: 0 to 10 V

1: -10 to +10 V

0: 0 to 10 V

1: -10 to +10 V

0 or 1

397H

398H

Monitor Constants

Selecting Analog Monitor Items

The digital operator monitor items (U1 [status monitor]) are output from multi-function analog output terminals FM-AC and AM-AC. Refer to Chapter 5 User Constants , and set the values for the part of U1-

(status monitor).

Alternatively, you can output monitor items (U1 [status monitor]) from analog output option terminal channels 1 and 2 on analog monitor boards AO-08 and AO-12. Refer to the table of constants, and set the values.

Adjusting the Analog Monitor Items

Adjust the output voltage for multi-function analog output terminals FM-AC and AM-AC using the gain and bias in H4-02, H4-03, H4-05, and H4-06. Also, adjust the output voltage for output channels 1 and 2 of Analog Output option boards AO-08 and AO-12 using the gain and bias in F4-02, F4-04, F4-05, and F4-06.

Adjusting the Meter

The output voltage for terminals FM-AC and AM-AC and output channels 1 and 2 of the AO option board can be adjusted while the Inverter is stopped. For example, just pressing the Enter Key and displaying the data setting display for H4-02 or H4-03 will cause the following voltage to be output by the FM-AC terminals.

10 V/100% monitor output × output gain (H4-02) + output bias (H4-03)

Just pressing the Enter Key and displaying the data setting display for F4-02 or F4-05 will cause the following voltage to be output to channel 1 of the AO option board.

10 V/100% monitor output × output gain (F4-02) + output bias (F4-05)

Output voltage

Gain x 10 V

Bias x 10/100 V

Monitor item

Fig 6.56 Monitor Output Adjustment

Switching Analog Monitor Signal Levels

Monitor items corresponding to − 10 to 10 V output 0 to 10 V signals when the monitor value is positive (+), and 0 to -10 V signals when the monitor value is negative (-). For monitor items corresponding to − 10 to 10 V, refer to Chapter 5 User Constants .

You can select the signal levels separately for multi-function analog output terminals and analog output option terminals.

INFO

-94

Using Pulse Train Monitor Contents

This section explains pulse monitor constants.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

H6-06

H6-07

Pulse train monitor selection

Pulse train monitor scaling

Select the pulse train monitor output items (value of the part of U1 ).

There are two types of monitor items: Speed-related items and

PID-related items.

Set the number of pulses output when speed is 100% in hertz.

Set H6-06 to 2, and H6-07 to 0, to make the pulse train monitor output synchronously to the output frequency.

1, 2, 5,

20, 24,

0 to

32000

2 Yes

1440 Hz Yes

431H

432H

Selecting Pulse Monitor Items

Output digital operator monitor items (U1 [status monitor]) from pulse monitor terminal MP-AC. Refer to Chapter 5 User Constants , and set the part of U1 (Status monitor). The possible monitor selections are limited as follows: U1-01, 02, 05, 20, 24, 36.

Adjusting the Pulse Monitor Items

Adjust the pulse frequency output from pulse monitor terminal MP-AC. Set the pulse frequency output when

100% frequency is output to H6-07.

Set H6-06 to 2, and H6-07 to 0, to output the frequency synchronous with the Inverter's U-phase output.

Application Precautions

When using a pulse monitor constant, connect a peripheral device according to the following load conditions.

If the load conditions are different, there is a risk of characteristic insufficiency or damage to the machinery.

Using a Sourcing Output

Output Voltage

(Isolated)

VRL (V)

+5 V min.

Load Impedance (k Ω )

+8 V min.

+10 V min.

1.5 k Ω min.

3.5 k Ω min.

10 k Ω min.

VRL

Load impedance

Using a Sinking Input

External Power

Supply (V)

Sink Current (mA)

12 VDC ± 10%,

15 VDC ± 10%

16 mA Max

Monitor Constants

External power supply

Load impedance

Sinking current

-96

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)

Individual Functions

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+

R-

Switch

Terminating resistance (1/2 W, 110 Ohms)

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.

-98

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

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* 1

H5-02

Communication speed selection

Set the baud rate for MEMO-

BUS communications of communications connection terminals.

0: 1200 bps

1: 2400 bps

2: 4800 bps

3: 9600 bps

4: 19200 bps

0 to 4

H5-03

H5-04

H5-05

H5-06

Communication parity selection

Stopping method after communication error

Communication error detection selection

Send wait time

Set the parity for MEMOBUS communications of communications connection terminals.

0: No parity

1: Even parity

2: Odd parity

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 2

0 to 3

0 or 1

5 to 65

H5-07

H5-10

RTS control

ON/OFF

Unit Selection for

MEMOBUS

0025H

Select to enable or disable RTS control.

0: Disabled (RTS is always

ON)

1: Enabled (RTS turns ON only when sending)

Selects the units used for

MEMOBUS registry 0025H

(monitors the output voltage reference).

0: 0.1 V units

1: 1 V units

0 or 1

0, 1

* 1. Set H5-01 to 0 to disable Inverter responses to MEMOBUS communications.

* 2. Applicable for F7-series Inverters with software versions PRG: 1032 or later.

1FH

5 ms

A 42AH

A 42BH

180H

181H

425H

426H

427H

428H

429H

436H

Individual Functions

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

Response Message

Min.

(Bytes)

Max.

(Bytes)

7 37

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.

-100

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

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

01H

F4H

AFH

82H

Error code

CRC-16

Higher place

Lower place

03H

F1H

31H

Individual Functions

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

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

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

101

-102

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.

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

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

Broadcast data terminal S5 input 1: Enabled 0: Disabled

Broadcast data terminal S6 input 1: Enabled 0: Disabled

Broadcast data terminal S7 input 1: Enabled 0: Disabled

F Broadcast data terminal S8 input 1: Enabled 0: Disabled

Note Write 0 to all unused bits. Also, do not write data to reserved registers.

Individual Functions

Monitor Data

The following table shows the monitor data. Monitor data can only be read.

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

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) (Unit: 1/0.1A)

Output power (U1-08)

Torque reference (U1-09)

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

103

-104

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

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 (Unit: 1/0.1%)

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).

Individual Functions

Broadcast Data

The following table shows the broadcast data. You can also write this data.

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.

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).

105

-106

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.

Individual Functions

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.

107

-108

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

Open

Loop

Vector

Flux

Vector

MEMO

BUS

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

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

Individual Functions

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 Outputs the amount of operation proportional to the deviation. You cannot, however, set the deviation to zero using P control alone.

I control 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

109

-110

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

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

25.00

0.0 to

360.0

0.0 to

100.0

0.00 to

10.00

0.0 to

100.0

-100.0

+100.0

0.00 to

10.00

0 or 1

0.0 to

25.0

0 or 1

1.00

1.0 s

Yes

100.0% Yes

0.00 s

100.0% Yes

0.0%

0.00 s

1.0

Yes

A 1A5H

A 1A6H

A 1A7H

A 1A8H

A 1A9H

A 1AAH

A 1ABH

A 1ACH

A 1ADH

A 1AEH

A 1AFH

Individual Functions

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

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

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

A 1B0H

A 1B1H

1B2H

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

Open

Loop

Vector

Flux

Vector

MEMO

BUS

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

( − 10 to 10 V possible)

10 V: Max. frequency

( − 10 to 10 V possible)

10 V: Max. frequency

( − 10 to 10 V possible)

0.01

57H

63H

64H

111

-112

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

Open

Loop

Vector

Flux

Vector

MEMO

BUS

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

Function

V/f

Control Methods

V/f with

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

Multi-Function Analog Input (H3-05, H3-09)

Setting

Value

Function

PID feedback

PID target value

Contents (100%)

Maximum output frequency

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

Yes Yes Yes Yes

PID Control Methods

There are four PID control methods. Select the method by setting constant b5-01.

Set Value

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.

Individual Functions

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.

113

-114

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

Individual Functions

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. If the load changes rapidly, the machine may be damaged or the motor may stall because of unpredictable response from the Inverter. In this case, reduce the set value.

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).

115

PID Control Block

The following diagram shows the PID control block in the Inverter.

Output frequency (U1-02)

-116

Fig 6.63 PID Control Block

Individual Functions

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

117

-118

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

Open

Loop

Vector

Flux

Vector b8-01 b8-02 b8-03 b8-04 b8-05 b8-06

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

0.00 to

655.00

Power detection filter time constant

Set the time constant for output power detection.

0 to

2000

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.

0 to 100

0.7

0.50 s

288.20

20 ms

Yes

E2-02

E2-11

Motor rated slip

Motor rated output

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.

Set the rated output of the motor in units of 0.01 kW.

This constant is automatically set during autotuning.

0.00 to

20.00

0.00 to

650.00

2.90 Hz

0.40 kW

* 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.

MEMO

BUS

A 1CCH

A 1CDH

A 1CEH

No 1CFH

No 1D0H

No 1D1H

30FH

318H

Individual Functions

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).

119

-120

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

Open

Loop

Vector

Flux

Vector

MEMO

BUS

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

0.00 to

20.00

0.00 to

1.89

0.000

65.000

0.0 to

40.0

0.00 to

0.50

0.50 to

0.75

1.90 A

2.90 Hz

1.20 A

2 to 48 4 poles

9.842

18.2%

0.50

0.75

Ω

30EH

30FH

310H

311H

312H

313H

314H

315H

Individual Functions

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

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

No A A No No 317H

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

No Q Q Q Q 318H

* 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.

For the motor no-load current, set E2-03 to a value less than that of E2-01.

* 3. The setting range depends on the Inverter capacity. The value for a 200 V Class Inverter of 0.4 kW is given. The upper limit depends on the setting of

E2-01.

* 4. The lower limit of E2-08 is the setting value of E2-07.

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.

121

-122

•

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

Open

Loop

Vector

Flux

Vector

MEMO

BUS

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

0 to F

200 V

Q 300H

No 302H

Individual Functions

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

E1-04

E1-05

E1-06

Max. output frequency

Max. voltage

Base frequency

Output voltage (V)

Frequency (Hz)

0.0 to

255.0

0.0 to

400.0

0.0 to

300.0

40.0 to

400.0

60.0 Hz

40.0 to

300.0

200.0

*1*2

60.0 Hz

0.0 to

400.0

0.0 to

300.0

3.0 Hz

E1-07

E1-08

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)

0.0 to

255

15.0 V

*1 *2

E1-09

E1-10

Min. output frequency

Min. output frequency voltage

0.0 to

400.0

0.0 to

300.0

0.0 to

255.0

1.5 Hz

9.0 V

*1 *2

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

0.0 to

300.0

0.0 to

255.0

0.0 Hz

0.0 V

E1-13

Base voltage

0.0 to

255.0

0.0 V

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.

MEMO

BUS

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.

The overvoltage detection level (OV) and the braking transistor operation level (BTR) vary depending on the input voltage as shown in the following table.

123

-124

Inverter Class

200 V Class

400 V Class

E1-01 Setting

All values

400 V or more

Less than 400 V

OV Detection Level

Approx. 410 V

Approx. 820 V

Approx. 720 V

BTR Operation Level

∗

Approx. 394 V

Approx. 788 V

Approx. 682 V

* These are values of operation levels for braking transistors built in Inverters of 0.4 to 18.5 kW. Refer to FOR VARISPEED-600 SERIES INVERTER BRAK-

ING UNIT BRAKING RESISTOR UNIT INSTRUCTIONS (TOBPC720600000) for operation levels for separately-installed type Braking Resistor Units.

If selecting a fixed V/f pattern (E1-03 = 0 to E) in V/f control the values of the max. voltage (E1-05), the mid.

Output frequency voltage (E1-08), and the min. output frequency voltage (E1-10) will change if the value for the input voltage setting (E1-01) is changed.

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

Constant Torque

Characteristic

Variable torque characteristic

Application

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.

Set

Value

Specifications

50 Hz specifications

1 (F) 60 Hz specifications

60 Hz specifications, voltage saturation at

50 Hz

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

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.

50 Hz specifications, medium startup torque

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.

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.

Individual Functions

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

• 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

125

-126

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

• 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

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

• 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

127

-128

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)

Individual Functions

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 d5-01 d5-02 d5-03 d5-04 Speed limit d5-05

Name

Torque control selection

Torque reference delay time

Speed limit selection

Speed limit bias

Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

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

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 or 1

0 to

1000

1 or 2

-120 to

+120

0 ms

0 to 120 10%

MEMO

BUS

A 29AH

A 29BH

A 29CH

A 29DH

A 29EH

129

-130

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

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

− 10 to 10 V

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: − 10 to 10 V , limit

without lower

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

+100.0

0 ms

100.0% Yes

0.0%

Yes

100.0% Yes

0.0% Yes

29FH

413H

414H

415H

416H

417H

418H

419H

A 41AH

Individual Functions

Multi-function Contact Input Functions (H1-01 to H1-06)

Setting

Value

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

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

Open

Loop

Vector

Flux

Vector

No No No Yes

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

No No No Yes

Multi-function Analog Inputs (H3-05, H3-09)

Setting

Value

Function

Add to terminal A1

Torque reference/torque limit at speed control

Torque compensation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

Yes Yes Yes Yes

No Yes

Monitor Function

Constant

Number

Name

U1-09

Torque reference

Description

Output Signal Level During Multi-Function Analog

Output

Min.

Unit

Control Methods

V/f

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Monitor in internal torque reference value for vector control.

10 V: Motor rated torque

( − 10 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

Reference Location

Selection

Method

Voltage input ( − 10 to 10 V)

Between A3 and AC

Between A2 and AC

(Turn OFF pin 2 of

SW1.)

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.

131

-132

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)

( − 10 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

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.

Individual Functions

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 ( − 10 to 10 V)

Current input (4 to 20 mA)

Option board (AI-14B)

( − 10 to 10 V)

Location of Reference

Set in d5-04

Between A1 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

133

-134 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

Line direction N T N T

T N

Line direction

T N

X X X X

Configuration

Line direction

M M M

Line direction

Normal Rotation

Direction

Torque Reference

Polarity (TREF)

Speed Limit Polarity (SLIM)

Forward Reverse Forward Reverse

Torque limit

Torque

∆ N

Torque limit

TREF

Torque

Generated Torque

Torque limit

Torque

TREF

∆ N

(d5-05)

SLIM

Torque limit

Speed

Torque limit

(d5-05)

SLIM

Ǎ N

TREF

Torque

Speed

Torque limit

(d5-05)

SLIM

TREF

Speed

∆ N

Torque limit

SLIM

(d5-05)

Speed

Torque limit

N(%) =

TREF(%)

C5-01

N(%) =

TREF(%)

C5-01

The lower value of ∆ N(%) =

TREF(%)

C5-01 or d5-05(%)

The lower value of ∆ N(%) =

TREF(%)

C5-01 or d5-05(%)

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 − 10 to 10 V signal level.

Individual Functions

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

A3 b1-01 d5-03

H3-05

Setting

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.

135

-136

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

Torque reference

I limit

C5-08

Primary filter

C5-06

(C5-10)

L7-01 to L7-04

C5-02, C5-04

Speed Control Block Diagram for Open-loop Vector Control

Output frequency

Frequency reference

Limit

Detected speed

−

Change rate limiter

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

ASR proportional

(P) gain 1

Sets the proportional gain of the speed loop (ASR.)

C5-02

ASR integral (I) time

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

Open

Loop

Vector

Flux

Vector

MEMO

BUS

1.00 to

300.00

20.00

Yes No A No A 21BH

0.000 to

10.000

0.500 s

Yes No A No A 21CH

Individual Functions

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

Control Methods

V/f

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

C5-03

ASR proportional

(P) gain 2

C5-04

ASR integral (I) time

Usually setting is not necessary.

Set to change the rotational speed gain.

P I

1.00 to

300.00

20.00

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

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

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

0 to

400

0.0 Hz

400%

* 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.

221H

222H

Multi-function Contact Input Functions (H1-01 to H1-06)

Setting

Value

Function

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

Open

Loop

Vector

Flux

Vector

No Yes No No

No No No Yes

137

-138

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?

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.

Name

H4-01 Multi-function analog output 1 terminal FM monitor selection

H4-02 Multi-function analog output 1 terminal FM output gain

H4-03 Multi-function analog output 1 terminal FM bias

Setting

1.00

0.0

Explanation

Settings that allow multi-function analog output 1 to be used to monitor the output frequency.

H4-04 Multi-function analog output 2 terminal AM monitor selection

H4-05 Multi-function analog output 2 terminal AM output gain

1.00

Settings that allow multi-function analog output 2 to be used to monitor the motor speed.

H4-06 Multi-function analog output 2 terminal AM bias selection

H4-07 Multi-function analog output 1 terminal signal level selection

0.00

H4-08 Multi-function analog output 2 terminal signal level selection 1

Settings that allow a − 10 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 ( − 10 to 10 V).

• Multi-function analog output 2 (terminal AM): Outputs actual motor speed ( − 10 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.

Individual Functions

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

139

-140

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 6-138 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.

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

Individual Functions

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.

141

-142

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

N5-01

N5-02

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

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

100

) to the rated speed (Nr).

J: GD

/4, P: Motor rated output ta =

2 π x J [kgm2] x Nr [min-1]

60 x T100 [N x m]

[s]

However,

T100

2 π x

P [kW]

Nr [min-1]

× 103 [N x m]

0 or 1 0

0.001 to

10.000

0.178 s

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

* The factory setting depends on the Inverter capacity. The value for a 200 V Class Inverter for 0.4 kW is given.

A 5B2H

A 5B3H

Individual Functions

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

㧗

㧙

Speed controller (ASR)

U1-44

㧗

Primary filter

C5-06

(C5-10)

U1-05

Torque limit

Secondary current reference

L7-01 to L7-04

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

Load torque

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

Motor A's torque characteristics

Motor B's torque characteristics

Load torque

The difference between

TA and TB is getting smaller.

Reference speed

Speed

Load balance when using a high-purpose motor

143

-144

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

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

0.03 to

2.00

0.0

0.05 s

Yes

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

Individual Functions

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

Open

Loop

Vector

Flux

Vector

MEMO

BUS

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.

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.

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

0 to 100

0 to

16383

0.5 Hz

A 189H

A 1DAH

A 1DBH

145

-146

Multi-function Contact Input Functions (H1-01 to H1-06)

Setting

Value

Function

Zero-servo command (ON: Zero-servo)

Multi-function Contact Output Functions (H2-01 to H2-03)

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

No No No Yes

Setting

Value

Function

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

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

Open

Loop

Vector

Flux

Vector

MEMO

BUS

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

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

Individual Functions

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.

147

-148

Digital Operator Functions

This section explains the Digital Operator functions.

Setting Digital Operator Functions

You can set Digital Operator-related constants such as selecting the Digital Operator display, multi-function selections, and copy functions.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Monitor selection after power up

Sets the monitor item to be displayed when the power is turned on.

1: Frequency reference

2: Output frequency

3: Output current

4: The monitor item set for o1-

Frequency units of reference setting and monitor

Sets the units that will be set and displayed for the frequency reference and frequency monitor.

0: 0.01 Hz units

1: 0.01% units (Maximum output frequency is 100%)

2 to 39: min

-1 units (Sets the motor poles.)

40 to 39999:

User desired display

Set the desired values for setting and display for the max. output frequency.

1 to 4

0 to

39999

Yes

501H

502H

Set 4-digit number excluding the decimal point.

Set the number of digits below the decimal point to display.

Example: When the max. output frequency value is 200.0, set

12000 o1-04

Setting unit for frequency constants related to V/f characteristics

Set the setting unit for frequency reference-related constants.

0: Hz

1: min

− 1

0 or 1 o2-01

LOCAL/

REMOTE key enable/ disable

Sets the Digital Operator Local/

Remote Key

0: Disabled

1: Enabled (Switches between the Digital Operator and the constant settings.)

0 or 1

No No No No A 503H

No A A A A 505H

Digital Operator Functions

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

STOP key during control circuit terminal operation

User constant initial value

Sets the Stop Key in the run mode.

0: Disabled (When the Run

Command is issued from and external terminal, the Stop

Key is disabled.)

1: Enabled (Effective even during run.)

Clears or stores user initial values.

0: Stores/not set

1: Begins storing (Records the set constants as user initial values.)

2: All clear (Clears all recorded user initial values)

When the set constants are recorded as user initial values,

1110 will be set in A1-03.

0 or 1

0 to 2

A o2-05

Frequency reference setting method selection

When the frequency reference is set on the Digital Operator frequency reference monitor, sets whether the Enter Key is necessary.

0: Enter Key needed

1: Enter Key not needed

When set to 1, the Inverter accepts the frequency reference without Enter Key operation.

0 or 1 0 No A A o2-07 o2-10

Cumulative operation time setting

Fan operation time setting

Sets the cumulative operation time in hour units.

Operation time is calculated from the set values.

Set the initial value of the fan operation time using time units.

The operation time accumulates from the set value.

0 to

65535

0 to

65535

0 hr

* The factory setting depends upon the Inverter capacity. The value for a 200 V Class Inverter of 0.4 kW is given.

506H

507H

509H

A 50BH

A 50EH

Changing Frequency Reference and Display Units

Set the Digital Operator frequency reference and display units using constant o1-03. You can change the units for the following constants using o1-03.

•

U1-01 (Frequency Reference)

U1-02 (Output Frequency)

•

U1-05 (Motor Speed)

U1-20 (Output Frequency after Soft Start) d1-01 to d1-17 (Frequency references)

Switching Monitors when the Power Supply Is ON

Using constant o1-02, select the monitor item (U1 [status monitor]) to be displayed on the Digital Operator when the power supply is turned ON. For monitors that can be displayed, refer to U1 in Chapter 5

User Constants .

149

-150

Setting Precautions

If selecting monitor constants other than U1-01 (Frequency Reference), U1-02 (Output Frequency), and U1-

03 (Output Current), first select the monitor items to be displayed in o1-01, and then set o1-02 to 4.

Disabling the STOP Key

If b1-02 (Operation Method Selection) is set to 1, 2, or 3, the Stop Command from the STOP Key on the Digital Operator is an emergency Stop Command.

Set o2-02 to 0 to disable emergency Stop Commands from the STOP Key on the Digital Operator.

Disabling the LOCAL/REMOTE Key

Set o2-01 to 0 to disable the LOCAL/REMOTE Key on the Digital Operator. You cannot switch Inverter reference inputs set using reference inputs from the Digital Operator, b1-01 (Reference Selection), or b1-02

(Operation Method Selection).

Initializing Changed Constant Values

You can save to the Inverter constant set values that you have changed as constant initial values. Change the set values from the Inverter factory settings, and then set o2-03 to 1.

Set A1-03 (Initialize) to 1110 to initialize the Inverter constants using the user-set initial values in memory. To clear the user-set initial values in memory, set o2-03 to 2.

Setting the Frequency Reference using the UP and DOWN Keys without Using the

Enter Key

Use this function when inputting frequency references from the Digital Operator. When o2-05 is set to 1, you can increment and decrement the frequency reference using the UP and DOWN Keys without using the Enter

Key.

For example, enter the Run Command using a 0 Hz reference, and then continuously press the UP Key to increment the frequency reference by 0.01 Hz only for the first 0.5 s, and then by 0.01 Hz every 80 ms for 3 s thereafter. Press and hold down the UP Key for 3 s minimum to reach the maximum output frequency 10 s after that. The frequency reference that has been set will be stored in memory 5 s after the UP or DOWN Keys are released.

Clearing Cumulative Operation Time

Set the cumulative operation time initial value in time units in constant o2-07. Set o2-07 to 0 to clear U1-13

(Inverter Operating Time).

Clearing Inverter Cooling Fan Operation Time

Set the fan operation time initial value in time units in constant o2-10. Set o2-10 to 0 to clear U1-40 (Cooling

Fan Operating Time).

Digital Operator Functions

Copying Constants

The Digital Operator can perform the following three functions using the built-in EEPROM (non-volatile memory).

•

Store Inverter constant set values in the Digital Operator (READ)

Write constant set values stored in the Digital Operator to the Inverter (COPY)

Compare constant set values stored in the Digital Operator with Inverter constants (VERIFY)

Related Constants

Constant

Number

Name o3-01

Copy function selection o3-02

Read permitted selection

Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

0: Normal operation

1: READ (Inverter to Operator)

2: COPY (Operator to Inverter)

3: Verify (compare)

0: Read prohibited

1: Read permitted

0 to 3

0 or 1

515H

516H

COPY Function Selection (SPEC: E or Later Only)

The available COPY functions (o3-01 “Copy function selection”) differ depending on the SPEC of Inverter as shown in the table below.

READ Source

COPY Destination

READ (Inverter

→ Operator)

VERIFY

Inverter with

SPEC: C or earlier

(PRG:101 )

Inverter with

SPEC: C or earlier

(PRG:101 )

Available

Inverter with

SPEC: C or earlier

(PRG:101 )

Inverter with

SPEC: E or earlier

(PRG:103 )

Available

N/A

* The initial values of user constants that have been stored using the constant o2-03 cannot be copied.

Inverter with

SPEC: E or earlier

(PRG:103 )

Inverter with

SPEC: C or earlier

(PRG:101 )

Available

N/A

Inverter with

SPEC: E or earlier

(PRG:103 )

Inverter with

SPEC: E or earlier

(PRG:103 )

Available

151

-152

Storing Inverter set values in the Digital Operator (READ)

To store Inverter set values in the Digital Operator, make the settings using the following method. Set 03-02

(Read permitted selection) to 1 (read permitted).

Step

No.

Table 6.1 READ Function Procedure

Digital Operator Display Explanation

Press the Menu Key, and select advanced programming mode.

Press the DATA/ENTER Key, and select the constants monitor display.

Display o3-01 (Copy Function Selection) using the Increment Key and Decrement Key.

Press the DATA/ENTER Key, and select the constants setting display.

Change the set value to 1 using the Increment

Key.

Set the changed data using the DATA/ENTER

Key. The READ function will start.

If the READ function ends normally, End is displayed on the Digital Operator. Constant o3-

01 is automatically reset to 0, and then the display returns to o3-01.

An error may occur while saving to memory. If an error is displayed, press any key to cancel the error display and return to the o3-01 display. Error displays and their meanings are shown below. (Refer to Chapter 7

Errors when Using Digital Operator Copy Function.)

Error Display Meaning

You are attempting to set o3-01 to 1 while o3-02 is set to 0.

Read data length mismatch or read data error.

Tried to write constants to EEPROM on the Digital Operator, but unable to perform write operation.

Select READ Permitted

Prevent overwriting the data stored in EEPROM in the Digital Operator by mistake. With o3-02 set to 0, if you set o3-01 to 1, and perform the write operation, PrE will be displayed on the Digital Operator, and the write operation will be stopped.

Digital Operator Functions

Writing Constant Set Values Stored in the Digital Operator to the Inverter (COPY)

To write constant set values stored in the Digital Operator to the Inverter, make the settings using the following method.

Step

No.

Table 6.2 COPY Function Procedure

Digital Operator Display Explanation

Press the MENU Key, and select advanced programming mode.

Press the DATA/ENTER Key, and select the constants monitor display.

Display o3-01 (Copy Function Selection) using the Increment Key and Decrement Key.

Press the DATA/ENTER Key, and select the constants setting display.

Change the set value to 2 using the Increment

Key.

Set the changed data using the DATA/ENTER

Key. The COPY function will start.

If the COPY function ends normally, End is displayed on the Digital Operator. Constant o3-01 is automatically reset to 0, and then the display returns to o3-01.

During the copy operation, errors may occur. If an error is displayed, set the constants again. Error displays and their meanings are shown below. (Refer to Chapter 7 Errors when Using Digital Operator Copy Function.)

Error Display Meaning

Inverter product code and Inverter software number are different.

Inverter capacity with which you are trying to copy, and the Inverter capacity stored in the Digital

Operator are different.

The Inverter control method in which you are trying to copy, and the Inverter control method stored in the Digital Operator are different.

Comparison between the constant written to the Inverter and the constant in the Digital Operator shows they are different.

After copying has ended, comparison between the sum value of the Inverter constant area and the sum value of the Digital Operator constant area shows they are different.

153

-154

Comparing Inverter Constants and Digital Operator Constant Set Values (VERIFY)

To compare Inverter constants and Digital Operator constant set values, make the settings using the following method.

Table 6.3 VERIFY Function Procedure

Step

No.

Digital Operator Display Explanation

Press the MENU Key. and select advanced programming mode.

Press the DATA/ENTER Key, and select the constants monitor display.

Display o3-01 (Copy Function Selection) using the Increment Key and Decrement Key.

Press the DATA/ENTER Key, and select the function setting display.

Change the set value to 3 using the Increment

Key.

Set the changed data using the DATA/ENTER

Key. The VERIFY function will start.

If the VERIFY function ends normally, End is displayed on the Digital Operator. Constant o3-

01 is automatically reset to 0, and then the display returns to o3-01.

An error may occur during the comparison. If an error is displayed, press any key to cancel the error display and return to the o3-01 display. Error displays and their meanings are shown below. (Refer to Chapter 7

Errors when Using Digital Operator Copy Function.)

Error Display Meaning

Verify error (Settings in the Digital Operator and the Inverter do not match).

Inverter product code and Inverter software number are different.

Application Precautions

• When using the copy function, check that the following settings are the same between the Inverter and the

Digital Operator.

•

Inverter product and type

Software number

•

Inverter capacity and voltage

Control method

•

Use the copy function off-line or with a communications option board removed.

A CPF03 fault (EEPROM error) can occur if the power is shut down while the Inverter constants are being copied. Do not shut down the power while copying the constants.

Digital Operator Functions

Prohibiting Writing Constants from the Digital Operator

If you set A1-01 to 0, you can refer to and set the A1 and A2 constant groups, and refer to drive mode, using the Digital Operator.

If you set one of the constants H1-01 to H1-06 (multi-function contact input terminal S3 to S8 function selection) to 1B (write constants permitted), you can write constants from the digital operator when the terminal that has been set is ON. When the set terminal is OFF, writing constants other than the frequency reference is prohibited. You can, however, reference constants.

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

A1-01

Constant access level

Used to set the constant access level (set/read.)

0: Monitoring only

(Monitoring drive mode and setting A1-01 and A1-04.)

1: Used to select user constant

(Only constants set in A2-01 to A2-32 can be read and set.)

2: Advanced

(Constants can be read and set in both quick programming mode and advanced programming (A) mode.)

0 to 2 2 Yes A A A A 101H

Setting a Password

When a password is set in A1-05, if the set values in A1-04 and A1-05 do not match, you cannot refer to or change the settings of constants A1-01 to A1-03, or A2-01 to A2-32.

You can prohibit the setting and referencing of all constants except A1-00 by using the password function in combination with setting A1-01 to 0 (Monitor only).

Related Constants

Constant

Number

Name

A1-01

Constant access level

Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Used to set the constant access level (set/read.)

0: Monitoring only

(Monitoring drive mode and setting A1-01 and A1-04.)

1: Used to select user constant

(Only constants set in A2-01 to A2-32 can be read and set.)

2: Advanced

(Constants can be read and set in both quick programming mode and advanced programming (A) mode.)

0 to 2 2 Yes A A A A 101H

155

-156

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

A1-04 Password

A1-05

Password input when a password has been set in A1-05.

This function write-protects some constants of the initialize mode.

If the password is changed, A1-

01 to A1-03 and A2-01 to A2-32 constants can no longer be changed. (Programming mode constants can be changed.)

Password setting

Used to set a four digit number as the password.

This constant is not usually displayed. When the Password

(A1-04) is displayed, hold down the RESET Key and press the

Menu Key and the password will be displayed.

0 to

9999

0 to

9999

104H

105H

Setting Precautions

Constant A1-05 cannot be displayed using normal key operations. To display A1-05, hold down the RESET

Key and press the MENU Key while A1-04 is displayed.

Displaying User-set Constants Only

You can set and refer to constants necessary to the Inverter only, using the A2 constants (user-set constants) and A1-01 (Constants Access Level).

Set the number of the constant to which you want to refer in A2-01 to A2-32, and then set A1-01 to 1. You can set and refer to constants set in A1-01 to A1-03 and A2-01 to A2-32 only, using advanced programming mode.

Related Constants

Constant

Number

Name

A2-01 to

A2-32

User setting constants

Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Used to set the constant numbers that can be set/read. Maximum

32.

Effective when the Constant

Access Level (A1-01) is set to

User Program (1). Constants set in constants A2-01 to A2-32 can be set/read in programming mode.

b1-01 to o3-02

No A A A A

106H to

125H

Options

This section explains the Inverter option functions.

Performing Speed Control with PG

This section explains functions with V/f control with PG and flux vector control .

Related Constants

Constant

Number

Name

F1-01 PG constant

F1-02

Operation selection at

PG open circuit (PGO)

F1-03

Operation selection at overspeed

(OS)

F1-04

Operation selection at deviation

Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Sets the number of PG (pulse generator or encoder) pulses.

Sets the number of pulses per motor revolution.

Sets the PG disconnection stopping method.

0: Ramp to stop (Deceleration stop using Deceleration

Time 1, C1-02.)

1: Coast to stop

2: Fast stop (Emergency stop using the deceleration time in C1-09.)

3: Continue operation (To protect the motor or machinery, do not normally make this setting.)

Sets the stopping method when an overspeed (OS) fault occurs.

0: Ramp to stop (Deceleration stop using Deceleration

Time 1, C1-02.)

1: Coast to stop

2: Fast stop (Emergency stop using the deceleration time in C1-09.)

3: Continue operation (To protect the motor or machinery, do not normally make this setting.)

Sets the stopping method when a speed deviation (DEV) fault occurs.

0: Ramp to stop (Deceleration stop using Deceleration

Time 1, C1-02.)

1: Coast to stop

2: Fast stop (Emergency stop using the deceleration time in C1-09.)

3: Continue operation (DEV is displayed and operation continued.)

0 to

60000

0 to 3

600

380H

381H

382H

383H

Options

157

-158

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

F1-05 PG rotation

F1-06

F1-07

0: Phase A leads with Forward

Run Command. (Phase B leads with Reverse Run

Command.)

1: Phase B leads with Forward

Run Command. (Phase A leads with Reverse Run

Command.)

0 or 1

PG division rate (PG pulse monitor)

Sets the division ratio for the PG speed control board pulse output.

Division ratio = (1+ n) /m (n=0 or 1 m=1 to 32)

F1-06 n m

This constant is only effective when a PG-B2 is used.

The possible division ratio settings are: 1/32 ≤ F1-06 ≤ 1.

Integral value during accel/ decel enable/ disable

Sets integral control during acceleration/deceleration to either enabled or disabled.

0: Disabled (The integral function isn't used while accelerating or decelerating; it is used at constant speeds.)

1: Enabled (The integral function is used at all times.)

1 to 132

0 or 1

F1-08

F1-09

F1-10

F1-11

F1-12

F1-13

Overspeed detection level

Overspeed detection delay time

Sets the overspeed detection method.

Frequencies above that set for

F1-08 (set as a percentage of the maximum output frequency) that continue to exceed this frequency for the time set in F1-09 are detected as overspeed faults.

0 to 120 115%

0.0 to

2.0

0.0 s

Excessive speed deviation detection level

Excessive speed deviation detection delay time

Sets the speed deviation detection method.

Any speed deviation above the

F1-10 set level (set as a percentage of the maximum output frequency) that continues for the time set in F1-11 is detected as a speed deviation.

Speed deviation is the difference between actual motor speed and the reference command speed.

Number of

PG gear teeth

Sets the number of teeth on the gears if there are gears between the PG and the motor.

Number of

PG gear teeth

Input pulses from PG 60 F1-13

F1-01 F1-12

A gear ratio of 1 will be used if either of these constants is set to

0 to 50

0.0 to

10.0

0 to

1000

10%

0.5 s

F1-14

PG open-circuit detection time

Used to set the PG disconnection detection time. PGO will be detected if the detection time continues beyond the set time.

0.0 to

10.0

2.0 s No No A

* The factory setting will change when the control method is changed. The flux vector control factory setting is given.

MEMO

BUS

384H

385H

No 386H

387H

388H

389H

A 38AH

No 38BH

No 38CH

A 38DH

Options

Using PG Speed Control Board

There are four types of PG Speed Control Board that can be used in V/f control with PG.

• PG-A2: A-phase (single) pulse input, compatible with open collector or complimentary outputs.

•

PG-B2: A/B-phase pulse input, compatible with complimentary outputs.

PG-D2: A-phase (single) pulse input, compatible with line drivers.

PG-X2: A/B/Z-phase pulse input, compatible with line drivers.

There are two types of PG Speed Control Boards that can be used for flux vector control.

• PG-B2: A/B phase pulse inputs, complementary outputs

• PG-X2: A/B/Z phase pulse inputs, line driver outputs

For the connection diagram, refer to page 2-36 to 2-38.

Setting Number of PG Pulses

Set the number of PG (Pulse Generator/Encoder) pulses in pulses/rotation. Set the number of A-phase or Bphase pulses per 1 motor rotation in F1-01.

Matching PG Rotation Direction and Motor Rotation Direction

Constant F1-05 matches the PG rotation direction and the motor rotation direction. If the motor is rotating forwards, set whether it is A-phase driven or B-phase driven. Make this setting when using PG-B2 or PG-X2.

Inverter

Motor PG (encoder)

Forward

Command

A-phase driven when set value = 0

A-phase

B-phase

Pulse output

B-phase driven when set value = 1

A-phase

B-phase

Example: Forward rotation of standard Yaskawa motor (PG used: Samtack (KK))

Forward

Command

Motor output axis rotates counter-clockwise during Inverter Forward Command.

Rotation

(CCW)

A-phase

B-phase

Yaskawa standard PG used is A-phase driven (CCW) when motor rotation is forward.

Fig 6.78 PG Rotation Direction Setting

Generally, PG is A-phase driven when rotation is clockwise (CW) see from the input axis. Also, motor rotation is counter-clockwise (CCW) seen from the output side when Forward Commands are output. Consequently, when motor rotation is forward, PG is normally A-phase driven when a load is applied, and B-phase driven when a load is not applied.

159

-160

Setting Number of Gear Teeth Between PG and Motor

Set the number of PG gear teeth in F1-12 and F1-13. If there are gears between the motor and PG, you can operate the motor by setting the number of gear teeth.

When the number of gear teeth has been set, the speed of motor rotations within the Inverter is calculated using the following formula.

Speed of motor rotations (min

− 1

.) = No. of input pulses from PG × 60 / F1-01 × F1-13 (No. of gear teeth on load side) / F1-12 (No. of gear teeth on motor side)

Matching Motor Speed During Acceleration and Deceleration to Frequency Reference

You can select whether to enable or disable integral operation during acceleration and deceleration when using

V/f with PG control.

To match the motor speed as closely as possible to the frequency reference even during acceleration and deceleration, set F1-07 to 1.

If F1-01 is set to 1, overshoot or undershoot may occur easily immediately after acceleration and deceleration. To minimize the possibility of overshoot or undershoot occurring, set F1-01 to 0.

IMPORTANT

Setting PG Pulse Monitor Output Dividing Ratio

This function is enabled only when using PG speed control board PG-B2. Set the dividing ratio for the PG pulse monitor output. The set value is expressed as n for the higher place digit, and m for the lower place 2 digits. The dividing ratio is calculated as follows:

Dividing ratio = (1 + n)/m (Setting range) n: 0 or 1, m: 1 to 32

F1-06 = n

The dividing ratio can be set within the following range: 1/32 ≤ F1-06 ≤ 1. For example, if the dividing ratio is

1/2 (set value 2), half of the number of pulses from the PG are monitor outputs.

Detecting PG Open Circuit

Select the stopping method when PG cable disconnected is detected and the PG open circuit (PGO) detection time.

When the Inverter is operating with the frequency reference set to 1% minimum (except when operating on direct current), if the speed feedback from PG is greater than the time setting in F1-14, PGO is detected.

Detecting Motor Overspeed

An error is detected when the number of motor rotations exceeds the regulated limit. An overspeed (OS) is detected when a frequency that exceeds the set value in F1-08 continues for longer than the time set in F1-09.

After detecting an overspeed (OS), the Inverter stops according to the setting in F1-03.

Detecting Speed Difference between the Motor and Speed Reference

An error is detected when the speed deviation (i.e., the difference between the designated speed and the actual motor speed) is too great. Speed deviation (DEV) is detected after a speed agreement is detected and when the speed reference and actual workpiece speed are within the setting of L4-02, if a speed deviation great than the set value in F1-10 continues for longer than the time set in F1-11. After a speed deviation is detected, the

Inverter stops according to the setting in F1-04.

Options

Using Digital Output Boards

There are two types of Inverter digital output boards:

• DO-02C

Relay contact output (DPDT contact)

• DO-08

6 photocoupler output channels (shared commons)

2 (independent) relay contact output channels (NC contact)

Inverter control panel

3CN 3CN

+24 V

NC NO

NO 5

CH1

CH2

Relay contact

DO-02C Digital Output Board

Inverter control panel

3CN 3CN

Photocoupler

TD5

CH1 Photocoupler

TD6

CH2

TD7

CH3

TD8

CH4

TD9

CH5

TD10

TD11

TD1

TD2

TD3

TD4

CH6

COM (0 V common)

CH7

Relay contact

CH8

DO-08 Digital Output Board

Fig 6.79 Digital Output Boards

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

F5-01

Channel 1 output selection

F5-02

Channel 2 output selection

F5-03

Channel 3 output selection

F5-04

Channel 4 output selection

F5-05

Channel 5 output selection

F5-06

Channel 6 output selection

Effective when a Digital Output

Board (DO-02C or DO-08) is used.

Set the number of the multifunction output to be output.

Effective when a Digital Output

Board (DO-02C or DO-08) is used.

Set the number of the multifunction output to be output.

Effective when a DO-08 Digital

Output Board is used.

Set the number of the multifunction output to be output.

Effective when a DO-08 Digital

Output Board is used.

Set the number of the multifunction output to be output.

Effective when a DO-08 Digital

Output Board is used.

Set the number of the multifunction output to be output.

Effective when a DO-08 Digital

Output Board is used.

Set the number of the multifunction output to be output.

0 to 37

A 399H

A 39AH

A 39BH

A 39CH

A 39DH

A 39EH

161

-162

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

F5-07

Channel 7 output selection

F5-08

F5-09

Channel 8 output selection

DO-08 output mode selection

Effective when a DO-08 Digital

Output Board is used.

Set the number of the multifunction output to be output.

Effective when a DO-08 Digital

Output Board is used.

Set the number of the multifunction output to be output.

Effective when a DO-08 Digital

Output Board is used.

Set the output mode.

0: 8-channel individual outputs

1: Binary code output

2: Output according to

F5-01 to F5-08 settings.

0 to 37

0 to 2

A 39FH

A 3A0H

A 3A1H

Setting Output Items for the DO-02C Digital Output Board

If using DO-02C Digital Output Board, set the output items using F5-01 and F5-02.

Setting Output Items for the DO-08 Digital Output Board

If using DO-08 Digital Output Board, select one of the following three output modes according to the setting in F5-09.

F5-09 Set to 0

Set Value

0: 8 separate outputs

Terminal

Number

TD5-TD11

TD6-TD11

TD7-TD11

TD8-TD11

Overcurrent (SC, OC, GF)

Overvoltage (OV)

Inverter overload (OL2)

Fuse blown (PUF)

Output Details

TD9-TD11 Overspeed (OS)

TD10-TD11 Inverter overheated (OH1) or motor overload (OL1)

TD1-TD2 Zero-speed detected

TD3-TD4 Speed agreement

Options

F5-09 Set to 1

Set Value

1: Binary code output

Terminal

Number

TD5-TD11 bit 0

TD6-TD11

TD7-TD11

TD8-TD11 bit 1 bit 2 bit 3

TD9-TD11 Zero-speed detected

TD10-TD11 Speed agreement

TD1-TD2

TD3-TD4

Operating

Minor fault

Output Details

Encoded output

(Refer to table below)

The following table shows the code outputs.

Bits 3, 2, 1, and 0

0000

0001

Output Details

No error

Overcurrent (SC, OC, GF)

0010

0011

0100

0101

0110

0111

Overvoltage (OV)

Inverter overload (OL2)

Inverter overheated (OH, OH1)

Overspeed (OS)

Fuse blown (PUF)

Dynamic braking resistor (RH)

Injection brake transistor error (RR)

F5-09 Set to 2

Output depends on the settings in F5-01 to F5-08.

Bits 3, 2, 1, and 0

1000

Output Details

External fault (EFxx)

1001 Control board error (CPFxx)

1010

1011

1100

1101

1110

Motor overload (OL1)

Not used

Power loss (UV1, UV2, or UV3)

Speed deviation (DEV)

PG open circuit (PGO)

1111 Not used

Using an Analog Reference Board (SPEC: E or Later Only)

AI-14B provides 3 channels of bi-polar inputs with 13-bit A/D conversion accuracy (and a + sign bit). The function of each channel is determined by the setting of F2-01.

AI-14U provides 2 channels of bi-polar inputs with 14-bit A/D conversion accuracy. Channel 1 is a voltage input and channel 2 is a current input. The sum of channels 1 and 2 is a frequency input. F2-01 does not need to be set for the AI-14U.

163

-164

Related Constants

Constant

Number

Name

F2-01

Bi-polar or uni-polar input selection

Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Sets the functions for channel 1 to 3 which are effective when the AI-14B Analog Reference

Board is used.

0: 3-channel individual (Channel 1: terminal A1, Channel

2: terminal A2, Channel 3: terminal A3)

1: 3-channel addition (Addition values are the frequency reference)

When set to 0, select 1 for b1-

01. In this case the multi-function input “Option/Inverter selection” cannot be used.

0 or 1 0 No A A A A 38FH

Setting Precautions

Always set b1-01 (Reference selection) to 1 (control circuit terminal) when using the AI-14B for three channels of independent inputs. When this is done, H1-01 to H1-06 (multi-function contact inputs) cannot be set to

2 (Option/Inverter selection).

Using a Digital Reference Board (SPEC: E or Later Only)

When using a DI-08 or DI-16H2 Digital Reference Board, set b1-01 (Reference selection) to 3 (Option

Board).

The DI-16H2 can be used to set a frequency using a 16-bit digital reference. The DI-08 can be used to set a frequency using a 8-bit digital reference.

Related Constants

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

F3-01

Digital input option

Sets the Digital Reference Board input method.

0: BCD 1% unit

1: BCD 0.1% unit

2: BCD 0.01% unit

3: BCD 1 Hz unit

4: BCD 0.1 Hz unit

5: BCD 0.01 Hz unit

6: BCD special setting (5-digit input)

7: Binary input

6 is only effective when the DI-

16H2 is used.

When o1-03 is set to 2 or higher, the input will be BCD, and the units will change to the o1-03 setting.

0 to 7 0 No A A A A 390H

Options

Constant

Number

Name Description

Setting

Range

Factory

Setting

Change during

Operation

V/f

Control Methods

V/f with

Open

Loop

Vector

Flux

Vector

MEMO

BUS

Frequency units of reference setting and monitor

Sets the units that will be set and displayed for the frequency reference and frequency monitor.

0: 0.01 Hz units

1: 0.01% units (Maximum output frequency is 100%)

2 to 39: min

-1

units (Sets the motor poles.)

40 to 39999:

User desired display

Set the desired values for setting and display for the max. output frequency.

0 to

39999

0 No A A A A 502H

Set 4-digit number excluding the decimal point.

Set the number of digits below the decimal point to display.

Example: When the max. output frequency value is 200.0, set

12000

Selecting Input Terminal Functions for the DI-16H2 Digital Reference Board

The frequency reference from the DI-16H2 Board is determined by the setting of F3-01 and the 12/16-bit switch on the option board. The possible settings are listed in the following table.

165

-166

Terminal

TC1

TC2

TC3

Pin No.

12-bit Binary with Sign

F3-01 = 7

S1: 12 bit

Bit 1 (2

)

16-bit Binary with Sign

F3-01 = 7

S1: 16 bit

Bit 1 (2

)

Bit 1 (2

)

Bit 1 (2

)

Bit 1 (2

)

Bit 1 (2

)

3-digit BCD with

Sign

F3-01 = 0 to 5

S1: 12 bit

BCD digit 1

(0 to 9)

4-digit BCD with

Sign

F3-01 = 0 to 5

S1: 16 bit

5-digit BCD without Sign

F3-01 = 6

S1: 16 bit

1 2

BCD digit 1

(0 to 9)

BCD digit 1

(0, 2, 4, 6, 8)

BCD digit 2

(0 to 9)

BCD digit 2

(0 to 9)

BCD digit 2

(0 to 9)

Bit 1 (2

)

Bit 1 (2

)

Bit 1 (2

)

Bit 1 (2

) 2

Bit 1 (2

) 4

Bit 1 (2

) 8

Bit 1 (2

)

Bit 1 (2

)

Bit 1 (2

)

Bit 1 (2

)

Sign signal (0: Forward, 1: Reverse)

SET (read) signal (1: Read)

Input signal common (0 V)

Shield wire connection terminal

BCD digit 3

(0 to 9)

BCD digit 3

(0 to 9)

BCD digit 4

(0 to 9)

BCD digit 3

(0 to 9)

BCD digit 4

(0 to 9)

BCD digit 5

(0 to 3)

Application Precautions

•

The maximum frequency (100% speed) reference will be used when the binary input is set (setting: 6 or 7) and all bits are 1.

Setting F3-01 to 6 is valid only when the D1-16H2 is used. Using this setting, a frequency from 0.00 to

399.8 Hz can be set in BCD. The sign bit is used as a data bit, so only positive (plus) data can be set. Also, the digit starts from 0, so the minimum setting is 0.02 Hz.

Selecting the Input Terminal Function for a DI-08 Digital Reference Board

The frequency reference from a DI-08 Board is determined by the setting of F3-01, as shown in the following table.

Options

Terminal

Pin No.

8-bit Binary with Sign

F3-01 = 7

Bit 1 (2

)

Bit 1 (2

)

Bit 1 (2

)

Bit 1 (2

)

Bit 1 (2

)

Bit 1 (2

)

Bit 1 (2

)

Bit 1 (2

)

Sign signal

SET (read) signal

Reference common signal (0 V)

2-digit BCD with Sign

F3-01 = 0 to 5

BCD digit 1

(0 to 9)

BCD digit 2

(0 to 15)

Application Precautions

The DI-08 will not function if F3-01 is set to 6

Selecting the Digital Reference

The range of the digital references is determined by the combination of the settings of o1-03 and F3-01. The information monitored in U1-01 (Frequency reference) will also change.

DI-16H2 Reference Ranges

When using the DI-16H2, the following ranges can be set depending on the settings of the constants.

o1-03 F3-01

0 or 1

Switch

Reference Input Mode

12 bits 3-digit BCD with sign, 1%

16 bits 4-digit BCD with sign, 1%

12 bits 3-digit BCD with sign, 0.1%

16 bits 4-digit BCD with sign, 0.1%

12 bits 3-digit BCD with sign, 0.01%

16 bits 4-digit BCD with sign, 0.01%

12 bits 3-digit BCD with sign, 1 Hz

16 bits 4-digit BCD with sign, 1 Hz

12 bits 3-digit BCD with sign, 0.1 Hz

16 bits 4-digit BCD with sign, 0.1 Hz

12 bits 3-digit BCD with sign, 0.01 Hz

16 bits 4-digit BCD with sign, 0.01 Hz

16 bits 5-digit BCD without sign, 0.01 Hz

12 bits 12-bit binary with sign, 100%/4095

16 bits 16-bit binary with sign, 100%/30000

Reference Setting

Range

-110 to 110%

-110.0 to 110.0%

-15.99 to 15.99%

-110.0 to 110.0%

-400 to 400 Hz

-159.9 to 159.9 Hz

-400.0 to 400.0 Hz

-15.99 to 15.99 Hz

-159.99 to 159.99 Hz

000.00 to 399.98 Hz

-4095 to 4095

-33000 to 33000

U1-01 Monitor Unit o1-03 = 0 o1-03 = 1

0.01 Hz 0.01%

167

-168 x0040 to x9999

(x = 0 to 3) x1000

(x = 1 to 3) o1-03 F3-01

2 to 39

Switch

Reference Input Mode

12 bits 3-digit BCD with sign, 1 rpm

16 bits 4-digit BCD with sign, 1 rpm

12 bits

3-digit BCD with sign, 100%/(1- to 4digit setting of o1-03)

16 bits

4-digit BCD with sign, 100%/(1- to 4digit setting of o1-03)

16 bits 4-digit BCD with sign, 100%/10000

Reference Setting

Range

-1599 to 1599 rpm

-15999 to 15999 rpm

U1-01 Monitor Unit o1-03 = 0 o1-03 = 1

1 rpm

-1599 to 1599

-9999 to 9999

(when o1-03 = 9999)

-1000 to 1000

5th digit of o1-03 setting:

X = 0, unit: 1

X = 1, unit: 0.1

X = 2, unit: 0.01

X = 3, unit: 0.001

DI-08 Reference Ranges

When using the DI-08, the following ranges can be set depending on the settings of the constants.

F3-01 Reference Input Mode Reference Setting Range

U1-01 Monitor Unit o1-03 = 0 o1-03 = 1

0 2-digit BCD with sign, 1% -110 to 110%

1 2-digit BCD with sign, 0.1% -15.9 to 15.9%

2-digit BCD with sign, 0.01%

2-digit BCD with sign, 1 Hz

2-digit BCD with sign, 0.1 Hz

2-digit BCD with sign, 0.01 Hz

-1.59 to 1.59%

-159 to 159 Hz

-15.9 to 15.9 Hz

-1.59 to 1.59 Hz

8-bit binary with sign, 100%/255 -255 to 255

0.01 Hz 0.01%

Using Inverters for Elevating Machines

This section describes precautions to be observed when using the Varispeed F7 for elevating machines such as elevators and cranes.

Brake ON/OFF Sequence

For the holding brake’s ON/OFF sequence, use the following Inverter output signals according to the set control method.

Control Method

V/f (A1-02 = 0, factory setting)

V/f with PG (A1-02 = 1)

Open-loop vector (A1-02 = 2)

Brake ON/OFF Signal

Signal Name Constant

Frequency detection 2

H2-01 = 05

∗ 5

Frequency detection 5

∗ 4

H2-01 = 36

∗ 5

Brake ON/OFF Level Adjustment

Signal Name Constant

• Speed agree detection level

• Speed agree detection width

• L4-01 = 1.0 to

3.0 Hz

• L4-02 = 0.1 to

0.5 Hz

Flux vector (A1-02 = 3) During run 2 H2-01 = 37

Zero-speed level

(OFF timing only) b2-01 = 0.1 to

0.5 Hz

* 1. This example shows multi-function output terminals M1-M2 used for the holding brake ON/OFF signal.

Do not set H2-01 to 0 (During run).

* 2. This is the standard setting range for open-loop vector control. For V/f control, set to approximately the motor rated slip frequency +0.5 Hz.

If the set value is too low, the motor torque is insufficient and the load may slip when the brake is applied. Be sure to set L4-01 to a value larger than that of E1-09 (Min. output frequency) and larger than that of L4-02 shown in Figure 6.80. If the set value is too large, the motor may not run smoothly when it starts running.

* 3. The hysteresis in frequency detection 2 can be adjusted (from 0.1 to 0.5 Hz) by L4-02 (speed agree detection width). Change the setting to approximately 0.1 Hz if there are drops while stopping.

* 4. Applicable for F7-Series Inverters with software versions PRG:1032 or later.

* 5. When using frequency detection 2, set L4-01 before H2-01. If H2-01 is set before L4-01, the holding brake will engage while stopping. For Inverters with software versions PRG: 1032 or later, use frequency detection 5 in which a holding brake signal is OFF when the Inverter is baseblocked.

Output frequency

L4-01

Frequency detection 2

Fig 6.80

OFF

L4-02

Time

169

-170

Sequence Circuit Configuration

The brake ON/OFF sequence circuit configuration is shown below.

DOWN

HIGH/LOW

Inverter (Varispeed F7)

Fault contacts

(Forward run)

(Reverse run)

(Multi-step speed reference 2)

Frequency detection 2, 5 or

During run

Holding brake auxiliary relay coil

Sequence circuit

DOWN

Energizes the brake when ON

(250 VAC 1 A or less, 30 VDC

1 A or less)

Note Design the sequence so that the holding brake contact is open when the sequence operation conditions are satisfied and the contact between M1 and M2 is closed (ON).

Make sure that the holding brake contact is closed when the emergency stop signal or Inverter fault contact output signal is ON.

Also, make sure that the holding brake is released when an up/down command is issued (ON.)

Fig 6.81 Brake ON/OFF Sequence Circuit Configuration

Time Chart

The brake ON/OFF sequence time charts are shown in Figs. 6.82 and 6.83.

S1-SC UP

OFF

S6-SC

High speed/

Low speed

OFF ON

Output frequency

L4-01 d1-03 d1-01 (Enabled when b1-01 = 0) b4-01

DC injection braking

Time

OFF

M1-M2

Frequency detection 2

(H2-01 = 05)

Holding brake operation CLOSE

OPEN CLOSE

Note For variable speed operation by an analog signal, set to b1-01 = 1.

Fig 6.82 Brake ON/OFF Sequence Time Chart (V/f, V/f with PG, open-loop vector)

S1-SC UP

OFF

S6-SC

High speed/

Low speed

OFF

Output frequency

0 d1-03 d1-01 (Enabled when b1-01 = 0) b2-01

Time

DC injection braking (Zero-speed control)

OFF

M1-M2

During run 2

(H2-01 = 37)

Holding brake operation

OPEN CLOSE

Note For variable speed operation by an analog signal, set to b1-01 = 1.

Fig 6.83 Brake ON/OFF Sequence Time Chart (Flux Vector)

Using Inverters for Elevating Machines

Stall Prevention during Deceleration

If connecting a braking resistor to discharge regenerative energy, be sure to set Stall prevention selection during decel (L3-04) to 0 (Disabled).

IMPORTANT

If Stall prevention selection during decel (L3-04) is set to 1, 2, or 3 , the motor may not stop within the specified decelerating time.

Stall prevention selection during accel (L3-01) and Stall prevention selection during running (L3-05) should be set to their initial values 1 (Enabled) to enable these functions.

Autotuning

Always perform autotuning with the motor before operating using vector control. Be sure to disconnect the motor from the load before conducting autotuning. Conducting autotuning while the motor is connected to an elevating machine system is dangerous because it automatically runs the motor for approximately one minute.

IMPORTANT

1. When the motor cannot be disconnected from the load, perform stationary autotuning 1 (T1-01 = 1) or stationary autotuning 2 (T1-01 = 4). For F7-series Inverters with SPEC: E or later, perform stationary autotuning 2 (T1-01=4).

Stationary autotuning will apply current to the motor in its stopped condition and automatically measure the motor data. In the initial running period after autotuning 1 (T1-01 = 1) (20% speed min., fixed speed for 1 s min.), the motor data measured by autotuning will automatically be corrected.

2. To improve low-speed torque characteristics using V/f control, conduct stationary autotuning for line to line resistance only (T1-01 = 2).

3. When conducting autotuning on wound motor or other special types of motors, obtain a test report for the motor in advance and confirm that the E2 motor constants after autotuning do not vary greatly from those of the test report.

Braking Resistor Overheating Protection

When using a braking resistor other than the Braking Resistor Unit, provide a sequence with a thermal overload relay or similar means to turn off the power input to the Inverter when it detects resistor overheating. See the Connection Diagram on page 2-3 for this sequence circuit.

Momentary Power Loss Restart

Do not use the momentary power loss restart and fault restart functions in applications for elevating machines.

Make sure that L2-01=0 and L5-01=0. If these functions are used, the motor coasts to a stop with the brake contact open when a momentary power loss or fault occurs during operation, possibly resulting in serious accidents.

Torque Limit

The torque limit values (L7-01 to L7-04) are the motor's rated torque. When there is a possibility of insufficient torque at start-up or other time, increase the Inverter capacity and set the torque limit value to between

200% and 300% (factory setting is 200%).

171

-172

I/O Open-phase Protection and Overtorque Detection

To prevent the machine from falling when the motor is open-phase or a similar situation, enable L8-05 and L8-

07 (Input and output open-phase protection selection) and L6-01 to L6-06 (Overtorque detection) (factory setting is Disabled).

Falling detection or a similar safety measure should also be provided on the machine side.

External Baseblock Signal

If the external baseblock command (settings 8 and 9 of H1-01 to H1-06) is input while the motor is running, the motor will immediately coast to a stop. Do not input the external baseblock command while the motor is running unless necessary.

Make sure that the holding brake operates when using the external base block command for an emergency stop or interlock to start the Inverter.

If the external baseblock command is input and immediately reset, the Inverter does not output voltage during the value of L2-03 (Min. baseblock time), which factory setting is 0.5 to 2.0 seconds depending on the Inverter capacity. Do not use the external baseblock command in an application where the motor is frequently started and stopped.

Acceleration/Deceleration Time

If the delay time for the holding brake’s mechanical operation is not taken into consideration and the acceleration/deceleration time on the Inverter side is set to a time that is too short, and overcurrent or wear on the brakes may occur at staring or the load will slip at stopping because the holding brake does not operate on time. If so, use the dwell function at start described on page 6-175 or the dwell function at stop described on page 6-176 to tune the timing for the holding brake.

Magnetic Contactor on the Inverter’s Output-side

Do not install a magnetic contactor between the Inverter and the motor. If a magnetic contactor must be installed because of local electrical codes or regulations or to operate motors with an Inverter, excluding emergencies, open or close the magnetic contactor only when the holding brake is fully closed and the Inverter is in baseblock status with the baseblock signal ON.

If the magnetic contactor is opened or closed while the Inverter is controlling the motor or DC injection braking (Zero-speed control), surge voltage or a current from the motor by full-voltage starting may cause an

Inverter fault.

When a magnetic contactor is installed between the Inverter and the motor, set L8-07 (Output open-phase protection selection) to 1 or 2 (Enabled).

Using Inverters for Elevating Machines

Control-related Adjustments

The Varispeed F7 is designed to provide sufficient performance for elevating machines. However, if problems related to controllability should occur, such as vibration or slipping, adjust the following constants in accordance with the control method. Only constants that frequently require adjustment are listed in this table.

Control

Method

Open-loop vector control

(A1-02 = 2)

Constant

Number

N2-01

C4-02

C3-02

C3-01

C6-02

E1-08

E1-10

Name

Speed feedback detection control

(AFR) gain

Torque compensation primary delay time constant

Slip compensation primary delay time

Slip compensation gain

Table 6.4 Control-related Adjustments

Performance

Factory

Setting

Recommended

Setting

• Increasing torque and speed response

• Controlling hunting and vibration in middle-range speeds (10 to 40 Hz)

1.00

• Increasing torque and speed response

• Controlling hunting and vibration

• Increasing speed response

• Improving speed stability

• Improving speed accuracy

20 ms

200 ms

1.0

0.50 to 2.00

20 to 100 ms

100 to

500 ms

0.5 to 1.5

Adjustment Method

• Torque or speed response is insufficient: Reduce the setting

• Hunting or vibration occurs: Increase the setting

• Torque or speed response is insufficient: Reduce the setting

• Hunting or vibration occurs: Increase the setting

• Speed response is slow:

Reduce the setting

• Speed is not stable:

Increase the setting

• Speed is slow: Increase the setting

• Speed is too fast: Reduce the setting

Carrier frequency selection

• Reducing motor magnetic noise

• Controlling hunting and vibration at low speeds (10 Hz or lower)

*1 1 to F

• Motor magnetic noise is high: Increase the setting

• Hunting or vibration occurs at low speeds:

Reduce the setting

Mid. output frequency voltage (VC)

Min. output frequency voltage

(VMIN)

• Improving torque and speed response at low speeds

• Controlling shock at startup

11.0 V

2.0 V

12.0 to

13.0 V

2.0 to

3.0 V

• Torque or speed response is insufficient: Increase the setting

• Shock at startup is large:

Reduce the setting

173

-174

Control

Method

Flux vector control

(A1-02 = 3)

Constant

Number

C5-01

C5-03

C5-02

C5-04

Table 6.4 Control-related Adjustments (Continued)

Name Performance

Factory

Setting

Recommended

Setting

ASR proportional (P) gain 1

• Increasing torque and speed response

• Controlling hunting and vibration

20.00

10.00 to

50.00

ASR proportional (P) gain 2

ASR integral (I) time

• Increasing torque and speed response

• Controlling hunting and vibration

0.500 s

0.300 to

1.000 s

Adjustment Method

• Torque or speed response is insufficient: Increase the setting

• Hunting or vibration occurs: Reduce the setting

• Torque or speed response is insufficient: Reduce the setting

• Hunting or vibration occurs: Increase the setting

V/f control

(A1-02 = 0 or 1)

C5-07

C5-06

N1-02

C6-02

C4-01

E1-08

E1-10

ASR switching frequency

ASR primary delay time

Hunting-prevention gain

Carrier frequency selection

Switching the ASR proportional gain and integral time according to the output frequency.

• Controlling hunting and vibration

• Controlling hunting and vibration in middle-range speeds (10 to 40 Hz)

• Reducing motor magnetic noise

• Controlling hunting and vibration at low and medium speeds

0.0 Hz (no switching)

0.004 s

1.00

Torque compensation gain

• Improving torque at low speeds (10 Hz or lower)

• Controlling hunting and vibration for light loads

1.00

Mid. output frequency voltage (VC) • Improving torque at low speeds

Min. output

• Controlling shock at frequency startup voltage

(VMIN)

15.0 V

9.0 V

0.0 to max. output frequency

0.004 to

0.020

0.50 to 2.00

1 to F

0.50 to 1.50

13.0 to

16.0 V

7.0 to

10.0 V

Set the output frequency at which to change the ASR proportional gain and integral time when the same values cannot be used for both high-speed and low-speed operation.

Machine rigidity is low and the system vibrates easily:

Increase the setting

• Torque is insufficient for heavy loads: Reduce the setting

• Hunting or vibration occurs for light loads:

Increase the setting

• Motor magnetic noise is high: Increase the setting

• Hunting or vibration occurs at low to middlerange speeds: Reduce the setting

• Torque is insufficient at low speeds: Increase the setting

• Hunting or vibration occurs for light loads:

Reduce the setting

• Torque is insufficient at low speeds: Increase the setting

• Shock at startup is large:

Reduce the setting

* 1. Varies depending on capacity.

* 2. The setting is given for 200 V Class Inverters. Double the voltage for 400 V Class Inverters.

Note 1. Do not change C4-01 (Torque compensation gain) from its factory setting of 1.00 when using open-loop vector control.

2. If speeds are inaccurate during regeneration in open-loop vector control, enable Slip compensation selection during regeneration (C3-04 = 1). If speeds are inaccurate in the high-speed range, enable Output voltage limit operation selection (C3-05 = 1).

3. Do not use Slip compensation gain (C3-01) during V/f control (A1-02 = 0). (It is not used with the factory setting.)

Using Inverters for Elevating Machines

4. Use the ASR constants (C5-01 to C5-05) in their factory settings when using V/f control with PG (A1-02 = 1). Vibration may occur if these constants are changed greatly from their factory settings.

5. The torque and speed response of high-resistance (high-slip) motors are insufficient. Use appropriate adjustments to improve them. On the contrary, low-resistance (low-slip) motors are easily subject to hunting and vibration. Here too, use appropriate adjustments to improve them.

6. The current during startup may increase when C4-02 (Torque compensation primary delay time constant) is increased. Check the current during startup while adjusting this constant.

Reducing Shock during Elevating Machine Start, Stop, Acceleration, and

Deceleration

When the riding comfort during start, stop, acceleration, and deceleration is of high importance, as it is for elevators in which people ride, adjust the following constants.

S-curve Characteristics, Acceleration/Deceleration Times

Output frequency

C2-01

C2-02

(High speed)

C2-03

(Low speed)

C2-04

C2-03

C2-04

Acceleration time Deceleration time DC injection braking when stopping

(Zero-speed control for flux vector control)

IMPORTANT

1. The factory setting for C2-04 (S-curve characteristic time at deceleration end) is 0.00 second, while the factory setting for all other S-curve characteristic times is 0.20 second. Make appropriate settings for the accel/decel times and S-curve characteristic times at each point. (S-curve characteristic time = Approximately 0.2 to 1.0 second)

2. The accel/decel rate can be automatically switched during acceleration and deceleration by using C1-11

(Accel/decel time switching frequency). (Factory setting: Disabled)

Output frequency ≥ set frequency: C1-01, C1-02 accel/decel times

Output frequency < set frequency: C1-07, C1-08 accel/decel times

3. If the output frequency during the S-curve characteristic time for deceleration falls below the value set for

E1-09 (Min. output frequency), the S-curve characteristic will be cancelled, and the DC injection braking

(Zero-speed control) will be applied.

4. Do not use the S-curve characteristic for applications where a short run time is desired, such as in cranes and hoists. (S-curve characteristic time = Approximately 0.0 to 0.2 second)

Dwell Function at Start

b6-02

(Dwell time at start)

Output frequency

0.1 to 0.3 sec

Frequency detection

2 or During run 2

OFF

Holding brake operation

(High speed) b6-01 (Dwell frequency at start) 0.1 to 3.0 Hz

OPEN t

175

-176

If the mechanical operation of the holding brake is slow, use the dwell function at start to prevent brake wear, and accelerate after the brake is completely open.

IMPORTANT

1. When using open-loop vector control and V/f control, set b6-01 (Dwell frequency at start) higher than frequency detection 2 (frequency when brakes open).

2. If the motor tends to have insufficient torque when started, use the DC injection braking function to allow sufficient motor current (torque) before starting.

• b2-03 (DC injection braking time at start): 0.2 to 0.5 s

• b2-02 (DC injection braking current): 50% to 80% (open-loop vector control, V/f control only)

Stopping with DC Injection Braking and Zero-speed Control

Output frequency

Frequency detection 2 or

During run 2

Holding brake operation

(HIGH) b2-04 (DC injection braking time at stop

(zero-speed control time at stop): 0.3 to 0.5 s

(LOW)

ON OFF

OPEN

CLOSE t b2-01 [Zero speed level (DC injection braking starting frequency)]: 0.1 to 3.0 Hz b2-02 (DC injection braking current): 50% to 80%

(open-loop vector control, V/f control only)

When the holding brake’s mechanical operation is slow, use DC injection braking (zero-speed control for flux vector control) until the brakes are fully closed to prevent the brakes from slipping when stopping.

IMPORTANT

1. When the load cannot be maintained sufficiently using DC injection braking with open-loop vector control and V/f control, use the dwell functions at stop.

• b6-03 (Dwell frequency at stop): Min. output frequency to 3.0 Hz.

The value must be less than the frequency when frequency detection 2 is OFF (L4-01 − L4-02).

• b6-04 (Dwell time at stop): 0.3 to 0.5 s

[b2-04 (DC injection braking at stop): 0.0 s]

2. If the Inverter and motor must be isolated while stopping using a magnetic contactor, for example in an elevator, fully close the holding brakes and isolate the Inverter during baseblock (during baseblock signal: ON) as stipulated by law in the EU.

During motor control or DC injection braking (zero-speed control), an Inverter error may occur due to surge voltage. When a magnetic contactor is used between the Inverter and motor, set L8-07 (Output openphase protection) to 1 (enabled).

Torque Compensation (Flux Vector Control Only) (SPEC: E or Later Only)

When flux vector control is used, the torque compensation signals corresponding to the load can be input from the multi-function analog input terminals in advance to reduce shock, such as that caused by opening and closing holding brakes. The load size and motoring/regenerating status must be detected at the machine side in advance. Check that polarity is correct. Incorrect polarity will increase the shock.

Using Inverters for Elevating Machines

Sequence Circuit Configuration

The following diagram shows the sequence circuit configuration for torque compensation.

DOWN

HIGH/LOW

S1 (Forward run)

S6 (Multi-step speed reference 2)

(Using elevator control circuit)

Torque compensation signal

−

10 to +10 V

H3-04 (multi-function analog input terminal A3 signal level)

= 1 ( − 10 to +10 V)

H3-05 (multi-function analog input terminal A3 function selection) = 14 (torque compensation)

Use H3-06 and H3-07 for fine tuning.

Fig 6.84 Torque Compensation Sequence Circuit Configuration

Time Chart

• Lifting

The analog signals corresponding to the load size are input as torque compensation signals from before the

Inverter starts until operation stops. (Factory setting: 10 V/100% torque)

Positive polarity is input for motor loads and negative polarity is input for regenerative loads.

The following diagram shows the time chart for lifting.

UP (Forward)

HIGH/LOW

Torque compensation signal: 0

Analog signals corresponding to load size

Same as above

OFF

(Motor load: Inputs positive polarity.)

(Regenerative load: Inputs negative polarity.)

Output frequency

Zero-speed control t

Motor torque

(Motor load)

(Regenerative load)

OFF During run 2

Holding brake operation

OPEN

Fig 6.85 Torque Compensation Time Chart (Lifting)

177

• Lowering

In the same way as for lifting, when the torque decreases, the analog signals corresponding to the load size are input as torque compensation signals from before the Inverter starts until operation stops. (Factory setting: 10

V/100% torque)

Negative polarity is input for motor loads and positive polarity is input for regenerative loads.

The following diagram shows the time chart for lowering.

DOWN (Forward)

HIGH/LOW

Torque compensation signal: 0

OFF

Analog signals corresponding to load size

Same as above

(Regenerative load: Inputs positive polarity.)

(Motor load: Inputs negative polarity.)

Output frequency

0 t

Motor torque

During run 2

Holding brake operation

OPEN

(Regenerative load)

(Motor load)

OFF

Fig 6.86 Torque Compensation Time Chart (Lowering)

IMPORTANT

1. For either increasing or decreasing torque, externally maintain the torque compensation signals during operation to prevent them from fluctuating. Fluctuation in compensation signals during operation may result in vibration.

2. If reverse run is used for lifting and forward run is used for lowering, the torque compensation signal polarity must be reversed.

Analog Input Filter Time Constant

If noise enters the analog frequency reference during operation using analog frequency reference (b1-01 = 1), and operation becomes rough, implement noise countermeasures and also set H3-12 (Analog input filter time constant) to between 0.01 and 0.10 s.

-178

Confirming Startup Current and Reducing Carrier Frequency

When performing trial operation, check the motor current using the Digital Operator or a clamp ammeter with and without a mechanical load. An extremely large current will flow if the motor torque at start is insufficient, or if timing is not correct and the motor locks with the holding brake.

For applications with repetitive loads (cranes, elevators, presses, washing machines, etc.), if a current exceeding 125% of the Inverter rated current or more flows repeatedly, the IGBT in the Inverter will be subject to heat stress, resulting in a shortened life span. In this case, select CT instead of VT and reduce the load, lengthen the acceleration/deceleration time, or increase the frame size of the Inverter so that the peak current for repetitive operation will drop to less than 125% of the Inverter rated current. If performing a trial operation with repetitive loads, make sure that the peak current for repetitive operation is less than 125% of the Inverter rated current. If particularly low noise is not required, do not increase the Inverter’s carrier frequency to reduce the influence of heat stress.

Using Inverters for Elevating Machines

Overvoltage Inhibit Function (SPEC: E or Later Only)

Leave L3-11 (Overvoltage inhibit function selection) set to 0 (disabled: factory setting). This function is used to prevent overvoltage tripping when the braking resistor is not used with a regenerative load. When this function is enabled, the torque reference on the regenerative side is automatically inhibited in the Inverter during regeneration. Using this function in elevating machines is dangerous because the elevator may slip and fall.

Contact your Yaskawa representative for details on applications such as high-speed elevators (speed: 2 m/s or higher), direct-drive elevators, or Inverters designed for cranes.

179