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YASKAWA AC Drive GA700 High Performance Type Technical Manual
Preface and General Precautions
Receiving
Glossary
About Registered Trademarks
Using the Product Safely
Explanation of Signal Words
Section Safety
Warning Label Content and Location
Warranty Information
Warranty Period
Post-Warranty Repair Period
Warranty Scope
Exclusion of Liability
Receiving
Section Safety
Verifying the Drive Model and Nameplate
Nameplate
How to Read the Model Number
Features and Advantages of Control Methods
Mechanical Installation
Section Safety
Installation Environment
Installation Position and Clearances
Install Single Drive
Install Drives Side-by-Side
External Heatsink Installation
Moving the Drive
Using the Hanging Brackets to Move the Drive
Instructions on Drive Suspension
Drive Watt Loss
200 V Class
400 V Class
Remove and Reattach the Keypad
Remove the Keypad
Reattach the Keypad
Install the Keypad in a Control Panel or Another Device
Operate the Keypad from a Remote Location
Connect the Keypad from a Remote Location
Removing/Reattaching Covers
Removing/Reattaching the Cover Using Procedure A
Removing/Reattaching the Cover Using Procedure B
Change the Drive Enclosure Type
Installation Methods
Standard Installation
External Heatsink
Electrical Installation
Section Safety
Electrical Installation
Standard Connection Diagram
Main Circuit Wiring
Motor and Main Circuit Connections
Configuration of Main Circuit Terminal Block
Main Circuit Terminal Functions
Wire Selection
Main Circuit Terminal and Motor Wiring
Protection of Main Circuit Terminals
Main Circuit Terminal Block Wiring Procedure
Wire the Main Circuit Terminal Block with Procedure A
Wire the Main Circuit Terminal Block with Procedure B
Wire the Main Circuit Terminal Block with Procedure C
Control Circuit Wiring
Control Circuit Connection Diagram
Control Circuit Terminal Block Functions
Control Circuit Terminal Configuration
Wiring the Control Circuit Terminal
Switches and Jumpers on the Terminal Board
Control I/O Connections
Set Sinking Mode/Sourcing Mode
Pulse Train Output
Set Input Signals for MFAI Terminals A1 to A3
Set MFAI Terminal A3 to PTC Input
Set Output Signals for MFAO Terminals FM, AM
Switch ON Termination Resistor for MEMOBUS/Modbus Communications
Connect the Drive to a PC
External Interlock
Drive Ready
Interlock Circuit Example
Braking Resistor Installation
Install a Braking Resistor: ERF-Type
Install a Braking Resistor Unit: LKEB-Type
Install a Braking Unit Connection: CDBR-Type
Connect Braking Units in Parallel
Dynamic Braking Option Overload Protection
Drive Wiring Protection
Installing an Earth Leakage Circuit Breaker (ELCB)
Installing a Molded-Case Circuit Breaker (MCCB) or Earth Leakage Circuit Breaker (ELCB)
Dynamic Braking Option, Motor Protection
Install an Electromagnetic Contactor (MC) at the Input Side of the Drive
Installing a Thermal Overload Relay on the Drive Output
Improve the Power Factor
Connect an AC Reactor or a DC Reactor
Prevent Switching Surge
Decrease Noise
Connect a Noise Filter to the Input Side (Primary Side)
Connect a Noise Filter to the Output Side (Secondary Side)
Protect the Drive during Failures
Factory-Recommended Branch Circuit Protection for UL Listing
Wiring Checklist
Motor Application Precautions
Precautions for Existing Standard Motors
Precaution When You Use IE3 Premium Efficiency Motors
Precautions for PM Motors
Precautions for Specialized Motors
Notes on the Power Transmission Mechanism
Startup Procedure and Test Run
Section Safety
Keypad Components and Functions
LCD Display
Indicator LEDs and Drive Status
Keypad Mode and Menu Displays
LED Status Ring
Start-up Procedures
Flowchart A: Connect and Run the Motor with Minimum Setting Changes
Sub-Chart A-1: Induction Motor Auto-Tuning and Test Run Procedure
Sub-Chart A-2: PM Motor Auto-Tuning and Test Run Procedure
Subchart A-3: EZ Open Loop Vector Control Test Run Procedure
Items to Check before Starting Up the Drive
Check before Energizing the Drive
Check after You Energize the Drive
Make the Initial Settings
Keypad Operation
Home Screen Display Selection
Show the Monitor
Set Custom Monitors
Show Custom Monitors
Set the Monitors to Show as a Bar Graph
Show Monitors as Bar Graphs
Set the Monitors to Show as Analog Gauges
Display Monitors as an Analog Gauge
Set Monitoring Items to be Shown as a Trend Plot
Show Monitor Items as a Trend Plot
Change Parameter Setting Values
Examine User Custom Parameters
Save a Backup of Parameters
Write Backed-up Parameters to the Drive
Verify Keypad Parameters and Drive Parameters
Delete Parameters Backed Up to the Keypad
Check Modified Parameters
Restore Modified Parameters to Defaults
Show Fault History
Auto-Tuning the Drive
Set the Keypad Language Display
Set the Date and Time
Set Parameters Using the Setup Wizard
Disable the Initial Setup Screen
Start Data Logging
Configuring the Data Log Content
Set Backlight to Automatically Turn OFF
Show Information about the Drive
Show Information about the Communication Option
Write Automatically Backed-up Parameters to the Drive
Automatic Parameter Settings Optimized for Specific Applications (Application Presets)
Auto-Tuning
Auto-Tuning for Induction Motors
Auto-Tuning for PM Motors
Auto-Tuning in EZ Open Loop Vector Control Method
Control Tuning
Precautions before Auto-Tuning
Test Run
No-Load Test Run
Do a No-Load Test Run
Actual-Load Test Run
Do an Actual-Load Test Run
Fine Tuning during Test Runs (Adjust the Control Function)
V/f Control and Closed Loop V/f Control
Open Loop Vector Control Method
Closed Loop Vector Control Method
Advanced Open Loop Vector Control Method
Open Loop Vector Control for PM Motors
Advanced Open Loop Vector Control Method for PM Motors
Closed Loop Vector Control Method for PM
EZ Open Loop Vector Control Method
Test Run Checklist
Standards Compliance
Section Safety
European Standards
CE Low Voltage Directive Compliance
Electromagnetic Compatibility Regulations
UL Standards
Area of Use
Wire the Main Circuit Terminal Block
UL Standards Compliance for DC Power Supply Input
Low Voltage Wiring for Control Circuit Terminals
Drive Motor Overload and Overheat Protection
China RoHS Compliance
Information on Hazardous Substances in This Product
Compliant with China RoHS Directive
Information about hazardous substances contained in this product
Safe Disable Input
Safe Disable Specifications
Notes
Using the Safe Disable Function
Network Communications
Section Safety
Field Bus Network Support
MEMOBUS/Modbus Communications
Configure Master/Slave
Communication Specifications
Communication with the PLC
MEMOBUS/Modbus Drive Operations
Communications Timing
Message Format
Examples of Messages for Commands/Responses
Enter Command
Self-Diagnostics
Communications Data Table
Error Codes
Troubleshooting
Section Safety
Types of Faults, Minor Faults, Alarms, and Errors
List of Fault, Minor Fault, Alarm, and Error Codes
Fault
bAT
bCE
boL
bUS
CE
CF
CoF
CP1
CP2
CPF00
CPF01
CPF02
CPF03
CPF06
CPF07
CPF08
CPF10
CPF11
CPF12
CPF13
CPF14
CPF16
CPF17
CPF18
CPF19
CPF20
CPF21
CPF22
CPF23
CPF24
CPF26
CPF27
CPF28
CPF29
CPF30
CPF31
CPF32
CPF33
CPF34
CPF35
CPF36
CPF37
CPF38
CPF39
dEv
dv1
dv2
dv3
dv4
dv7
dWF1
dWF2
dWF3
dWFL
E5
EF0
EF1
EF2
EF3
EF4
EF5
EF6
EF7
EF8
Err
FAn
FAn1
FbH
FbL
GF
HLCE
LF
LF2
LSo
nSE
oC
oFA00
oFA01
oFA02
oFA03
oFA04
oFA05
oFA06
oFA10
oFA11
oFA12
oFA13
oFA14
oFA15
oFA16
oFA17
oFA30
oFA31
oFA32
oFA33
oFA34
oFA35
oFA36
oFA37
oFA38
oFA39
oFA40
oFA41
oFA42
oFA43
oFb00
oFb01
oFb02
oFb03
oFb04
oFb05
oFb06
oFb10
oFb11
oFb12
oFb13
oFb14
oFb15
oFb16
oFb17
oFC00
oFC01
oFC02
oFC03
oFC04
oFC05
oFC06
oFC10
oFC11
oFC12
oFC13
oFC14
oFC15
oFC16
oFC17
oFC50
oFC51
oFC52
oFC53
oFC54
oFC55
oH
oH1
oH3
oH4
oH5
oL1
oL2
oL3
oL4
oL5
oL7
oPr
oS
ov
PE1
PE2
PF
PGo
PGoH
PSE
rF
rH
rr
SC
SCF
SEr
STPo
SvE
THo
TiM
UL3
UL4
UL5
Uv1
Uv2
Uv3
Minor Faults/Alarms
AEr
bAT
bb
bCE
boL
bUS
bUSy
CALL
dEv
dnE
CP2
CE
CP1
CrST
CyC
CyPo
dWA2
dWA3
dWAL
E5
EF
EF0
EF1
EF2
EF3
EF4
EF5
EF6
EF7
EF8
EP24v
FAn
FbH
FbL
HCA
L24v
LoG
LT-1
LT-2
LT-3
LT-4
oH
oH2
oH3
oH5
oL3
oL4
oL5
oS
ov
ovEr
PASS
PF
PGo
PGoH
rUn
SE
STo
SToF
THo
TiM
TrPC
UL3
UL4
UL5
Uv
Parameter Setting Errors
oPE01
oPE02
oPE03
oPE05
oPE06
oPE07
oPE08
oPE09
oPE10
oPE11
oPE13
oPE15
oPE16
oPE18
oPE20
oPE33
Auto-Tuning Errors
End1
End2
End3
End4
End5
End6
End7
End8
End9
Er-01
Er-02
Er-03
Er-04
Er-05
Er-08
Er-09
Er-10
Er-11
Er-12
Er-13
Er-14
Er-15
Er-16
Er-17
Er-18
E-19
Er-20
Er-21
Er-25
Diagnosing and Resetting Faults
Fault and Power Loss Occur at the Same Time
Fault Occurs Without Power Loss
Fault Reset
Troubleshooting Without Fault Display
Typical Problems
The Parameter Settings Will Not Change
The Motor Does Not Rotate After Entering Run Command
The Motor Rotates in the Opposite Direction from the Run Command
The Motor Rotates in Only One Direction
The Motor Is Too Hot
The Correct Auto-Tuning Mode Is Not Available
The Motor Stalls during Acceleration or Accel/Decel Time Is Too Long
The Drive Frequency Reference Is Different than the Controller Frequency Reference Command
The Motor Speed Is Not Stable When Using a PM Motor
There Is Too Much Motor Oscillation and the Rotation Is Irregular
Deceleration Takes Longer Than Expected When Dynamic Braking Is Enabled
The Load Falls When a Brake Is Applied
There Is Audible Noise from the Drive or Motor Cables when You Energize the Drive
Earth Leakage Circuit Breaker (ELCB) Trips During Run
Motor Rotation Causes Unexpected Audible Noise from Connected Machinery
Motor Rotation Causes Oscillation or Hunting
PID Output Fault
The Starting Torque Is Not Sufficient
The Motor Rotates after the Drive Output Is Shut Off
The Output Frequency Is Lower Than the Frequency Reference
The Motor Is Making an Audible Noise
The Motor Will Not Restart after a Loss of Power
Backup Function Operating Mode Display and Errors
CPyE
CSEr
dFPS
iFEr
ndAT
PWEr
rdEr
vAEr
vFyE
Periodic Inspection and Maintenance
Section Safety
Inspection
Recommended Daily Inspection
Recommended Periodic Inspection
Maintenance
Replaceable Parts
Part Replacement Guidelines
Monitors that Display the Lifespan of Drive Components
Alarm Outputs for Maintenance Monitors
Related Parameters
Replace Cooling Fans and Circulation Fans
Cooling Fans and Circulation Fans by Drive Model
Fan Replacement (Procedure A)
Fan Replacement (Procedure B)
Fan Replacement (Procedure C)
Fan Replacement (Procedure D)
Fan Replacement (Procedure E)
Fan Replacement (Procedure F)
Fan Replacement (Procedure G)
Fan Replacement (Procedure H)
Replace the Drive
About the Control Circuit Terminal Block
Replace the Drive
Replace the Keypad Battery
Storage Guidelines
Disposal
Section Safety
Disposal Instructions
WEEE Directive
Specifications
Section Safety
Drive Duty Modes
Model-Specific Specifications (200 V Class)
Model-Specific Specifications (400 V Class)
Drive Specifications
Drive Derating
Carrier Frequency Settings and Rated Current Values
Derating Depending on Ambient Temperature
Altitude Derating
Drive Exterior and Mounting Dimensions
Drive Models and Exterior and Mounting Dimensions
IP00/IP20/UL Open Type
IP20/UL Type1
Knock-Out Hole Dimensions (IP20/UL Type 1)
Models and Dimensions of Knock-Out Hole
Peripheral Devices and Options
Parameter List
Section Safety
How to Read the Parameter List
Icons and Terms that Identify Parameters and Control Methods
Parameter Groups
A: Initialization Parameters
A1: Initialization
A2: User Parameters
b: Application
b1: Operation Mode Selection
b2: DC Injection Braking and Short Circuit Braking
b3: Speed Search
b4: Timer Function
b5: PID Control
b6: Dwell Function
b7: Droop Control
b8: Energy Saving
b9: Zero Servo
C: Tuning
C1: Accel & Decel Time
C2: S-Curve Characteristics
C3: Slip Compensation
C4: Torque Compensation
C5: Auto Speed Regulator (ASR)
C6: Duty & Carrier Frequency
d: Reference Settings
d1: Frequency Reference
d2: Reference Limits
d3: Jump Frequency
d4: Frequency Ref Up/Down & Hold
d5: Torque Control
d6: Field Weakening /Forcing
d7: Offset Frequency
E: Motor Parameters
E1: V/f Pattern for Motor 1
E2: Motor Parameters
E3: V/f Pattern for Motor 2
E4: Motor 2 Parameters
E5: PM Motor Settings
E9: Motor Setting
F: Options
F1: PG Option Setup (Encoder)
F2: Analog Input Option
F3: Digital Input Option
F4: Analog Monitor Option
F5: Digital Output Option
F6: Communication Options
F7: Communication Options
H: Terminal Functions
H1: Digital Inputs
H2: Multi-function Digital Output
H3: Analog Inputs
H4: Analog Outputs
H5: Modbus Communication
H6: Pulse Train Input/Output
H7: Virtual MFIO selection
L: Protection Functions
L1: Motor Protection
L2: Power Loss Ride Through
L3: Stall Prevention
L4: Speed Detection
L5: Fault Restart
L6: Torque Detection
L7: Torque Limit
L8: Drive Protection
L9: Drive Protection 2
o: Keypad-Related Settings
o1: Keypad Display Selection
o2: Keypad Operation
o3: Copy Keypad Function
o4: Maintenance Monitors
o5: Log Function
q: DriveWorksEZ Parameters
q1-01 to qx-xx: Reserved for DriveWorksEZ
r: DWEZ Connection 1-20
r1-01 to r1-40: DriveWorksEZ Connection Parameters 1 to 20 (Upper / Lower)
T: Motor Tuning
T0: Tuning Mode Selection
T1: InductionMotor Auto-Tuning
T2: PM Motor Auto-Tuning
T3: ASR and Inertia Tuning
T4: EZ Tuning
U: Monitors
U1: Operation Status Monitors
U2: Fault Trace
U3: Fault History
U4: Maintenance Monitors
U5: PID Monitors
U6: Operation Status Monitors
U8: DriveWorksEZ Monitors
Ud: Control Monitors
Parameters that Change from the Default Settings with A1-02 [Control Method Selection]
Parameters that Change from the Default Settings with E3-01 [Motor 2 Control Mode Selection]
Parameters Changed by E1-03 [V/f Pattern Selection]
Defaults by Drive Model and Duty Rating ND/HD
Three-Phase 200 V Class
Three-Phase 400 V Class
Parameters Changed by E5-01 [PM Motor Code Selection]
Yaskawa SMRA Series SPM Motors
Yaskawa SSR1 Series IPM Motors (Derated Torque)
Yaskawa SST4 Series IPM Motors (Constant Torque)
Yaskawa SS7 Series ECO PM Motors
N: Special Adjustment
n1: Hunting Prevention
n2: Auto Freq Regulator (AFR)
n3: High Slip/Overexcite Braking
n5: Feed Forward Control
n6: Online Tuning
n7: EZ Drive
n8: PM Motor Control Tuning
n4: Adv Open Loop Vector Tune
Parameter Details
Section Safety
A: Initialization Parameters
A1: Initialization
A2: User Parameters
b: Application
b1: Operation Mode Selection
b2: DC Injection Braking and Short Circuit Braking
b3: Speed Search
b4: Timer Function
b5: PID control
b6: Dwell Function
b7: Droop Control
b8: Energy Saving
b9: Zero Servo
C: Tuning
C1: Accel & Decel Time
C2: S-Curve Characteristics
C3: Slip Compensation
C4: Torque Compensation
C5: Automatic Speed Regulator (ASR: Automatic Speed Regulator)
C6: Duty & Carrier Frequency
d: References
d1: Frequency Reference
d2: Reference Limits
d3: Jump Frequency
d4: Frequency Ref Up/Down & Hold
d5: Torque Control
d6: Field Weakening /Forcing
d7: Offset Frequency
E: Motor Parameters
E1: V/f Pattern for Motor 1
E2: Motor 1 Parameters
E3: V/f Pattern for Motor 2
E4: Motor 2 Parameters
E5: PM Motor Settings
E9: Motor Setting
F: Options
F1: Encoder Option Setup
F2: Analog Input Option
F3: Digital Input Option
F4: Analog Monitor Option
F5: Digital Output Option
F6, F7: Communication Options
H: Terminal Functions
H1: Digital Inputs
Multi-Function Digital Input Setting Values
H2: Multi-function Digital Output
MFDO Setting Values
H3: Analog Inputs
Multi-Function Analog Input Terminal Settings
H4: Analog Outputs
H5: Memobus/Modbus Communication
H6: Pulse Train Input/Output
H7: Virtual MFIO Selection
L: Protection Functions
L1: Motor Protection
L2: Power Loss Ride Through
L3: Stall Prevention
L4: Speed Detection
L5: Fault Restart
L6: Torque Detection
L7: Torque Limit
L8: Drive Protection
L9: Drive Protection 2
N: Special Adjustment
n1: Hunting Prevention
n2: Auto Freq Regulator (AFR)
n3: High Slip Braking (HSB) and Overexcitation Braking
n4: Adv Open Loop Vector Tune
n5: Feed Forward Control
n6: Online Tuning
n7: EZ Drive
n8: PM Motor Control Tuning
o: Keypad-Related Settings
o1: Keypad Display Selection
o2: Keypad Operation
o3: Copy Function
o4: Maintenance Mon Settings
o5: Log Function
T: Auto-Tuning
T0: Tuning Mode Selection
T1: Induction Motor Auto-Tuning
T2: PM Motor Auto-Tuning
T3: ASR and Inertia Tuning
T4: EZ Tuning
Search
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Parameter Details
b: Application
b5: PID control
PID Control Block Diagram
Parameter Details
Section Safety
A: Initialization Parameters
A1: Initialization
A2: User Parameters
b: Application
b1: Operation Mode Selection
b2: DC Injection Braking and Short Circuit Braking
b3: Speed Search
b4: Timer Function
b5: PID control
b6: Dwell Function
b7: Droop Control
b8: Energy Saving
b9: Zero Servo
C: Tuning
C1: Accel & Decel Time
C2: S-Curve Characteristics
C3: Slip Compensation
C4: Torque Compensation
C5: Automatic Speed Regulator (ASR: Automatic Speed Regulator)
C6: Duty & Carrier Frequency
d: References
d1: Frequency Reference
d2: Reference Limits
d3: Jump Frequency
d4: Frequency Ref Up/Down & Hold
d5: Torque Control
d6: Field Weakening /Forcing
d7: Offset Frequency
E: Motor Parameters
E1: V/f Pattern for Motor 1
E2: Motor 1 Parameters
E3: V/f Pattern for Motor 2
E4: Motor 2 Parameters
E5: PM Motor Settings
E9: Motor Setting
F: Options
F1: Encoder Option Setup
F2: Analog Input Option
F3: Digital Input Option
F4: Analog Monitor Option
F5: Digital Output Option
F6, F7: Communication Options
H: Terminal Functions
H1: Digital Inputs
Multi-Function Digital Input Setting Values
H2: Multi-function Digital Output
MFDO Setting Values
H3: Analog Inputs
Multi-Function Analog Input Terminal Settings
H4: Analog Outputs
H5: Memobus/Modbus Communication
H6: Pulse Train Input/Output
H7: Virtual MFIO Selection
L: Protection Functions
L1: Motor Protection
L2: Power Loss Ride Through
L3: Stall Prevention
L4: Speed Detection
L5: Fault Restart
L6: Torque Detection
L7: Torque Limit
L8: Drive Protection
L9: Drive Protection 2
N: Special Adjustment
n1: Hunting Prevention
n2: Auto Freq Regulator (AFR)
n3: High Slip Braking (HSB) and Overexcitation Braking
n4: Adv Open Loop Vector Tune
n5: Feed Forward Control
n6: Online Tuning
n7: EZ Drive
n8: PM Motor Control Tuning
o: Keypad-Related Settings
o1: Keypad Display Selection
o2: Keypad Operation
o3: Copy Function
o4: Maintenance Mon Settings
o5: Log Function
T: Auto-Tuning
T0: Tuning Mode Selection
T1: Induction Motor Auto-Tuning
T2: PM Motor Auto-Tuning
T3: ASR and Inertia Tuning
T4: EZ Tuning
PID Control Block Diagram
Figure
1
.
PID Control Block Diagram
