YASKAWA AC Drive GA700 High Performance Type Technical Manual

This drive has 9 available control methods from which you can select for different applications. Table 1, Table 2 and Table 3 give information about the features of each control method.

Table 1. V/f and CL-V/f Features and Advantages of Control Methods
Control Method Selection	Open Loop V/f Control (V/f)	V/f Control with Encoder (CL-V/f)	Notes
Controlled Motor	Induction Motor		-
Parameter Settings	A1-02 = 0	A1-02 = 1	-
Basic Control	V/f	Closed loop V/f control with speed correction	-
Main Applications	General-purpose variable speed control to connect more than one motor to one drive.	High-precision speed control with encoders on machines	-
PG Option Card	Not necessary	Necessary (PG-B3 or PG-X3)	-
Maximum Output Frequency	590 Hz	400 Hz	-
Speed Control Range	1:40	1:40	This is the range of variable control. When you connect and operate motors in this mode, think about the increase in motor temperature.
Starting Torque	150% / 3 Hz	150% / 3 Hz	This is the motor torque that the drive can supply at low speed during start-up and the related output frequency (rotation speed). When a large quantity of torque is necessary at low speed, you must think about drive capacity and motor capacity.
Auto-Tuning ¹	Rotational and Line-to-Line Resistance (usually not necessary)	Rotational and Line-to-Line Resistance (usually not necessary)	Automatically tunes electrical motor parameters.
Torque Limits ¹	No	No	Controls maximum motor torque to prevent damage to machines and loads.
Torque Control ¹	No	No	Directly controls motor torque to control tension and other parameters.
Droop Control ¹	No	No	Sets load torque slip for motors. Distributes motor loads.
Zero Servo Control ¹	No	No	Locks servos without an external position controller to prevent movement caused by external force.
Speed Search ¹	Yes	-	Immediately estimates (or detects) motor speed and direction when coasting to a stop to quickly start-up the drive without stopping the motor.
Automatic Energy-saving Control ¹	Yes	Yes	Automatically adjusts the voltage that the drive applies to the motor to maximize motor efficiency for small and large loads.
High Slip Braking (HSB) ¹	Yes	Yes	Increases motor loss to let the motor decelerate faster than usual without a braking resistor. Motor characteristics have an effect on this function.
Feed Forward Control ¹	No	No	Compensates effects of the system inertia to increase the speed precision when the load changes.
KEB Ride-Thru Function ¹	Yes	Yes	Quickly and safely stops the motor during power loss and automatically starts operation at the previous speed when the drive applies power again without coasting the motor.
Overexcitation Deceleration ¹	Yes	Yes	Sets the V/f higher than the setting value during deceleration to increase motor loss and decrease deceleration time.
Overvoltage Suppression Function ¹ ²	Yes	Yes	Adjusts speed during regeneration to prevent overvoltage.

Table 2. OLV, CLV and AOLV Features and Advantages of Control Methods
Control Method Selection	Open Loop Vector (OLV)	Closed Loop Vector (CLV)	Advanced Open Loop Vector Control ³ (AOLV)	Notes
Controlled Motor	Induction Motor			-
Parameter Settings	A1-02 = 2 (Default)	A1-02 = 3	A1-02 = 4	-
Basic Control	Open Loop Current Vector Control	Closed Loop Current Vector Control	Open Loop Current Vector Control	-
Main Applications	General-purpose variable speed control Applications in which high performance is necessary without machine encoders	Very high-performance control with motor encoders Example: High-precision speed control, torque control, torque limits	Sensorless vector control with speed control General-purpose variable speed control Applications in which high performance is necessary without machine encoders	-
PG Option Card	Not necessary	Necessary (PG-B3 or PG-X3)	Not necessary	-
Maximum Output Frequency	590 Hz	400 Hz	120 Hz	-
Speed Control Range	1:200	1:1500	1:200	This is the range of variable control. When you connect and operate motors in this mode, think about the increase in motor temperature.
Starting Torque	200% / 0.3 Hz ⁴	200% / 0 min^-1 ⁴	200% / 0.3 Hz ⁴	This is the motor torque that the drive can supply at low speed during start-up and the related output frequency (rotation speed). When a large quantity of torque is necessary at low speed, you must think about drive capacity and motor capacity.
Auto-Tuning ⁵	Rotational, Stationary, and Line-to-Line Resistance	Rotational, Stationary, and Line-to-Line Resistance	Rotational, Stationary, and Line-to-Line Resistance	Automatically tunes electrical motor parameters.
Torque Limits ⁵	Yes	Yes	Yes	Controls maximum motor torque to prevent damage to machines and loads.
Torque Control ⁵	No	Yes	Yes (Although NOT low speeds of approximately 10% or less)	Directly controls motor torque to control tension and other parameters.
Droop Control ⁵	No	Yes	Yes	Sets load torque slip for motors. Distributes motor loads.
Zero Servo Control ⁵	No	Yes	No	Locks servos without an external position controller to prevent movement caused by external force.
Speed Search ⁵	Yes	-	Yes	Immediately estimates (or detects) motor speed and direction when coasting to a stop to quickly start-up the drive without stopping the motor.
Automatic Energy-saving Control ⁵	Yes	Yes	No	Automatically adjusts the voltage that the drive applies to the motor to maximize motor efficiency for small and large loads.
High Slip Braking (HSB) ⁵	No	No	No	Increases motor loss to let the motor decelerate faster than usual without a braking resistor. Motor characteristics have an effect on this function.
Feed Forward Control ⁵	No	Yes	Yes	Compensates effects of the system inertia to increase the speed precision when the load changes.
KEB Ride-Thru Function ⁵	Yes	Yes	Yes	Quickly and safely stops the motor during power loss and automatically starts operation at the previous speed when the drive applies power again without coasting the motor.
Overexcitation Deceleration ⁵	Yes	Yes	Yes	Sets the V/f higher than the setting value during deceleration to increase motor loss and decrease deceleration time.
Overvoltage Suppression Function ⁵ ²	Yes	Yes	Yes	Adjusts speed during regeneration to prevent overvoltage.

Table 3. OLV/PM, AOLV/PM, CLV/PM and EZOLV Features and Advantages of Control Methods
Control Method Selection	PM Open Loop Vector Control (OLV/PM)	PM Advanced Open Loop Vector (AOLV/PM)	PM Closed Loop Vector Control (CLV/PM)	EZ Open Loop Vector Control (EZOLV)	Notes
Controlled Motor	PM motor			Induction Motors/PM Motors/SynRM (Synchronous Reluctance Motors)	-
Parameter Settings	A1-02 = 5	A1-02 = 6	A1-02 = 7	A1-02 = 8	-
Basic Control	PM Open Loop Vector Control (no speed controller)	PM Open Loop Current Vector Control (with speed controller)	PM Closed Loop Current Vector Control (with speed controller)	Open Loop Current Vector Control	-
Main Applications	General-purpose variable speed control for PM motors Applications in which a high level of responsiveness and accurate speed control are not necessary.	General-purpose variable speed control for IPM motors Applications in which high-precision speed control and torque limits are necessary.	Very high-performance PM motor control with motor encoders Example: Torque control and torque limits	Low-speed torque applications Example: Fans and pumps	-
PG Option Card	Not necessary	Not necessary	Necessary (PG-X3)	Not necessary	-
Maximum Output Frequency	590 Hz	400 Hz	400 Hz	120 Hz	-
Speed Control Range	1:20 AM	1:20 AM 1:100 ⁶ ⁷	1:1500	1:100	This is the range of variable control. When you connect and operate motors in this mode, think about the increase in motor temperature.
Starting Torque	100% / 5% speed	100% / 5% speed 200% / 0 min^-1 ⁶ ⁸	200% / 0 min^-1 ⁸	100% / 1% speed	This is the motor torque that the drive can supply at low speed during start-up and the related output frequency (rotation speed). When a large quantity of torque is necessary at low speed, you must think about drive capacity and motor capacity.
Auto-Tuning ⁹	Stationary, Stator Resistance, Rotational, High Frequency Injection	Stationary, Stator Resistance, Rotational, High Frequency Injection	Stationary, Stator Resistance, Z-phase, Rotational, High Frequency Injection	Line-to-Line Resistance	Automatically tunes electrical motor parameters.
Torque Limits ⁹	No	Yes	Yes	Yes	Controls maximum motor torque to prevent damage to machines and loads.
Torque Control ⁹	No	Yes ¹⁰	Yes	No	Directly controls motor torque to control tension and other parameters.
Droop Control ⁹	No	No	Yes	No	Sets load torque slip for motors. Distributes motor loads.
Zero Servo Control ⁹	No	No	Yes	No	Locks servos without an external position controller to prevent movement caused by external force.
Speed Search ⁹	Yes	Yes	Yes	Yes (Although NOT operation in the reverse direction of the Run command)	Immediately estimates (or detects) motor speed and direction when coasting to a stop to quickly start-up the drive without stopping the motor.
Automatic Energy-saving Control ⁹	No	Yes (IPM motors only)	Yes (IPM motors only)	Yes	Automatically adjusts the voltage that the drive applies to the motor to maximize motor efficiency for small and large loads.
High Slip Braking (HSB) Activate	No (induction motor-specific function)	No (induction motor-specific function)	No (induction motor-specific function)	No	Increases motor loss to let the motor decelerate faster than usual without a braking resistor. Motor characteristics have an effect on this function.
Feed Forward Control ⁹	No	Yes	Yes	No	Compensates effects of the system inertia to increase the speed precision when the load changes.
KEB Ride-Thru Function ⁹	Yes	Yes	Yes	Yes	Quickly and safely stops the motor during power loss and automatically starts operation at the previous speed when the drive applies power again without coasting the motor.
Overexcitation Deceleration	No (induction motor-specific function)	No (induction motor-specific function)	No (induction motor-specific function)	No	Sets the V/f higher than the setting value during deceleration to increase motor loss and decrease deceleration time.
Overvoltage Suppression Function ⁹ ²	Yes	Yes	Yes	Yes	Adjusts speed during regeneration to prevent overvoltage.
Sensorless Zero Speed Control ⁹	No	Yes (IPM motors only)	-	No	Enables zero speed control using high frequency injection on IPM motors.

¹

Note these points when you use this function:

When you can decouple the motor and machine for a test run, use Rotational Auto-Tuning. You must make adjustments to the control in the range where there is no vibration in the machine after Rotational Auto-Tuning.
Motor loss increases during overexcitation braking and high-slip braking. Use a maximum braking frequency of 5% ED and a maximum braking time of 90 seconds. After you start high-slip braking, you cannot restart the motor until it stops. Use overexcitation braking to decelerate over a shorter time at a pre-determined speed.

²

Do not use this function with hoist application.

³

If you operate the drive at a frequency lower than n4-70 [Speed Command Comp @ Low Freq] (default setting: 1.00 Hz), the motor can rotate at a frequency about 1/2 of n4-70. Set E1-09 > 0 [Minimum Output Frequency > 0] to not let the motor to rotate at a lower frequency than the n4-70 setting. When the frequency reference ≤ E1-09, the drive output will turn OFF.

⁴

Select the drive capacity and motor capacity correctly for the application.

⁵

Note these points when you use this function:

When you can decouple the motor and machine for a test run, use Rotational Auto-Tuning. You must make adjustments to the control in the range where there is no vibration in the machine after Rotational Auto-Tuning.
For vector control, use a 1:1 drive to motor ratio. You cannot use vector control if you connect more than one motor to one drive. Select a drive capacity so that the motor rated current is 50% to 100% of the drive rated current. If the carrier frequency is too high, the drive rated current is derated.
Motor loss increases during overexcitation braking and high-slip braking. Use a maximum braking frequency of 5% ED and a maximum braking time of 90 seconds. After you start high-slip braking, you cannot restart the motor until it stops. Use overexcitation braking to decelerate over a shorter time at a pre-determined speed.
Acceleration and deceleration have priority over torque limits in Open Loop Vector Control during acceleration and deceleration (soft start changes). The drive will not operate until the speed is at the minimum frequency or the reverse direction of motor rotation when the motor speed decreases because of torque limits during constant speed control. Set L7-07 = 1 [Torque Limit during Accel/Decel = Proportional & Integral control] to enable torque limits during acceleration/deceleration (for winding applications).

⁶

Sets n8-57 = 1 [HFI Overlap Selection = Enabled]. When you use a non-Yaskawa PM motor, do Rotational Auto-Tuning.

⁷

Speed control range of 1:100 is Instantaneous operation range. Correctly select the drive and motor capacity for continuous operation.

⁸

Correctly select the drive and motor capacity.

⁹

Note these points when you use this function:

When you can decouple the motor and machine for a test run, use Rotational Auto-Tuning. You must make adjustments to the control in the range where there is no vibration in the machine after Rotational Auto-Tuning.
For vector control, use a 1:1 drive to motor ratio. You cannot use vector control if you connect more than one motor to one drive. Select a drive capacity so that the motor rated current is 50% to 100% of the drive rated current. If the carrier frequency is too high, the drive rated current is derated.

¹⁰

Torque control at zero speed is only available with IPM motors. To enable torque control with IPM motors at zero speed, set n8-57 = 1.

Note:

When you set n8-35 = 1 [Initial Pole Detection Method = High Frequency Injection] and n8-57 = 1, do High Frequency Injection Auto-Tuning.

Nameplate

How to Read the Model Number

Features and Advantages of Control Methods