Manual A1000

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YASKAWA AC Drive-A1000High Performance Vector Control Drive

Technical Manual

MANUAL NO. SIEP C710616 41C

To properly use the product, read this manual thoroughly and retainfor easy reference, inspection, and maintenance. Ensure the end userreceives this manual.

Type: CIMR-AUA

Receiv

Mechanical Installa

Electrical Installa

Start-Up ProgramminOperat

Parameter Det

Troubleshoo

Periodic Inspectio

Maintena

Peripheral Device

Opti

Specificati

Parameter

MEMOBUS/Mod

Communicati

Standards Complia

Quick Reference Sh

Models: 200 V Class: 0.4 to 110 kW (3/4 to 175 HP ND)400 V Class: 0.4 to 630 kW (3/4 to 1000 HP ND)600 V Class: 0.75 to 185 kW (1 to 250 HP ND)

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2 YASKAWA ELECTRIC SIEP C710616 41C YASKAWA AC Drive A1000 Technical Manua

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u Quick ReferenceEasily Set Parameters for Specific Applications

Preset parameter defaults are available for setting up applications.Refer to Application Selection onpage 132.

Run a Motor One Frame Larger

This drive can operate a motor one frame size larger when running variable torque loads such as fans and pumps.Refer to C6-01: Drive Duty ModeSelection on page 204.

Drive a Synchronous PM Motor

A1000 can operate synchronous PM motors.Refer to Subchart A-3: Operation with Permanent

Magnet Motors on page 130.

PM motor control modes are not available on 600 V class drives, CIMR-Ao5oooooo.

Perform Auto-Tuning

Automatic tuning sets motor parameters.Refer to Auto-Tuning on page 135.

Maintenance Check Using Drive Monitors

Use drive monitors to check if fans, capacitors, or other components require maintenance.Refer to Performance Life Monitors MaintenanceMonitors on page 403.

Fault Display and Troubleshooting

Refer to Drive Alarms, Faults, and Errors on page 342andRefer to Troubleshooting without Fault Display on page 388.

Standards Compliance

Refer to European Standards on page 630andRefer to UL and CSA Standards on page 638 .

CE marking applies to 200 V class and 400 V class models only.

YASKAWA ELECTRIC SIEP C710616 41C YASKAWA AC Drive A1000 Technical Manual
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3. ELECTRICAL INSTALLATION ..............................................................................69

3.1 Section Safety......................................................................................................................70

3.2 Standard Connection Diagram...........................................................................................72

3.3 Main Circuit Connection Diagram......................................................................................75

Three-Phase 200 V Class (CIMR-Ao2A0004 to 2A0081)

Three-Phase 400 V Class (CIMR-Ao4A0002 to 4A0044)

Three-Phase 600 V Class (CIMR-Ao5A0003 to 5A0032)............................................................... 75Three-Phase 200 V Class (CIMR-Ao2A0110, 2A0138)Three-Phase 400 V Class (CIMR-Ao4A0058, 4A0072)

Three-Phase 600 V Class (CIMR-Ao5A0041, 5A0052).................................................................. 75Three-Phase 200 V Class (CIMR-Ao2A0169 to 2A0211)

Three-Phase 400 V Class (CIMR-Ao4A0088 to 4A0139)Three-Phase 600 V Class (CIMR-Ao5A0062 to 5A0099)............................................................... 76

Three-Phase 200 V Class (CIMR-Ao2A0250 to 2A0415)Three-Phase 400 V Class (CIMR-Ao4A0165 to 4A0675)

Three-Phase 600 V Class (CIMR-Ao5A0125 to 5A0242)............................................................... 76Three-Phase 400 V Class (CIMR-Ao4A0930, 4A1200) ................................................................... 77

12-Phase Rectification ...................................................................................................................... 77

3.4 Terminal Block Configuration ............................................................................................79

3.5 Terminal Cover ....................................................................................................................81

CIMR-Ao2A0004 to 2A0081, 4A0002 to 4A0044, 5A0003 to 5A0032

(IP20/NEMA Type 1 Enclosure)....................................................................................................... 81CIMR-Ao2A0110 to 2A0250, 4A0208 to 4A1200, and 5A0125 to 5A0242 (IP00/Open Type

Enclosure)........................................................................................................................................ 82

3.6 Digital Operator and Front Cover.......................................................................................83

Removing/Reattaching the Digital Operator...................................................................................... 83Removing/Reattaching the Front Cover ............................................................................................ 83

3.7 Top Protective Cover ..........................................................................................................86

Removing the Top Protective Cover ................................................................................................. 86Reattaching the Top Protective Cover .............................................................................................. 86

3.8 Main Circuit Wiring..............................................................................................................87

Main Circuit Terminal Functions........................................................................................................ 87Protecting Main Circuit Terminals ..................................................................................................... 88Wire Gauges and Tightening Torque ................................................................................................ 89

Main Circuit Terminal and Motor Wiring ............................................................................................ 96

3.9 Contr ol Circuit Wiring .........................................................................................................98

Control Circuit Connection Diagram.................................................................................................. 98Control Circuit Terminal Block Functions .......................................................................................... 98Terminal Configuration .................................................................................................................... 100Wiringthe Control Circuit Terminal ................................................................................................. 102

Switches and Jumpers on the Terminal Board................................................................................ 104

3.10 Control I/O Connections ...................................................................................................105

Sinking/Sourcing Mode Switch for Digital Inputs............................................................................. 105Sinking/Sourcing Mode Selection for Safe Disable Inputs .............................................................. 106Using the Pulse Train Output .......................................................................................................... 106Terminal A2 Input Signal Selection ................................................................................................. 107

Terminal A3 Analog/PTC Input Selection........................................................................................ 107Terminal AM/FM Signal Selection................................................................................................... 108MEMOBUS/Modbus Termination .................................................................................................... 108

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3.11 Connect to a PC.................................................................................................................10

3.12 External Interlock ..............................................................................................................11

Drive Ready..................................................................................................................................... 11

3.13 Wiring Checklist ................................................................................................................11

4. START-UPPROGRAMMING & OPERATION.....................................................11

4.1 Section Safety....................................................................................................................114.2 Using the Digital Operator ................................................................................................11

Keys and Displays........................................................................................................................... 11

LCD Display .................................................................................................................................... 11ALARM (ALM) LED Displays........................................................................................................... 11LO/RE LED and RUN LED Indications............................................................................................ 11Menu Structure for Digital Operator ................................................................................................ 11

4.3 The Drive and Programming Modes................................................................................12

Navigating the Drive and Programming Modes............................................................................... 12Changing Parameter Settings or Values......................................................................................... 12

VerifyingParameter Changes: Verify Menu .................................................................................... 12

Simplified Setup Using the Setup Group......................................................................................... 12Switching Between LOCAL and REMOTE...................................................................................... 12

4.4 Start-Up Flowcharts ..........................................................................................................12

Flowchart A: Basic Start-Up and Motor Tuning ............................................................................... 12Subchart A-1: Simple Motor Setup Using V/f Control...................................................................... 12

Subchart A-2: High Performance Operation Using OLV or CLV..................................................... 12Subchart A-3: Operation with Permanent Magnet Motors............................................................... 13

4.5 Powering Up the Drive ......................................................................................................13

Powering Up the Drive and Operation Status Display..................................................................... 13

4.6 Application Selection........................................................................................................13

Setting 1: Water Supply Pump Application...................................................................................... 13Setting 2: Conveyor Application ...................................................................................................... 13Setting 3: Exhaust Fan Application ................................................................................................. 13

Setting 4: HVAC Fan Application .................................................................................................... 13Setting 5: Compressor Application .................................................................................................. 13

4.7 Auto-Tuning .......................................................................................................................13

Types of Auto-Tuning...................................................................................................................... 13Before Auto-Tuning the Drive.......................................................................................................... 13

Auto-Tuning Interruption and Fault Codes ...................................................................................... 13

Auto-Tuning Operation Example..................................................................................................... 13Parameter Settings during Induction Motor Auto-Tuning: T1.......................................................... 14Parameter Settings during PM Motor Auto-Tuning: T2 ................................................................... 14

Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3................................. 14

4.8 No-Load Operation Test Run............................................................................................14

No-LoadOperation Test Run .......................................................................................................... 14

4.9 Test Run with Load Connected........................................................................................15

Test Run with the Load Connected ................................................................................................. 15

4.10 Verifying Parameter Settings and Backing Up Changes...............................................15

Backing Up Parameter Values: o2-03 ............................................................................................. 15Parameter Access Level: A1-01...................................................................................................... 15

Password Settings: A1-04, A1-05 ................................................................................................... 15Copy Function ................................................................................................................................. 15

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4.11 Test Run Checklist ............................................................................................................153

5. PARAMETER DETAILS .......................................................................................155

5.1 A: Initialization...................................................................................................................156

A1: Initialization ............................................................................................................................... 156A2: User Parameters....................................................................................................................... 161

5.2 b: Application.....................................................................................................................162

b1: Operation Mode Selection......................................................................................................... 162b2: DCInjection Braking and Short Circuit Braking......................................................................... 169b3: Speed Search............................................................................................................................ 172

b4: Delay Timers ............................................................................................................................. 177b5: PID Control................................................................................................................................ 177b6: Dwell Function........................................................................................................................... 187b7: Droop Control (CLV, CLV/PM) .................................................................................................. 188

b8: Energy Saving........................................................................................................................... 189b9: Zero Servo................................................................................................................................. 191

5.3 C: Tuning............................................................................................................................192

C1: Acceleration and Deceleration Times ....................................................................................... 192C2: S-Curve Characteristics............................................................................................................ 194C3: Slip Compensation.................................................................................................................... 194

C4: Torque Compensation .............................................................................................................. 197C5: Automatic Speed Regulator (ASR)........................................................................................... 199C6: Carrier Frequency..................................................................................................................... 204

5.4 d: Ref erence Settings .......................................................................................................209

d1: Frequency Reference................................................................................................................ 209d2: Frequency Upper/Lower Limits ................................................................................................. 211

d3: Jump Frequency........................................................................................................................ 212d4: Frequency Reference Hold and Up/Down 2 Function............................................................... 213d5: Torque Control .......................................................................................................................... 218

d6: Field Weakening and Field Forcing........................................................................................... 222d7: Offset Frequency....................................................................................................................... 223

5.5 E: Motor Parameters .........................................................................................................224

E1: V/fPattern for Motor 1............................................................................................................... 224E2: Motor 1 Parameters .................................................................................................................. 228E3: V/fPattern for Motor 2............................................................................................................... 231E4: Motor 2 Parameters .................................................................................................................. 232

E5: PM Motor Settings .................................................................................................................... 234

5.6 F: Option Settings .............................................................................................................237

F1: PGSpeed Control Card Settings .............................................................................................. 237F2: Analog Input Card Settings ....................................................................................................... 240F3: Digital Input Card Settings ........................................................................................................ 240F4: Analog Monitor Card Settings ................................................................................................... 241

F5: Digital Output Card Settings...................................................................................................... 242F6: Communication Option Card..................................................................................................... 242CC-Link Parameters........................................................................................................................ 244

PROFIBUS-DP Parameters ............................................................................................................ 245CANopen Parameters ..................................................................................................................... 245DeviceNet Parameters .................................................................................................................... 246

5.7 H: Ter minal Functions.......................................................................................................248

H1: Multi-Function Digital Inputs ..................................................................................................... 248

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H2: Multi-Function Digital Outputs................................................................................................... 25

H3: Multi-Function Analog Inputs .................................................................................................... 26H4: Multi-Function Analog Outputs ................................................................................................. 27H5: MEMOBUS/Modbus Serial Communication ............................................................................. 27

H6: Pulse Train Input/Output........................................................................................................... 27

5.8 L: Protection Functions ....................................................................................................28

L1: Motor Protection........................................................................................................................ 28

L2: Momentary Power Loss Ride-Thru............................................................................................ 28L3: Stall Prevention ......................................................................................................................... 29L4: Speed Detection........................................................................................................................ 30

L5: Fault Restart.............................................................................................................................. 30L6: Torque Detection....................................................................................................................... 30L7: Torque Limit .............................................................................................................................. 30L8: Drive Protection......................................................................................................................... 30

5.9 n: Special Adjustments.....................................................................................................31

n1: Hunting Prevention.................................................................................................................... 31n2: Speed Feedback Detection Control (AFR) Tuning.................................................................... 31

n3: HighSlip Braking (HSB) and Overexcitation Braking................................................................ 31

n5: FeedForward Control ............................................................................................................... 31n6: Online Tuning ............................................................................................................................ 31

n8: PM Motor Control Tuning .......................................................................................................... 31

5.10 o: Operator Related Settings............................................................................................32

o1: Digital Operator Display Selection............................................................................................. 32

o2: Digital Operator Keypad Functions ........................................................................................... 32o3: Copy Function ........................................................................................................................... 32o4: Maintenance Monitor Settings................................................................................................... 32

q: DriveWorksEZ Parameters.......................................................................................................... 32r: DriveWorksEZ Connection Parameters ....................................................................................... 32T: MotorTuning ............................................................................................................................... 32

5.11 U: Monitor Parameters ......................................................................................................33U1: Operation Status Monitors ........................................................................................................ 33U2: Fault Trace................................................................................................................................ 33

U3: Fault History.............................................................................................................................. 33U4: Maintenance Monitors .............................................................................................................. 33U5: PID Monitors ............................................................................................................................. 33U6: Operation Status Monitors ........................................................................................................ 33

U8: DriveWorksEZ Monitors............................................................................................................ 33

6. TROUBLESHOOTING..........................................................................................33

6.1 Section Safety....................................................................................................................33

6.2 Motor Performance Fine-Tuning......................................................................................33Fine-Tuning V/f Control and V/f Control with PG............................................................................. 33Fine-Tuning Open Loop Vector Control .......................................................................................... 33Fine-Tuning Closed Loop Vector Control ........................................................................................ 33

Fine-Tuning Open Loop Vector Control for PM Motors................................................................... 33Fine-Tuning Advanced Open Loop Vector Control for PM Motors.................................................. 34Fine-Tuning Closed Loop Vector Control for PM Motors ................................................................ 34Parameters to Minimize Motor Hunting and Oscillation .................................................................. 34

6.3 Drive Alarms, Faults, and Errors .....................................................................................34

Types of Alarms, Faults, and Errors................................................................................................ 34

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Alarm and Error Displays ................................................................................................................ 343

6.4 Fault Detection ..................................................................................................................347

Fault Displays, Causes, and Possible Solutions ............................................................................. 347

6.5 Alarm Detection .................................................................................................................365

Alarm Codes, Causes, and Possible Solutions............................................................................... 365

6.6 Operator Programming Errors .........................................................................................374

Operator Programming Error Codes, Causes, and Possible Solutions........................................... 3746.7 Auto-Tuning Fault Detection ............................................................................................379

Auto-Tuning Codes, Causes, and Possible Solutions..................................................................... 379

6.8 Copy Function Related Displays .....................................................................................384

Tasks, Errors, and Troubleshooting ................................................................................................ 384

6.9 Diagnosing and Resetting Faults.....................................................................................386

Fault Occurs Simultaneously with Power Loss ............................................................................... 386If the Drive Still has Power After a Fault Occurs ............................................................................. 386Viewing Fault Trace Data After Fault .............................................................................................. 386Fault Reset Methods ....................................................................................................................... 387

6.10 Troubleshooting without Fault Display...........................................................................388Common Problems.......................................................................................................................... 388

Cannot Change Parameter Settings ............................................................................................... 388Motor Does Not Rotate Properly after Pressing RUN Button or after Entering External RunCommand ...................................................................................................................................... 389

Motor is Too Hot.............................................................................................................................. 390

Drive Does Not Allow Selection of the Desired Auto-Tuning Mode................................................. 391oPE02Error Occurs When Lowering the Motor Rated Current Setting .......................................... 391Motor Stalls during Acceleration or Acceleration Time is Too Long................................................ 391

Drive Frequency Reference Differs from the Controller Frequency Reference Command............. 392Excessive Motor Oscillation and Erratic Rotation............................................................................ 392Deceleration Takes Longer Than Expected with Dynamic Braking Enabled .................................. 392

Noise From Drive or Motor Cables When the Drive is Powered On ............................................... 393Ground Fault Circuit Interrupter (GFCI) Trips During Run .............................................................. 393Connected Machinery Vibrates When Motor Rotates ..................................................................... 393PID Output Fault.............................................................................................................................. 394Insufficient Starting Torque ............................................................................................................. 394

Motor Rotates After the Drive Output is Shut Off (Motor Rotates During DC Injection Braking)..... 394Output Frequency is Not as High as Frequency Reference............................................................ 394Buzzing Sound from Motor at 2 kHz................................................................................................ 394

Unstable Motor Speed when Using PM .......................................................................................... 395Motor Does Not Restart after Power Loss....................................................................................... 395

7. PERIODIC INSPECTION & MAINTENANCE ...................................................... 397

7.1 Section Safety....................................................................................................................398

7.2 Inspection ..........................................................................................................................400

Recommended Daily Inspection...................................................................................................... 400Recommended Periodic Inspection................................................................................................. 401

7.3 Periodic Maintenance .......................................................................................................403

Replacement Parts.......................................................................................................................... 403

7.4 Drive Cooling Fans............................................................................................................405

Number of Cooling Fans ................................................................................................................. 405Cooling Fan Component Names..................................................................................................... 407

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Cooling Fan Replacement: 2A0018 to 2A0081, 4A0007 to 4A0044, and 5A0006 to 5A0032 ........ 40

Cooling Fan Replacement: 2A0110, 2A0138, 4A0058, 4A0072, 5A0041, and 5A0052 ................. 41Cooling Fan Replacement: 4A0088 and 4A0103 ............................................................................ 41Cooling Fan Replacement: 2A0169 to 2A0415, 4A0139 to 4A0362, and 5A0062 to 5A0242 ........ 41

Cooling Fan Replacement: 4A0414 ................................................................................................ 41Cooling Fan Replacement: 4A0515 and 4A0675 ............................................................................ 42Cooling Fan Replacement: 4A0930 and 4A1200 ............................................................................ 42

7.5 Replacing the Air Filter .....................................................................................................43Air Filter Replacement..................................................................................................................... 43

7.6 Drive Replacement ............................................................................................................43

Serviceable Parts ............................................................................................................................ 43Terminal Board................................................................................................................................ 43Replacing the Drive ......................................................................................................................... 43

8. PERIPHERAL DEVICES & OPTIONS .................................................................43

8.1 Section Safety....................................................................................................................4

8.2 Drive Options and Peripheral Devices ............................................................................43

8.3 Connecting Peripheral Devices .......................................................................................438.4 Option Card Installation....................................................................................................44

Installing Option Cards .................................................................................................................... 44

Installation Procedure...................................................................................................................... 44

8.5 Installing Peripheral Devices ...........................................................................................44

DynamicBraking Options................................................................................................................ 44

Installinga Molded Case Circuit Breaker (MCCB) or Ground Fault Circuit Interrupter (GFCI) ....... 44Installinga Magnetic Contactor at the Power Supply Side.............................................................. 44Connecting an AC Reactor or DC Link Choke ................................................................................ 44

Connecting a Surge Absorber ......................................................................................................... 44Connecting a Noise Filter ................................................................................................................ 44

InstallingInput Fuses ...................................................................................................................... 44Attachment for External Heatsink Mounting .................................................................................... 45

Installing a Motor Thermal Overload (oL) Relay on the Drive Output ............................................. 45

A. SPECIFICATIONS................................................................................................ 45

A.1 Heavy Duty and Normal Duty Ratings.............................................................................45

A.2 Power Ratings ...................................................................................................................45

Three-Phase 200 V Class Drive Models CIMR-Ao2A0004 to 2A0030 .......................................... 45Three-Phase 200 V Class Drive Models CIMR-Ao2A0040 to 2A0211 .......................................... 45




Three-Phase 600 V Class Drive Models CIMR-Ao5A0125 to 5A0242 .......................................... 46

A.3 Drive Specifications ..........................................................................................................46

A.4 Drive Watt Loss Data ........................................................................................................46

A.5 Drive Derating Data ...........................................................................................................46

Carrier Frequency Derating............................................................................................................. 46Temperature Derating ..................................................................................................................... 47

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Altitude Derating.............................................................................................................................. 473

B. PARAMETER LIST...............................................................................................475

B.1 Understanding Parameter Descriptions..........................................................................476

Control Modes, Symbols, and Terms.............................................................................................. 476

B.2 Parameter Groups .............................................................................................................477

Parameter Differences for Models CIMR-Ao4A0930 and 4A1200................................................. 478

B.3 A: Initialization Parameters ..............................................................................................479

A1: Initialization ............................................................................................................................... 479A2: User Parameters....................................................................................................................... 480

B.4 b: Application.....................................................................................................................481

b1: Operation Mode Selection......................................................................................................... 481b2: DCInjection Braking and Short Circuit Braking......................................................................... 482b3: Speed Search............................................................................................................................ 483

b4: Timer Function .......................................................................................................................... 484b5: PID Control................................................................................................................................ 484b6: Dwell Function........................................................................................................................... 486

b7: Droop Control ............................................................................................................................ 486b8: Energy Saving........................................................................................................................... 487b9: Zero Servo................................................................................................................................. 488

B.5 C: Tuning............................................................................................................................489

C1: Acceleration and Deceleration Times ....................................................................................... 489C2: S-Curve Characteristics............................................................................................................ 490

C3: Slip Compensation.................................................................................................................... 490C4: Torque Compensation .............................................................................................................. 491C5: Automatic Speed Regulator (ASR) ........................................................................................... 492C6: Carrier Frequency..................................................................................................................... 494

B.6 d: Ref erences.....................................................................................................................495

d1: Frequency Reference................................................................................................................ 495d2: Frequency Upper/Lower Limits ................................................................................................. 496d3: Jump Frequency........................................................................................................................ 496d4: Frequency Reference Hold and Up/Down 2 Function............................................................... 497d5: Torque Control .......................................................................................................................... 498

d6: Field Weakening and Field Forcing........................................................................................... 498d7: Offset Frequency....................................................................................................................... 499

B.7 E: Motor Parameters .........................................................................................................500

E1: V/fPattern for Motor 1............................................................................................................... 500E2: Motor 1 Parameters .................................................................................................................. 501E3: V/fPattern for Motor 2............................................................................................................... 502

E4: Motor 2 Parameters .................................................................................................................. 503E5: PMMotor Settings .................................................................................................................... 504

B.8 F: Options...........................................................................................................................505

F1: PGSpeed Control Card (PG-X3/PG-B3) .................................................................................. 505F2: Analog Input Card (AI-A3)......................................................................................................... 507F3: Digital Input Card (DI-A3).......................................................................................................... 507

F4: Analog Monitor Card (AO-A3)................................................................................................... 508F5: Digital Output Card (DO-A3) ..................................................................................................... 508F6, F7: Communication Option Card............................................................................................... 509

B.9 H Parameters: Multi-Function Terminals ........................................................................513

H1: Multi-Function Digital Inputs ..................................................................................................... 513

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H2: Multi-Function Digital Outputs................................................................................................... 51

H3: Multi-Function Analog Inputs .................................................................................................... 52H4: Analog Outputs ......................................................................................................................... 52H5: MEMOBUS/Modbus Serial Communication ............................................................................. 52

H6: Pulse Train Input/Output........................................................................................................... 52

B.10 L: Protection Function ......................................................................................................52

L1: Motor Protection........................................................................................................................ 52

L2: Momentary Power Loss Ride-Thru............................................................................................ 52L3: Stall Prevention ......................................................................................................................... 52L4: Speed Detection........................................................................................................................ 53

L5: Fault Restart.............................................................................................................................. 53L6: Torque Detection....................................................................................................................... 53L7: Torque Limit .............................................................................................................................. 53L8: Drive Protection......................................................................................................................... 53

B.11 n: Special Adjustment.......................................................................................................53

n1: Hunting Prevention.................................................................................................................... 53n2: Speed Feedback Detection Control (AFR) Tuning.................................................................... 53

n3: HighSlip Braking (HSB) and Overexcitation Braking................................................................ 53

n5: FeedForward Control ............................................................................................................... 53n6: Online Tuning ............................................................................................................................ 53

n8: PM Motor Control Tuning .......................................................................................................... 53

B.12 o: Operator-Related Settings ...........................................................................................54

o1: Digital Operator Display Selection............................................................................................. 54

o2: Digital Operator Keypad Functions ........................................................................................... 54o3: Copy Function ........................................................................................................................... 54o4: Maintenance Monitor Settings................................................................................................... 54

B.13 DriveWorksEZ Parameters ...............................................................................................54

q: DriveWorksEZ Parameters.......................................................................................................... 54r: DriveWorksEZ Connection Parameters ....................................................................................... 54

B.14 T: Motor Tuning .................................................................................................................54T1: Induction Motor Auto-Tuning..................................................................................................... 54

T2: PM Motor Auto-Tuning.............................................................................................................. 54T3: ASRand Inertia Tuning............................................................................................................. 54

B.15 U: Monitors.........................................................................................................................54

U1: Operation Status Monitors ........................................................................................................ 54U2: Fault Trace................................................................................................................................ 55U3: Fault History.............................................................................................................................. 55

U4: Maintenance Monitors .............................................................................................................. 55U5: PID Monitors ............................................................................................................................. 55U6: Operation Status Monitors ........................................................................................................ 55

U8: DriveWorksEZ Monitors............................................................................................................ 55

B.16 ControlMode Dependent Parameter Default Values .....................................................55

A1-02 (Motor 1 Control Mode) Dependent Parameters .................................................................. 55E3-01 (Motor 2 Control Mode) Dependent Parameters .................................................................. 56

B.17 V/f Pattern Default Values.................................................................................................56

B.18 Defaults by Drive Model and Duty Rating ND/HD...........................................................56

B.19 Parameters Changed by Motor Code Selection .............................................................57

Yaskawa SMRA Series SPM Motor ................................................................................................ 57Yaskawa SSR1 Series IPM Motor (For Derated Torque)................................................................ 58

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Yaskawa SST4 Series IPM Motor (For Constant Torque) .............................................................. 586

C. MEMOBUS/MODBUS COMMUNICATIONS........................................................ 593

C.1 MEMOBUS/Modbus Configuration ..................................................................................594

C.2 Communication Specifications........................................................................................595

C.3 Connecting to a Network ..................................................................................................596

Network Cable Connection.............................................................................................................. 596Wiring Diagram for Multiple Connection.......................................................................................... 596Network Termination ....................................................................................................................... 597

C.4 MEMOBUS/Modbus Setup Parameters ...........................................................................598

MEMOBUS/Modbus Serial Communication.................................................................................... 598

C.5 Drive Operations by MEMOBUS/Modbus........................................................................601

Observing the Drive Operation........................................................................................................ 601Controlling the Drive........................................................................................................................ 601

C.6 Communications Timing...................................................................................................602

Command Messages from Master to Drive..................................................................................... 602Response Messages from Drive to Master ..................................................................................... 602

C.7 Message Format ................................................................................................................603

Message Content ............................................................................................................................ 603SlaveAddress ................................................................................................................................. 603

Function Code ................................................................................................................................. 603Data................................................................................................................................................. 603Error Check ..................................................................................................................................... 603

C.8 Message Examples ...........................................................................................................605

Reading Drive MEMOBUS/Modbus Register Contents .................................................................. 605Loopback Test................................................................................................................................. 605

Writing to Multiple Registers............................................................................................................ 606

C.9 MEMOBUS/Modbus Data Table........................................................................................607Command Data ............................................................................................................................... 607Monitor Data.................................................................................................................................... 608Broadcast Messages....................................................................................................................... 619Fault Trace Contents....................................................................................................................... 620

Alarm Register Contents ................................................................................................................. 622

C.10 Enter Command.................................................................................................................623

Enter Command Types ................................................................................................................... 623

Enter Command Settings when Upgrading the Drive...................................................................... 623

C.11 Communication Errors .....................................................................................................624

MEMOBUS/Modbus Error Codes.................................................................................................... 624

Slave Not Responding..................................................................................................................... 624C.12 Self-Diagnostics ................................................................................................................625

D. STANDARDS COMPLIANCE .............................................................................. 627

D.1 Section Safety....................................................................................................................628

D.2 European Standards .........................................................................................................630

CE Low Voltage Directive Compliance............................................................................................ 630EMC Guidelines Compliance .......................................................................................................... 632

D.3 UL and CSA Standards .....................................................................................................638

UL Standards Compliance .............................................................................................................. 638

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CSA Standards Compliance............................................................................................................ 64

Drive Motor Overload Protection..................................................................................................... 64Precautionary Notes on External Heatsink (IP00/Open Type Enclosure) ....................................... 64

D.4 Safe Disable Input Function .............................................................................................65

Specifications .................................................................................................................................. 65Precautions ..................................................................................................................................... 65Using the Safe Disable Function ..................................................................................................... 65

E. QUICK REFERENCE SHEET ..............................................................................65

E.1 Drive and Motor Specifications........................................................................................65

Drive Specifications......................................................................................................................... 65Motor Specifications........................................................................................................................ 65

E.2 Basic Parameter Settings .................................................................................................65

Basic Setup ..................................................................................................................................... 65V/f Pattern Setup............................................................................................................................. 65Motor Setup..................................................................................................................................... 65

Multi-Function Digital Inputs ............................................................................................................ 65Pulse Train Input/Analog Inputs ...................................................................................................... 65

Multi-Function Digital Outputs ......................................................................................................... 65Monitor Outputs............................................................................................................................... 65

E.3 User Setting Table.............................................................................................................65

INDEX ................................................................................................................... 66

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Preface & General Safety

This section provides safety messages pertinent to this product that, if not heeded, may result in fatalitpersonal injury, or equipment damage. Yaskawa is not responsible for the consequences of ignorinthese instructions.

i.1 PREFACE...............................................................................................................1

i.2 GENERAL SAFETY...............................................................................................2

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i.1 PrefaceYaskawa manufactures products used as components in a wide variety of industrial systems and equipment. The selection andapplication of Yaskawa products remain the responsibility of the equipment manufacturer or end user. Yaskawa accepts noresponsibility for the way its products are incorporated into the final system design. Under no circumstances should anyYaskawa product be incorporated into any product or design as the exclusive or sole safety control. Without exception, allcontrols should be designed to detect faults dynamically and fail safely under all circumstances. All systems or equipmentdesigned to incorporate a product manufactured by Yaskawa must be supplied to the end user with appropriate warnings andinstructions as to the safe use and operation of that part. Any warnings provided by Yaskawa must be promptly provided tothe end user. Yaskawa offers an express warranty only as to the quality of its products in conforming to standards andspecifications published in the Yaskawa manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS OFFERED.Yaskawa assumes no liability for any personal injury, property damage, losses, or claims arising from misapplication of itsproducts.

This manual is designed to ensure correct and suitable application of A1000-Series Drives. Read this manual before attemptingto install, operate, maintain, or inspect a drive and keep it in a safe, convenient location for future reference. Be sure youunderstand all precautions and safety information before attempting application.

u Applicable DocumentationThe following manuals are available for A1000 series drives:

A1000

CIMR-AU5A0009FAA600V 3Phase5.5kW/3.7kW

A1000 Series AC Drive Technical Manual (SIEPC71061641)

This manual provides detailed information on parameter settings, drive functions, and MEMOBUS/Modbus specifications. Use this manual to expand drive functionality and to take advantage of higher

performance features. This manual is available for download on our documentation website,www.yaskawa.com.

A1000 Series AC Drive Quick Start Guide (TOEPC71061641)

Read this guide first. This guide is packaged together with the product and contains basic informationrequired to install and wire the drive. It also gives an overview of fault diagnostics, maintenance, and

parameter settings. The purpose of this guide is to prepare the drive for a trial run with an application andfor basic operation. This manual is available for download on our documentation website,www.yaskawa.com.

u SymbolsNote: Indicates a supplement or precaution that does not cause drive damage.

TERMSTERMS Indicates a term or definition used in this manual.

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u Terms and AbbreviationsTERMSTERMS Drive: Yaskawa A1000-Series Drive

BCD: Binary Coded Decimal

H: Hexadecimal Number Format

IGBT: Insulated Gate Bipolar Transistor

kbps: Kilobits per Second

MAC: Media Access Control Mbps: Megabits per Second

PG: Pulse Generator

r/min: Revolutions per Minute

V/f:V/f Control

V/f w/PG: V/f Control with PG

OLV: Open Loop Vector Control

CLV: Closed Loop Vector Control

OLV/PM: Open Loop Vector Control for PM

AOLV/PM: Advanced Open Loop Vector Control for PM

CLV/PM: Closed Loop Vector Control for PM

PM motor: Permanent Magnet Synchronous motor (an abbreviation for IPM motor or SPM motor) IPM motor: Interior Permanent Magnet Motor (e.g., Yaskawa SSR1 Series and SST4 Series motors)

SPM motor:Surface mounted Permanent Magnet Motor (e.g., Yaskawa SMRA Series motors)

u Trademarks CANopen is a trademark of CAN in Automation (CiA).

CC-Link is a trademark of CC-Link Partner Association (CLPA).

DeviceNet is a trademark of Open DeviceNet Vendor Association, Inc. (ODVA).

PROFIBUS-DP is a trademark of PROFIBUS International (PI).

MECHATROLINK-I/MECHATROLINK-II are trademarks of MECHATROLINK Members Association (MMA).

Other companies and product names mentioned in this manual are trademarks of those companies.

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u Safety MessagesDANGER

Heed the safety messages in this manual.

Failure to comply will result in death or serious injury.

The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings in

this manual.Electrical Shock Hazard

Do not connect or disconnect wiring while the power is on.

Failure to comply will result in death or serious injury.

Before servicing, disconnect all power to the equipment. The internal capacitor remains charged even after the power suppl

is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching any

components.

WARNING

Sudden Movement Hazard

System may start unexpectedly upon application of power, resulting in death or serious injury.

Clear all personnel from the drive, motor and machine area before applying power. Secure covers, couplings, shaft keys an

machine loads before applying power to the drive.

When using DriveWorksEZ to create custom programming, the drive I/O terminal functions change from factory

settings and the drive will not perform as outlined in this manual.

Unpredictable equipment operation may result in death or serious injury.

Take special note of custom I/O programming in the drive before attempting to operate equipment.

Electrical Shock Hazard

Do not attempt to modify or alter the drive in any way not explained in this manual.

Failure to comply could result in death or serious injury.

Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.

Do not allow unqualified personnel to use equipment.


Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with installation

adjustment and maintenance of AC drives.

Do not remove covers or touch circuit boards while the power is on.


Make sure the protective earthing conductor complies with technical standards and local safety regulations.

Because the leakage current exceeds 3.5 mA in models CIMR-Ao4A0414 and larger, IEC 61800-5-1 states that either th

power supply must be automatically disconnected in case of discontinuity of the protective earthing conductor or a protectiv

earthing conductor with a cross-section of at least 10 mm2

(Cu) or 16 mm2

(Al) must be used. Failure to comply may resuin death or serious injury.

Always use appropriate equipment for Ground Fault Circuit Interrupters (GFCIs).

The drive can cause a residual current with a DC component in the protective earthing conductor. Where a residual curren

operated protective or monitoring device is used for protection in case of direct or indirect contact, always use a type B GFC

according to IEC 60755.

Fire Hazard

Do not use an improper voltage source.

Failure to comply could result in death or serious injury by fire.

Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.

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WARNING

Crush Hazard

Do not use this drive in lifting applications without installing external safety circuitry to prevent accidental dropping

of the load.

The drive does not possess built-in load drop protection for lifting applications.

Failure to comply could result in death or serious injury from falling loads.

Install electrical and/or mechanical safety circuit mechanisms independent of drive circuitry.

CAUTION

Crush Hazard

Do not carry the drive by the front cover.

Failure to comply may result in minor or moderate injury from the main body of the drive falling.

NOTICE

Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.

Failure to comply may result in ESD damage to the drive circuitry.

Do not perform a withstand voltage test on any part of the drive.

Failure to comply could result in damage to the sensitive devices within the drive.

Do not operate damaged equipment.

Failure to comply could result in further damage to the equipment.

Do not connect or operate any equipment with visible damage or missing parts.

Install adequate branch circuit short circuit protection per applicable codes.

Failure to comply could result in damage to the drive.

The drive is suitable for use on a circuit capable of delivering not more than 100,000 RMS symmetrical Amperes, 240 Vac

maximum (200 V Class), 480 Vac maximum (400 V Class), and 600 Vac maximum (600 V Class) when protected by

Bussmann Type FWH or FWP fuses as specified in Installing Fuses on the Input Sideon page 630.Do not expose the drive to halogen group disinfectants.

Failure to comply may cause damage to the electrical components in the drive.

Do not pack the drive in wooden materials that have been fumigated or sterilized.

Do not sterilize the entire package after the product is packed.

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u General Application Precautions SelectionInstalling a Reactor

Use an AC reactor or DC link choke in the following situations:

to suppress harmonic current.

to smooth peak current that results from capacitor switching.

when the power supply is above 600 kVA. when the drive is running from a power supply system with thyristor converters.

Note: A DC link choke is built in to drive models CIMR-Ao2A110 to 2A0415 and 4A0058 to 4A1200.

4000

600

060 400

Drive Capacity (kVA)

Power SupplyCapacity (kVA)

Power supply harmonicsreactor required

Reactorunnecessary

Figure i.1 Installing a Reactor

Drive Capacity

For specialized motors, make sure that the motor rated current is less than the rated output current for the drive.

When running more than one motor in parallel from a single drive, the capacity of the drive should be larger than [total motrated current 1.1].

Starting Torque

The overload rating for the drive determines the starting and accelerating characteristics of the motor. Expect lower torquethan when running from line power. To get more starting torque, use a larger drive or increase both the motor and drive capacit

Emergency Stop

When the drive faults out, the output shuts off but the motor does not stop immediately. A mechanical brake may be requirwhen it is necessary to stop the motor faster than the ability of the Fast Stop function of the drive.

Options

NOTICE: The B1, B2, +1, +2, and +3 terminals are used to connect optional A1000-compatible devices only. Connecting non-Yaskawaapproved devices to these terminals may damage the drive.

Repetitive Starting/Stopping

Laundry machines, punching presses, and other applications with frequent starts and stops often approach 150% of their ratcurrent values. Heat stress generated from repetitive high current will shorten the life span of the IGBTs.

Yaskawa recommends lowering the carrier frequency, particularly when audible noise is not a concern. It is beneficial toreduce the load, increase the acceleration and deceleration times, or switch to a larger drive to help keep peak current leveunder 150%. Be sure to check the peak current levels when starting and stopping repeatedly during the initial test run, andmake adjustments accordingly.

InstallationEnclosure Panels

Keep the drive in a clean environment by installing the drive in an enclosure panel or selecting an installation area free ofairborne dust, lint, and oil mist. Be sure to leave the required space between drives to provide for cooling, and take propermeasures so the ambient temperature remains within allowable limits and keep flammable materials away from the drive.Yaskawa offers protective designs for drives that must be used in areas subjected to oil mist and excessive vibration. ContaYaskawa or your Yaskawa agent for details.

Installation Direction

NOTICE: Install the drive upright as specified in the manual. Refer to Mechanical Installation on page 54for more information oninstallation. Failure to comply may damage the drive due to improper cooling.

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SettingsMotor Code

When using OLV/PM, set the proper motor code to parameter E5-01 before performing a trial run.

Upper Limits

NOTICE: The drive is capable of running the motor up to 400 Hz. Be sure to set the upper limit for the frequency of the drive to prevent thepossible danger of accidentally operating equipment at higher than rated speed. The default setting for the maximum output frequency is60 Hz.

DC Injection BrakingNOTICE: Excessive current during DC Injection Braking and excessive duration of DC Injection Braking can cause motor overheat.

Acceleration/Deceleration Times

Acceleration and deceleration times are affected by the amount of torque generated by the motor, the load torque, and theinertia moment. Set a longer accel/decel time when Stall Prevention is enabled. The accel/decel times are lengthened for aslong as the Stall Prevention function is in operation. Install one of the available braking options or increase the capacity of thedrive for faster acceleration and deceleration.

General HandlingWiring Check

NOTICE: Do not connect power supply lines to output terminals U/T1, V/T2, or W/T3. Failure to comply will destroy the drive. Be sure toperform a final check of all sequence wiring and other connections before turning on the power and also check for short circuits on thecontrol terminals, which may damage the drive.

Selecting a Circuit Breaker or Circuit Interrupter

Yaskawa recommends installing a Ground Fault Circuit Interrupter (GFCI) to the power supply side. The GFCI should bedesigned for use with AC drives (e.g., Type B according to IEC 60755).

Select a Molded Case Circuit Breaker (MCCB) or GFCI with a rated current 1.5 to 2 times higher than the drive rated currentto avoid nuisance trips caused by harmonics in the drive input current.Refer to Installing a Molded Case Circuit Breaker(MCCB) or Ground Fault Circuit Interrupter (GFCI) on page 445for more information.

NOTICE: Prevent Equipment Damage. Install a fuse and a GFCI in models CIMR-Ao4A0930 and 4A1200. Failure to comply may result inserious damage to the facilities if the drive is defective.

Magnetic Contactor Installation

WARNING! Fire Hazard. Shut off the drive with a magnetic contactor (MC) when a fault occurs in any external equipment such as brakingresistors. Refer to Installing a Magnetic Contactor at the Power Supply Side on page 445. Failure to comply may cause resistoroverheating, fire, and injury to personnel.

NOTICE: To get the full performance life out of the electrolytic capacitors and circuit relays, refrain from switching the drive power supplyoff and on more than once every 30 minutes. Frequent use can damage the drive. Use the drive to stop and start the motor.

Inspection and Maintenance

WARNING! Electrical Shock Hazard. Capacitors in the drive do not immediately discharge after shutting off the power. Wait for at least theamount of time specified on the drive before touching any components after shutting off the power. Failure to comply may cause injury to

personnel from electrical shock.

WARNING! Electrical Shock Hazard. When a drive is running a PM motor, voltage continues to be generated at the motor terminals afterthe drive is shut off while the motor coasts to stop. Take the precautions described below to prevent shock and injury: In applications where the machine can still rotate after the drive has fully stopped a load, install a switch to the drive output side to disconnecthe motor and the drive. Do not allow an external force to rotate the motor beyond the maximum allowable speed or to rotate the motor when the drive has beenshut off. Wait for at least the time specified on the warning label after opening the load switch on the output side before inspecting the drive or

performing any maintenance.

Do not open and close the load switch while the motor is running. If the motor is coasting, make sure the power to the drive is turned on and the drive output has completely stopped before closing the loadswitch.

WARNING! Burn Hazard. Because the heatsink can get very hot during operation, take proper precautions to prevent burns. When replacingthe cooling fan, shut off the power and wait at least 15 minutes to be sure that the heatsink has cooled down. Failure to comply may causeburn injury to personnel.

Wiring

Yaskawa recommends using ring terminals on all drive models. Drive models CIMR-Ao2A0069 to 2A0415 and 4A0058 to4A1200 require the use of use ring terminals for UL/cUL compliance. Use only the tools recommended by the terminalmanufacturer for crimping.

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u Drive Label Warning ExampleAlways heed the warning information listed in Figure i.3in the position shown in Figure i.4.

WARNING

Read manual before installing.Wait 5 minutes for capacitor

discharge after disconnectingpower supply.To conform to requirements,make sure to ground the supplyneutral for 400V class.After opening the manual switchbetween the drive and motor,please wait 5 minutes beforeinspecting, performingmaintenance or wiring the drive.

Risk of electric shock.

Hot surfacesTop and Side surfaces maybecome hot. Do not touch.

Figure i.3 Warning Information Example

Warning Label

A1000

CIMR-AU5A0009FAA600V 3Phase5.5kW/3.7kW

Figure i.4 Warning Information Position

u Warranty Information RestrictionsThe drive is not designed or manufactured for use in devices or systems that may directly affect or threaten human lives orhealth.

Customers who intend to use the product described in this manual for devices or systems relating to transportation, health

care, space aviation, atomic power, electric power, or in underwater applications must first contact their Yaskawarepresentatives or the nearest Yaskawa sales office.

WARNING! Injury to Personnel. This product has been manufactured under strict quality-control guidelines. However, if this product is tbe installed in any location where failure of this product could involve or result in a life-and-death situation or loss of human life or in a facilwhere failure may cause a serious accident or physical injury, safety devices must be installed to minimize the likelihood of any acciden

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Receiving

This chapter explains how to inspect the drive upon receipt, and gives an overview of the differeenclosure types and components.

1.1 SECTION SAFETY.................................................................................................3

1.2 GENERAL DESCRIPTION.....................................................................................3

1.3 MODEL NUMBER AND NAMEPLATE CHECK....................................................3

1.4 DRIVE MODELS AND ENCLOSURE TYPES........................................................3

1.5 COMPONENT NAMES...........................................................................................4

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1.1 Section Safety

CAUTION

Do not carry the drive by the front cover or the terminal cover.

Failure to comply may cause the main body of the drive to fall, resulting in minor or moderate injury.

NOTICE

Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.

Failure to comply may result in ESD damage to the drive circuitry.

A motor connected to a PWM drive may operate at a higher temperature than a utility-fed motor and the operating

speed range may reduce motor cooling capacity.

Ensure that the motor is suitable for drive duty and/or the motor service factor is adequate to accommodate the additional

heating with the intended operating conditions.

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1.2 General Description

u A1000 Model SelectionRefer to Table 1.1for drive selection depending on the motor power and Normal or Heavy Duty rating.

Note: The models and capacities in shown here are based on standard settings and operation conditions. Higher carrier frequencies and higher ambietemperatures require derating.

Table 1.1 A1000 Models

MotorPower

HP

Three-Phase 200 V Class Three-Phase 400 V Class Three-Phase 600 V Class

Heavy Duty Rating Normal Duty Rating Heavy Duty Rating Normal Duty Rating Heavy Duty Rating Normal Duty Ratin

ModelCIMR-A

RatedOutputCurrent

(A)

ModelCIMR-A

RatedOutputCurrent

(A)

ModelCIMR-A

RatedOutputCurrent

(A)

ModelCIMR-A

RatedOutputCurrent

(A)

ModelCIMR-A

RatedOutputCurrent

(A)

ModelCIMR-A

RatedOutpuCurren

(A)

0.75 2A0004 3.2 2A0004 3.5 4A0002 1.8 4A0002 2.1

1 2A0006 5 2A0006 6 5A0003 1.7

22A0008 6.9 2A0008 8 4A0004 3.4 4A0004 4.1 5A0004 3.5 5A0003 2.7

2A0010 8

3

4A0005 4.8

2A0012 11 2A0010 9.6 4A0007 5.5 4A0005 5.4 5A0006 4.1 5A0004 3.9

2A0018 14 2A0012 12 4A0007 6.9

5 4A0009 7.2

2A0021 17.5 2A0018 17.5 4A0011 9.2 4A0009 8.8 5A0009 6.3 5A0006 6.1

7.5 2A0030 25 2A0021 21 4A0018 14.8 4A0011 11.1 5A0011 9.8 5A0009 9

10 2A0040 33 2A0030 30 4A0023 18 4A0018 17.5 5A0017 12.5 5A0011 11

15 2A0056 47 2A0040 40 4A0031 24 4A0023 23 5A0022 17 5A0017 17

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