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YASKAWA VS-616PS5 Series Programming Manual

Brushless motor drive
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VS-616PS5 Series
Programming Manual
Brushless Motor Drive

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Summary of Contents for YASKAWA VS-616PS5 Series

  • Page 1 VS-616PS5 Series Programming Manual Brushless Motor Drive...
  • Page 2 VS-616PS5 Programming Manual...
  • Page 3 Any warnings provided by YASKAWA must be promptly provided to the end user. YASKAWA offers an express warranty only as to the quality of its products in conforming to standards and specifications published in YASKAWA’s manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS OFFERED.
  • Page 4 Yaskawa Electric America, Inc. No patent liability is assumed with respect to the use of the information contained herein. Yaskawa is constantly improving its high-quality products. The information contained in this manual is sub- ject to change without notice.

  • Page 5: Table Of Contents

    Contents Section Description Page ........7 NTRODUCTION VS-616PS5 P .
  • Page 6 Section Description Page Hardware Protection ......93 ......95 PERATOR ARAMETERS Monitor Selection .

  • Page 7: Introduction

    (PM) brushless motor. In the PM motor, current is directly related to torque. With power outputs ranging from 0.5 to 500 horsepower (HP), the VS-616PS5 series is suit- able for any application. The inverters provide full start-up torque, smooth low speed opera- tion, and precise speed control from zero to full speed.

  • Page 8: Vs-616Ps5 Parameter Tree

    VS-616PS5 Parameter Tree VS-616PS5 Parameter Overview Group Function Parameter No. Quick-start Basic Advanced Monitor Monitor 01-03, 05-14 15-19 20-22,27-33,41-47, 49,50,53,54,55 Fault Trace 01-14 15,16 17-22 Fault History 01-08 A Initialize Initialize 01, 03, 04 Application Sequence 01-03 05-06 Zero Speed Level Magnetic Pull-in 02, 04, 05 Delay Timers...

  • Page 9: A Initialization Parameters

    Section A: Initialization Parameters A1 Initialization Set-up Main Menu:Initialize <ENTER> Initialization Parameters Initialization Set-up A1-01 Parameter Access Level This parameter allows the “masking” of parameters according to user level. See the following table: Setting Description Operation Only Quick Start Level (factory default) - For maintenance-level programming. Basic Level - For basic programming in most applications.

  • Page 10: B Application Parameters

    Section B: Application Parameters B1 Initialization Sequence Main Menu: Programming <ENTER> Application Parameters Sequence B1-01 Frequency Reference Selection B1-02 Operation Method Selection Setting Range: 0 to 4 Factory Default: Frequency reference and run command can be set independently as shown below: Setting Description Run by digital operator reference...
  • Page 11 Section B: Application Parameters B1 Sequence • Ramp to Stop (B1-03 = “0”) Output Frequency Decel time 1 (C1-02) Zero Speed Level Factory Default 0.5Hz Run Command Figure 1 Stopping Method - Ramp to Stop Upon removal of the FWD (REV) run command, the motor decelerates at a rate determined by the time set in deceleration time 1 (C1-02) and baseblocks upon reaching the zero speed level (B2-01) or minimum speed (E1-08), whichever is higher.
  • Page 12 Section B: Application Parameters B1 Sequence • Coast to Stop with Timer 1 (B1-03 = “3”) Output Frequency Decel Time 1 (C1-02) Accel Time 1 (C1-01) Coasting Time FWD (REV) Run Command Run Command Disabled Figure 4 Stopping Method - Coast to Stop w/Timer Upon removal of the run command, a new run command is blocked until the coast to stop timer has elapsed (same as Decel 1).
  • Page 13 Section B: Application Parameters B1 Sequence Setting Description Baseblock (factory default)- No output to motor Run at minimum output speed (E1-08). Zero-speed operation (internal speed reference is set to “0”) B1-06 LOCAL/REMOTE Run Select This parameter determines how the inverter will function when switching from local to remote operation when the external run command is applied.

  • Page 14: B2 Zero Speed Level

    Section B: Application Parameters B2 Servo Speed Level B2 Zero Speed Level B2-01 Zero-speed Level (Baseblock level) Setting Range: 0.0 to 20.0% Factory Default: 0.5% Sets the speed at which the inverter baseblocks upon deceleration. 20% equals 20% of the maximum speed setting as entered in parameter E1-06. The initial value is 0.5%.

  • Page 15: Magnetic Pull-In Current

    Section B: Application Parameters B3 Magnetic Pull-in B3 Magnetic Pull-in The magnetic pull-in (Synchronization) feature is used only during the PG orientation auto-tuning process. During normal operation this function is not performed. During PG Orientation Auto-Tuning, the following parameters are used to gradually ramp up the motor current to a desired level to allow a “soft”...
  • Page 16 Section B: Application Parameters B3 Magnetic Pull-in B3-05 Magnetic Pull-in Time Setting Range: 0.0 to 5.0s Factory Default: 1.0s This parameter sets the time to allow the rotor to pull in (align) with the magnetic field at initial excitation. Pull-in waiting time is set in units of 0.1s. The current vs.

  • Page 17: B4 Delay Timers

    Section B: Application Parameters B4 Delay Timers Delay Timers Use the inverter input (multifunction inputs) and output (multifunction outputs) in place of an external timer. When a multi-function contact input (H1-XX = “18”) is closed, a multi-function contact output (H2-XX = “12”) can be set to close after the On-delay time (B4-01) has expired.

  • Page 18: B5 Pid Control

    Section B: Application Parameters B5 PID Control PID Control The Proportional, Integral, and Derivative (PID) control function provides closed-loop control and regulation of a system variable such as temperature or pressure. A con- trol signal based on the difference (or error) between a feedback signal and a desired setpoint is produced.
  • Page 19 Section B: Application Parameters B5 PID Control Control circuit terminal 14 accepts voltage signal: Set terminal 14 signal selection (H3-08) to “0” for 0-10 VDC input signal or “1” for - 10 to 10 VDC input signal. The J1 jumper must also be cut to set-up terminal 14 to accept a voltage signal.
  • Page 20 Section B: Application Parameters B5 PID Control B5-03 PID Control Integral Time Setting Range: 0.00 to 360.0s Factory Default: 1.00s The integral calculation sums the deviation over time which forces the deviation to become zero. Thus, the feedback will match the desired setpoint. The integral time determines how quickly the integral gain increase is added to the control loop.
  • Page 21 Section B: Application Parameters B5 PID Control B5-07 PID Control Offset ±100.0% Setting Range: Factory Default: 0.0% The PID offset adds a bias to the calculated PID value. B5-08 PID Control Output Primary Delay Time Setting Range: 0.00 to 10.00s Factory Default: 0.00s The output delay time builds in a delay to changes in the calculated PID value, which...

  • Page 22: B6 Reference Hold

    Section B: Application Parameters B6 Reference Hold Reference Hold The reference hold or dwell function is used to temporarily hold the output frequency at a set reference, for a set time, during the acceleration and deceleration process. Use this function when driving a permanent magnet motor, or a motor with a heavy starting load.

  • Page 23: B7 Droop Control

    Section B: Application Parameters B7 DROOP Control Droop Control Droop Control is a function that allows the speed of a motor to decrease in proportion to load torque. This can be used to insure load sharing between drives on multiple drive systems.

  • Page 24: C Tuning Parameters

    Section C: Tuning Parameters C1 Accel/Decel Tuning Parameters Accel/Decel C1-01 Acceleration Time 1 C1-02 Deceleration Time 1 C1-03 Acceleration Time 2 C1-04 Deceleration Time 2 C1-05 Acceleration Time 3 C1-06 Deceleration Time 3 C1-07 Acceleration Time 4 C1-08 Deceleration Time 4 Setting Range: 0.00 to 6000.0s Factory Default:...
  • Page 25 Section C: Tuning Parameters C1 Accel/Decel Accel/decel Time Selection 1 Accel/decel Time Selection 2 Accel Time Decel Time Multi-function Input Multi-function Input Setting = “7” Setting = “1A” Open or not set Open or not set C1-01 C1-02 Closed Open or not set C1-03 C1-04 Open or not set...
  • Page 26 Section C: Tuning Parameters C1 Accel/Decel the automatic change of accel/decel. Accel/Decel Switching Level (C1-11) Output Frequency C1-07 C1-01 C1-02 C1-08 Figure 14 Accel/Decel Switching Level Adjustment VS-616PS5 Programming Manual...

  • Page 27: C2 Pg Origin Pulse Compensation

    Section C: Tuning Parameters C2 PG Origin Pulse Compensation PG Origin Pulse Compensation C2-13 PG Origin Pulse Compensation Value ±180° Setting Range: Indicates the angular displacement between the magnetic pole and the marker pulse from the hall sensor or encoder feedback devices. This value is used to control the commutation to insure optimum performance.

  • Page 28: Voltage Limitation Control

    Section C: Tuning Parameters C3 Voltage Limit Control Voltage Limit Control C3-05 Voltage Limit Control Selection This parameter sets the voltage limit control. Set Value Description •Voltage limitation control is not performed (fac- tory default). •Voltage limitation control is performed limits the output voltage to 230 (460) by reducing the d-axis current level.

  • Page 29: C5 Asr Tuning

    Section C: Tuning Parameters C5 ASR Tuning ASR Tuning The Automatic Speed Regulator (ASR) provides closed loop motor speed control so that optimum performance during changes in motor speed or load can be achieved Torque Limit C5-01, C5-03 Speed Reference Secondary Current Reference 1 + ST C5-05...
  • Page 30 Section C: Tuning Parameters C5 ASR Tuning C5-04 ASR Integral Time 2 Setting Range: 0.000 to 10.000s Factory Default: 0.500s The ASR integral time 2 is an additional integral time adjustment. C5-05 ASR Output Primary Delay Time Setting Range: 0.000 to 0.500s Factory Default: 0.004s Mechanical backlash in an application causes secondary current (I...

  • Page 31: C6 Carrier Frequency

    Section C: Tuning Parameters C6 Carrier Frequency Carrier Frequency This function sets the inverter output transistor switching frequency (carrier fre- quency). Increase the carrier frequency to reduce motor noise and decrease it to reduce leakage current. When increasing the carrier frequency above the factory default values, current derating is necessary.
  • Page 32 Section C: Tuning Parameters C6 Carrier Frequency 460 Volt Models Model Number Carrier Frequency PS5U4185 PS5U4220 2kHz PS5U4300 Pulse C6-14 Reference Speed Reference 1/100 C6-13 VS-616PS5 Programming Manual...
  • Page 33 Section C: Tuning Parameters C6 Carrier Frequency C6-13 Pulse Reference Ratio Denominator Value Setting Range: 0 - 1000 Factory Default: Sets the denominator portion of the pulse reference multiplication block. Used when B1-02=6 (Pulse Train reference mode). C6-14 Pulse Reference Ratio Numerator Value Setting Range: 0 - 1000 Factory Default:...
  • Page 34 Section C: Tuning Parameters C7 S-Curve Accel/Decel S-Curve Accel/Decel An S-curve pattern is used to reduce shock and provide smooth transitions during machine acceleration and deceleration. S-curve characteristic time is the time it takes to reach the set accel/decel rate during a speed change. C7-01 S-Curve Time at Acceleration Start C7-02 S-Curve Time at Acceleration End C7-03 S-Curve Time at Deceleration Start...

  • Page 35: Reference Parameters

    Section D: Reference Parameters D1 Preset References Reference Parameters Preset References D1-01 Preset Reference 1 D1-02 Preset Reference 2 D1-03 Preset Reference 3 D1-04 Preset Reference 4 D1-05 Preset Reference 5 D1-06 Preset Reference 6 D1-07 Preset Reference 7 D1-08 Preset Reference 8 Setting Range: 0.00 to 100.00% Factory Default:...
  • Page 36 Section D: Reference Parameters D1 Reference Limits D1-08 60.0Hz D1-07 55.0Hz D1-06 50.0Hz D1-05 45.0Hz Frequency D1-04 Reference 40.0Hz D1-03 30.0Hz D1-02 20.0Hz D1-01 D1-09 10.0Hz 6.0Hz Time FWD (REV) Run/Stop Multi-step Speed Ref. 1 (Terminal 5) Multi-step Speed Ref. 2 (Terminal 6) Multi-step Speed Ref.

  • Page 37: D2 Reference Limits

    Section D: Reference Parameters D2 Reference Limits Reference Limits D2-01 Speed Reference Upper Limit Setting Range: 0.0 to 110.0% Factory Default: 100.0% The speed reference upper limit is set as a percentage of the maximum output speed (E1-06). Limits the maximum output speed of the motor. D2-02 Speed Reference Lower Limit Setting Range: 0.0 to 100.0%...

  • Page 38: D3 Jump Frequencies

    Section D: Reference Parameters D3 Jump Frequencies Jump Frequencies D3-01 Jump Speed Reference 1 D3-02 Jump Speed Reference 2 D3-03 Jump Speed Reference 3 Setting Range: 0.0 to 200.0% Factory Default: 0.0% D3-04 Jump Speed Reference Bandwidth Setting Range: 0.0 to 200.0% Factory Default: 1.0% These functions allow the prohibition or “jumping”...

  • Page 39: D4 Hold Reference Memory

    Section D: Reference Parameters D4 Reference Memory (Memorize Last Reference) Reference Memory (Memorize Last Reference) D4-01 Reference Memory Selection - (Up/Down or Accel/ Decel Hold Feature) Selects whether the reference memorization feature during, Up/Down or Accel/Decel Hold operation is stored when operation is stopped (when power is removed or when the run command is cancelled or overridden).

  • Page 40: D5 Torque Control

    Section D: Reference Parameters D5 Torque Control Torque Control D5-01 Torque Control Selection Select either speed and torque control. Setting Description Speed control enabled with torque limit (factory default) Torque control enabled with speed limit Speed/torque control selection can also be made by using a multi-function contact input function selection (H1-XX = “71”).
  • Page 41 Section D: Reference Parameters D5 Torque Control D5-06 Speed/Torque Control Changeover Delay Timer Setting Range: 0 to 1000ms Factory Default: 50ms When using a multifunction input to switch between speed and torque mode, D5-06 can be used to allow the analog signals to be modified in preparation for the newly selected mode.
  • Page 42 Section D: Reference Parameters D5 Torque Control Therefore, when torque reference > 0 and speed limit (%) > 0, the torque control range is: [-l × D5-05] < motor speed < [speed limit + D5-05] Refer to the following table for more details on the relationship between torque refer- ence, speed limit, and motor speed.
  • Page 43 Section D: Reference Parameters D5 Torque Control Speed/Torque Selection Command (Terminal 8 Input) STOP Run Command Speed Control Torque Control Control Method Speed Control Torque Control Speed Control (decel to stop) Terminal 13 Input Speed Reference Speed Limit Speed Reference Speed Limit Torque Limit Torque Reference...

  • Page 44: E Motor Parameters

    Section E: Motor Parameters E1 V/f Pattern Motor Parameters Motor Constant E1-01 Inverter Input Voltage Setting Setting Range: 180 to 230V (360 to 460V) Factory Default: 230V (460V) Set E1-01 to the nominal expected line voltage (exact setting is not required) This setting adjusts the overvoltage level, the braking transistor turn on level, and the stall prevention level during deceleration.
  • Page 45 Section E: Motor Parameters E1 V/f Pattern E1-04 Motor Rated Current Setting Range: 0.0 to 605.0 Factory Default: 0.00 (E1-02=1000) Set to the motor rated current as indicated on the motor nameplate for motor capacity 7.5kW or less is set in units of 0.01A, and for motor capacity 11kW or greater, in units of 0.1A.
  • Page 46 Section E: Motor Parameters E1 V/f Pattern E1-09 Motor Terminal to Terminal Resistance Setting Range: 0 to 65.535Ω Factory Default: 0.000 (E1-02=1000) Set the terminal to terminal resistance of the motor in units of 0.001Ω. E1-10 Motor d Axis Inductance Setting Range: 0.00 to 600.00mH Factory Default:...
  • Page 47 Section E: Motor Parameters E1 V/f Pattern E1-16 Motor Feeder Resistance Setting Range: 0.0 to 10.0% Factory Default: Wiring resistance between the inverter and the motor is set by a percentage value of the inverter’s rated voltage. × R f I m ×...
  • Page 48 Section E: Motor Parameters E1 V/f Pattern 1: 2∆ Connection: · · · · · · · · 2: 1Y Connection: · 3: 2Y Connection: · · · · · VS-616PS5 Programming Manual...

  • Page 49: F Option Parameters

    Section F: Option Parameters F1 PG Option Set-up Option Parameters PG Option Set-up These parameters set up the Speed feedback pulse generator (PG). F1-01 PG Pulses per Revolution Setting Range: 0 to 10000 Factory Default: This parameter sets the number of PG pulses per motor revolution (pulses/rev). Enter the PPR of the hall sensor signals HS4 &...
  • Page 50 Section F: Option Parameters F1 PG Option Set-up F1-05 PG Rotation Selection Sets the relationship between the motor rotation direction and PG polarity. (Hall sen- sor HS4 & HS5 or encoder channel A & B). Setting Description HS5 leads HS4 (channel B leads A) in FWD direction. HS4 leads HS5 (A leads B) in FWD direction (factory default).
  • Page 51 Section F: Option Parameters F1 PG Option Set-up F1-10 PG Deviation Detection Level Setting Range: 0 to 50% Factory Default: This sets the excessive speed deviation detection level as a percentage of maximum output speed (E1-06). Used in conjunction with parameter F1-11 to sense a speed deviation condition.

  • Page 52: F2 Ai-14 Set-Up

    Section F: Option Parameters F2 AI-14B Set-up AI-14B Set-up F2-01 AI-14B Function Selection Sets CH1 to CH3 input functions when AI-14B option is connected. Setting Function CH1 (TC1 to TC4) CH2 (TC2 to TC4) CH3 (TC3 to TC4) 3-channel individual Substitute for Substitute for Substitute for...

  • Page 53: F3 Di-08/Di-16H Set-Up

    Section F: Option Parameters F3 DI-08/DI-16H Set-up DI-08/DI-16H Set-up F3-01 Digital Input Option This parameter selects the setting mode of the frequency reference input from the DI- 08 and DI-16H options. Setting Frequency Reference Setting Mode BCD 1% unit (factory default) BCD 0.1% unit BCD 0.01% unit Not used...

  • Page 54: F4 Ao-08/Ao-12 Set-Up

    Section F: Option Parameters F4 AO-08/AO-12 Set-up AO-08/AO-12 Set-up F4-01 Analog Output Channel 1 Selection Setting Range: 1 to 53 Factory Default: Selects the analog output monitors for channel 1 of the AO-08 and AO-12 options. Possible settings are as follows: Setting Description Speed reference...
  • Page 55 Section F: Option Parameters F4 AO-08/AO-12 Set-up F4-02 Analog Output Channel 1 Gain ±300.0 Setting Range: Factory Default: Sets the channel 1 output gain for the analog output monitors. To obtain the output level, multiply the monitor output level by the gain value set in this parameter (F4-02). F4-03 Analog Output Channel 1Bias ±109.2% Setting Range:...

  • Page 56: F5 Do-02 Set-Up

    Section F: Option Parameters F5 DO-02 Set-up DO-02 Set-up F5-01 DO-02C Digital Output Channel 1 Selection 0 to 37 Setting Range: Factory Default: During run 1 (setting = “0”) Selects the multi-function output selections for channel 1 of the DO-02C option. Setting Description Setting...

  • Page 57: F6 Do-08 Set-Up

    Section F: Option Parameters F6 DO-08 Set-up DO-08 Set-up F6-01 DO-08 Digital Output Selection Selects the multi-function output selections for the DO-08 option. Setting Terminal No. Description TD5/TD11 Overcurrent (SC, OC, GF) TD6/TD11 Overvoltage (OV) TD7/TD11 Inverter overload (OL2) TD8/TD11 Fuse blown (PUF) 8-channel individual...
  • Page 58 Section F: Option Parameters F8-01 Speed Feedback Detection Method PG Option Set-up 2 F8-01 Speed Feedback Detection Method Setting Range: Factory Default: Selects the speed feedback method (hall sensor or line drive encoder). Setting Description Speed feedback comes from channels A & B on PG-P2 option Speed feedback comes from channels HS4 &...

  • Page 59: F9 Cp-916 Setup

    Section F: Option Parameters F9 CP-916 Set-up CP-916 Setup F9-01 External Fault Input Level from Communication Option This parameter selects the initial state for an external fault condition when the inverter is configured for serial communication using the CP-916. Set Value Description Detection by N.
  • Page 60 Section F: Option Parameters F9 CP-916 Set-up F9-05 Torque Reference Selection from Communication Option This allows the Communication option card (ex. Device Net) to set the torque limits when the inverter is in the speed control mode and to set the torque reference when operating in the torque control model.

  • Page 61: H Control Circuit Terminal Parameters

    Section H: Control Circuit Terminal Parameters H1 Digital Inputs Control Circuit Terminal Parameters Digital Inputs The VS-616PS5 has six multi-function contact inputs for the set-up of numerous func- tions, including multi-step speed operation, PID, speed search, speed/torque control selection, and many others. This section includes descriptions of these functions. H1-01 Multi-function Input Terminal 3 Selection H1-02 Multi-function Input Terminal 4 Selection H1-03 Multi-function Input Terminal 5 Selection...
  • Page 62 Section H: Control Circuit Terminal Parameters H1 Digital Intputs Run Command Stop (Run when “Closed”) Stop Command (Stop when “Open”) FWD/REV Selection (FWD when “Open” REV when “Closed”) Figure 31 Terminal Function at 3-Wire Sequence Selection (H1-01 = “0”) • Local/Remote Selection (setting: “1”) Selects the operation mode, only when the inverter is stopped.
  • Page 63 Section H: Control Circuit Terminal Parameters H1 Digital Inputs Fwd Run Accel/Decel Hold Command Frequency Reference Output Frequency Figure 32 Accel/Decel Hold Command Timing Diagram Notes: 1. When both a hold reference memory selection (D4-01 = “1”) and an accel/ decel hold command are input, a stop command followed by a run command will generate storage of the output frequency data until the accel/decel stop command is released.
  • Page 64 Section H: Control Circuit Terminal Parameters H1 Digital Inputs • Up/Down Command (settings: Up = “10,” Down = “11”) Allows the motor speed to be increased (Up command) or decreased (Down com- mand) via contact closures. Requires the run command to be applied. UP command Closed Open...
  • Page 65 Section H: Control Circuit Terminal Parameters H1 Digital Inputs Notes: 1. When either forward or reverse jog command is input during run, this command has priority. 2. When both the forward and reverse jog commands are closed for more than 500ms, the inverter stops according to the stopping method selection (Bl-03).
  • Page 66 Section H: Control Circuit Terminal Parameters H1 Digital Inputs ing table to choose the desired response upon inputting an external fault command. External Fault Selection Input Level Detection Method External Fault Action Setting Selection Result During Ramp to Coast to Alarm Only N.O.

  • Page 67: H2 Digital Outputs

    Section H: Control Circuit Terminal Parameters H2 Digital Outputs Digital Outputs The VS-616PS5 has three multi-function digital outputs for the indication of various conditions, including speed detection, speed agree, zero speed, overtorque detec- tion, and many others. This section includes descriptions of these functions. H2-01 Multi-function Output 1 Selection (terminal 9, 10) H2-02 Multi-function Output 2 Selection (terminal 25, 27) H2-03 Multi-function Output 3 Selection (terminal 26, 27)
  • Page 68 Section H: Control Circuit Terminal Parameters H2 Digital Outputs • During Run (setting: “0”) Closes after a run command is inputted or when the inverter generates output volt- age. • Zero-speed (setting: “1”) Closes when the motor speed is less than the zero-speed level (B2-01). •...

  • Page 69: Speed Detection

    Section H: Control Circuit Terminal Parameters H2 Digital Outputs • Speed Detection 1 (setting: “4”) Closes whenever the output speed is at or below the Speed Agree Detection Level (L4-01). During acceleration from below the detection level, the output speed increases through the Detection Bandwidth (L4-02) before the contact opens again.

  • Page 70: B Overtorque Detection 1 - N

    Section H: Control Circuit Terminal Parameters H2 Digital Outputs Closes when run command is input from the digital operator. • Overtorque Detection 1 - N.O. (setting: “B”) Closes during overtorque detection 1 (L6-01, see section L6, Overtorque Detec- tion). • Loss of Speed Reference (setting: “C”) Closes when the speed reference is reduced by 90% within 400ms.

  • Page 71: Desired Speed Agree

    Section H: Control Circuit Terminal Parameters H2 Digital Outputs Detection Width 1 (L4-04) Speed Reference Output Speed Speed Agree 2 Signal Figure 42 Speed Agree Signal 2 Timing Diagram • Desired Speed Agree 2 (setting: “14”) Closes whenever the output Speed “agrees” with the Speed Agree Detection Level (L4-03), plus or minus the Speed Agree Detection Width (L4-04).

  • Page 72: Overtorque Detection 1 - N

    Section H: Control Circuit Terminal Parameters H2 Digital Outputs Detection Level 1 (L4-03) Detection Width 1 (L4-04) Output Speed Frequency Detection 4 Signal Figure 45 Speed Detection 2 Signal Timing Diagram • Overtorque Detection 1 - N.C. (setting: “17”) Opens during overtorque detection 1 (L6-01, see section L6, Overtorque Detec- tion, on page 81).

  • Page 73: Current/Torque Limit

    Section H: Control Circuit Terminal Parameters H2 Digital Outputs • Current/Torque Limit (setting: “30”) Closes during torque limit. • Speed Limit (setting: “31”) Closes when the Speed Limit Level as determined by parameter setting (D5-03) is reached during torque control. The speed limit is set by D5-04 or the analog input. •...

  • Page 74: H3 Analog Inputs

    Section H: Control Circuit Terminal Parameters H3 Analog Inputs Analog Inputs The VS-616PS5 has three analog inputs (two multi-function and one fixed), for the external input of numerous references and limits, including speed, torque, PID, and others. This section includes descriptions of these functions. H3-01 Terminal 13 Signal Selection Selects the type of voltage signal input at terminal 13.
  • Page 75 Section H: Control Circuit Terminal Parameters H3 Analog Inputs H3-05 Terminal 16 Multi-function Selection The following table lists the function selections for the multi-function analog inputs (terminals 14 & 16). Setting Function Setting Level Auxiliary Speed Reference (factory default) ±100% / ±10V Speed Gain 100% / 10V Speed Bias...
  • Page 76 Section H: Control Circuit Terminal Parameters H3 Analog Inputs H3-06 Terminal 16 Reference % Gain Setting Range: 0.0 to 1000.0% Factory Default: 100.0% Sets the terminal 16 input gain level when the reference voltage is 10V, (see Figure 46). H3-07 Terminal 16 Reference ±% Bias Setting Range: ±100.0% Factory Default:...
  • Page 77 Section H: Control Circuit Terminal Parameters H3 Analog Inputs H3-11 Terminal 14 Reference ±% Bias Setting Range: ±100.0% Factory Default: 0.0% Sets the terminal 14 input bias level when the reference current is 4mA, (see Figure 46). H3-12 Analog Input Filter Time Constant Setting Range: 0.00 to 2.00s Factory Default:...

  • Page 78: H4 Analog Outputs

    Section H: Control Circuit Terminal Parameters H4 Analog Outputs Analog Outputs The VS-616PS5 has two analog outputs, for the external monitoring of drive condi- tions such as output speed, output current, PID feedback and others. H4-01 Terminal 21 Analog Output Selection Selects the analog output monitors for terminal 21.
  • Page 79 Section H: Control Circuit Terminal Parameters H4 Analog Outputs H4-03 Terminal 21 Analog Output Bias Setting Range: ±109.2% Factory Default: 0.0% Sets the terminal 21 output bias for the analog output monitors. To obtain the output level, multiply the monitor output level by the gain value set in H4-02, then add the bias value set in H4-03.
  • Page 80 Section H: Control Circuit Terminal Parameters H5 Modbus Communication Parameters Control Circuit Terminal Parameters Modbus Communication Parameters The inverter uses communication port 6CN to communicate via MODBUS protocol. H5-01 Serial Communication Station Address Setting Range: 0 to 1F Factory Default:1F Selects a station address for identification of the inverter during serial communica- tion.
  • Page 81 Section H: Control Circuit Terminal Parameters H5 Modbus Communication Parameters H5-04 Stopping Method After Communication Error Selects the stopping method after a transmission error is detected. Setting Description Ramp to stop according to the time set in C1-02. Fast-stop according to the time set in C1-09. Coast to stop Alarm only, continuous operation (factory default) H5-05 MODBUS Time Out Detection...

  • Page 82: L Protection Parameters

    Section L: Protection Parameters L4 Power Loss Ride-through Protection Parameters Power Loss Ride-through When momentary power loss occurs, Power Loss Ride-through function is disabled. L2-01 Momentary Power Loss Ride-through Selects whether the inverter stops when power loss is detected or “rides through” a momentary power loss.

  • Page 83: L3 Stall Prevention

    Section L: Protection Parameters L3 Stall Prevention/Current Limit Stall Prevention/Current Limit This function automatically adjusts the output deceleration rate in order to continue operation without tripping (overvoltage avoidance function) when the motor is regen- erating. L3-01 Over-voltage Protection (Stall Prevention During Deceleration) If deceleration times are set too short for load conditions, the inverter automatically extends the deceleration time according to the main circuit DC bus voltage level.

  • Page 84: L4 Reference Detection

    Section L: Protection Parameters L4 Reference Detection Reference Detection The VS-616PS5 utilizes three different functions for detecting output speed: • When speed agree is enabled at the multi-function contact outputs (H2-__ = “2” or “13”), the contact closes whenever the output speed “agrees” with the speed refer- ence, plus or minus the speed agree detection width.
  • Page 85 Section L: Protection Parameters L4 Reference Detection L4-04 Speed Agree Detection Width Setting Range: 0.0 to 100.0% Factory Default: 2.0% Sets the detection width, for desired speed agree 2, and for speed detection 3 & 4 functions. L4-05 Operation when Speed Reference is Missing Selects operation when the speed reference from the control circuit terminal is reduced by 90% within 400ms.

  • Page 86: L5 Fault Restart

    Section L: Protection Parameters L5 Fault Reset Fault Restart After a fault occurs, the inverter can be reset automatically. The automatic restart function allows the inverter to reset itself and continue operation after certain faults (Provided the fault condition no longer exists. L5-01 Number of Automatic Restart Attempts Setting Range: 0 to 10...
  • Page 87 Section L: Protection Parameters L5 Fault Reset L5-02 Automatic Restart Operation Selection Selects whether a fault contact output is activated during automatic restart. Setting Description No fault relay (factory default). Fault relay is active. A setting of “0” will energize the fault relay only after the number of restart attempts as programmed in parameter L5-01 has been exhausted.

  • Page 88: L6 Torque Detection

    Section L: Protection Parameters L6 Torque Detection Torque Detection The overtorque detection circuit activates when the motor load causes the motor cur- rent (or torque during vector control) to exceed the overtorque detection level (L6-02). When an overtorque condition is detected, an “OL3” indication is generated on the digital operator.
  • Page 89 Section L: Protection Parameters L6 Torque Detection L6-02 Overtorque Detection 1 Level Setting Range: 0 to 300% Factory Default: 150% Sets the overtorque detection level as a percentage of motor rated torque. L6-03 Overtorque Detection 1 Time Setting Range: 0.0 to 10.0s Factory Default: 0.1s The overtorque detection time sets the time for which the motor current (or torque)
  • Page 90 Section L: Protection Parameters L6 Torque Detection L6-06 Overtorque Detection 2 Time Setting Range: 0.0 to 10.0s Factory Default: 0.1s The overtorque detection time sets the time for which the motor current (or torque) must exceed the overtorque detection level (L6-05) before the overtorque condition is acknowledged as a valid overtorque condition.

  • Page 91: L7 Torque Limit

    Section L: Protection Parameters L7 Torque Limit Torque Limit The torque limit function limits the amount of motor torque in all four quadrants of vec- tor control operation: • Forward Motoring • Forward Regenerating • Reverse Motoring • Reverse Regenerating Torque limit is activated in both the speed and torque control modes.
  • Page 92 Section L: Protection Parameters L7 Torque Limit Sets the regenerating side torque limit value during REV run. Positive Torque Reference REV Run Regeneration FWD Run Motor Torque Limit (L7-04) Torque Limit (L7-04) REV Motor Rotation FWD Motor Rotation FWD Run Regeneration REV Run Motor Torque Limit (L7-03) Torque Limit (L7-02)

  • Page 93: L8 Hardware Protection

    L8-01 Protection Selection for Internal DB Resistor When a Yaskawa-brand 3% duty cycle dynamic braking resistor is used, this function enables protection against overheating. The duty cycle of the braking resistor is moni- tored in the software so that it does not exceed 3%.
  • Page 94 Section L: Protection Parameters L8 Hardware Protection Input phase loss detection is disabled in the following cases: • A Stop command is input • Magnetic Contact (MC) shuts OFF • CPU A/D converter fault (CPF5) • During deceleration • Output current ≤ 30% of Inverter rated current L8-07 Output Phase Loss Protection This parameter detects the inverter output open-phase.

  • Page 95: O Operator Parameters

    Section O: Operator Parameters O1 Monitor Selection Operator Parameters Monitor Selection O1-01 User Monitor Selection The operation menu allows simple viewing of four monitor variables (via the DSPL key). These are Speed ref, Speed out, I , and a user-selected monitor. Using the table below, set this parameter to the setting corresponding to the monitor item desired for the fourth (user monitor) selection.
  • Page 96 Section O: Operator Parameters O1 Monitor Selection O1-02 Monitor Selection After Power-up Selects the monitor to be displayed on the digital operator immediately after the power supply is turned ON. Setting Description Displays frequency reference (factory default). Displays output frequency. Displays output current.

  • Page 97: O2 Key Selection

    Section O: Operator Parameters O2 Key Selection Key Selection O2-01 Local/Remote Key Enables/disables the digital operator LOCAL/REMOTE key. Setting Description Local/Remote key is disabled. Local/Remote key is enabled (factory default). Depressing the Local/Remote key switches operation commands between the digital operator and the settings of B1-01 & B1-02. O2-02 STOP Key During External Terminal Operation Enables/disables the digital operator STOP key, during operation from the external terminals and during serial communication.
  • Page 98 Section O: Parameters O2 Key Selection 460 V Models Model 40P4 40P7 41P5 42P2 43P7 44P0 45P5 47P5 4011 4015 4018 4022 4030 4037 4045 02-04 C6-02 (KHz) L2-02 (sec) Model 4055 4075 4110 4160 4185 4220 4300 02-04 C6-02 (KHz) L2-02 (sec) O2-05 Digital Operator M.O.P.
  • Page 99 Section O: Operator Parameters O2 Key Selection O2-08 Cumulative Operation Time Selection Defines the operation time that accumulates in the timer. Setting Description Power-On time is the accumulated time (factory default). The timer counts the time while the inverter power supply is turned ON as operation time. Running time is the accumulated time.

  • Page 100: Ttuning Parameters

    Section T: Tuning Parameters T1 Auto-tuning Tuning Parameters Auto-tuning Auto-tuning is required at the time of commissioning to allow the drive to determine the angular displacement between the magnetic pole position and hall sensor/ encoder marker pulse position. This is necessary to insure optimum performance in the Pm machine.

  • Page 101: Appendix

    Appendix VS-616PS5 Parameter List Appendix: VS-616PS5 Parameter List Access User Parameter Description Unit Setting Range Default Level Setting Operation Operation Monitor U1-01 Speed reference 0.0~100.0 U1-02 Output frequency U1-03 Inverter output current U1-05 Motor speed U1-06 Output voltage U1-07 DC bus voltage U1-08 Output power U1-09 Torque reference (internal) U1-10 Input terminal status...
  • Page 102 Appendix VS-616PS5 Parameter List Access User Parameter Description Unit Setting Range Default Level Setting Fault Trace U2-01 Existing detected fault U2-02 Previous detected fault U2-03 Frequency reference when fault was detected U2-04 Output frequency when fault was detected U2-05 Output current when fault was detected U2-06 Motor speed reference U2-07 Output voltage when fault was detected U2-08 DC bus voltage...
  • Page 103 Appendix VS-616PS5 Parameter List Access User Parameter Description Unit Setting Range Default Level Setting Programming Application Sequence B1-01 Frequency reference selection 0: Operator 3: Option PCB 1: Terminals 4: CP-717 2: Serial communication B1-02 Operation method selection 0: Operator 3: Option PCB 1: Terminals 4: CP-717 2: Serial communication...
  • Page 104 Appendix VS-616PS5 Parameter List Access User Parameter Description Unit Setting Range Default Level Setting Tuning Parameters Accel/Decel C1-01 Acceleration time 1 0.00~6000.0 10.0 C1-02 Deceleration time 1 0.00~6000.0 10.0 C1-03 Acceleration time 2 0.00~6000.0 10.0 C1-04 Deceleration time 2 0.00~6000.0 10.0 C1-05 Acceleration time 3 0.00~6000.0...
  • Page 105 Appendix VS-616PS5 Parameter List Access User Parameter Description Unit Setting Range Default Level Setting Reference Limits D2-01 Reference upper limit 0.0~110.0 100.0 D2-02 Reference lower limit 0.0~100.0 Jump Frequencies D3-01 Jump frequency reference 1 0.0~200.0 D3-02 Jump frequency reference 2 0.0~200.0 D3-03 Jump frequency reference 3 0.0~200.0...
  • Page 106 Appendix VS-616PS5 Parameter List Access User Parameter Description Unit Setting Range Default Level Setting F1-04 PG deviation detection stopping method 0: Ramp to Stop 2: Fast-Stop 1: Coast to Stop 3: Alarm Only F1-05 PG rotation selection 0: CCW 1: CW F1-08 Overspeed detection level 0~120 F1-09 Overspeed detection time...
  • Page 107 Appendix VS-616PS5 Parameter List Access User Parameter Description Unit Setting Range Default Level Setting F4-06 Analog output channel 2 bias ±109.2 DO-02 Setup F5-01 DO-02C digital output channel 1 selection During RUN 1 Zero speed Fref/Fout agree 1 Fref/Set agree 1 Frequency detection 1 Frequency detection 2 Inverter Ready...
  • Page 108 Appendix VS-616PS5 Parameter List Access User Parameter Description Unit Setting Range Default Level Setting F9-04 Trace sampling of option 0~60000 F9-05 Torque reference selection from communication option 0: Torque reference/limit from terminal 1: Torque reference/limit from option F9-06 Operation at bus error detection 0: Ramp to stop 2: Fast-stop 1: Coast to stop...
  • Page 109 Appendix VS-616PS5 Parameter List Access User Parameter Description Unit Setting Range Default Level Setting H2-02 Multi-function output 2 selection (terminal 25, 27) 0~FF (same as F5-01) H2-03 Multi-function output 3 (terminal 26, 27) 0~3F (same as F5-01) Analog Inputs H3-01 Terminal 13 signal selection 0: 0 to 10V 1: ±10V H3-02 Terminal 13 reference % gain...
  • Page 110 Appendix VS-616PS5 Parameter List Access User Parameter Description Unit Setting Range Default Level Setting H5-03 Serial communication speed selection 0: No parity, 1: Even parity, 2: Odd parity H5-04 Stopping method after communication error 0: Ramp to stop, 1: Coast to stop, 2: Fast stop, 3: Alarm only H5-05 Serial communication timeover detection 0: Disabled , 1: Enabled Protection Parameters...
  • Page 111 Appendix VS-616PS5 Parameter List Access User Parameter Description Unit Setting Range Default Level Setting L8-03 Stopping method selection after OH pre-alarm 0: Ramp to stop 2: Fast-stop 1: Coast to stop 3: Alarm only L8-05 Input phase loss protection 0: Disabled 1: Enabled L8-07 Output phase loss protection...
  • Page 112 Appendix VS-616PS5 Parameter List Access User Parameter Description Unit Setting Range Default Level Setting O2-08 Cumulative 0peration time selection 0: Power-ON time 1: Running time Tuning Auto-tuning T1-02 Tuning mode 0: Normal running mode 2: Auto-tuning mode T1-03 Tuning operation selection 0: Auto-tuning procedures are performed for all parameters 1: Only PG origin pulse adjustment is performed VS-616PS5 Programming Manual...
  • Page 113 YASKAWA ELECTRIC AMERICA, INC. Chicago-Corporate Headquarters 2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: (847) 887-7000 Fax: (847) 887-7310 Internet: http://www.yaskawa.com MOTOMAN INC. 805 Liberty Lane, West Carrollton, OH 45449, U.S.A. Phone: (937) 847-6200 Fax: (937) 847-6277 Internet: http://www.motoman.com...

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