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YASKAWA PG-F3 Installation Manual
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YASKAWA PG-F3 Installation Manual

Ac drive 1000-series option, motor encoder feedback endat, hiperface interface
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YASKAWA AC Drive 1000-Series Option
Motor Encoder Feedback
(EnDat, HIPERFACE) Interface
Installation Manual
Type: PG-F3
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
1000
安川インバータ
エンコーダインタフェース
EnDat, HIPERFACE
（
取扱説明書
PG-F3
形  式
製品を安全にお使い頂くために，本書を必ずお読みください。
また，本書をお手元に保管していただくとともに，最終的に本製品をご使用になる
ユーザー様のお手元に確実に届けられるよう，お取り計らい願います。
MANUAL NO. TOBP C730600 51F
シリーズオプション
用）

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Summary of Contents for YASKAWA PG-F3

  • Page 1 YASKAWA AC Drive 1000-Series Option Motor Encoder Feedback (EnDat, HIPERFACE) Interface Installation Manual Type: PG-F3 To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual. 1000 安川インバータ...
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.

  • Page 3: Table Of Contents

    8 SPECIFICATIONS ....... . . 43 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...

  • Page 4: Preface And Safety

    The selection and application of Yaskawa products remain the responsibility of the equipment manufacturer or end user. Yaskawa accepts no responsibility for the way its products are incorporated into the final system design. Under no circumstances should any Yaskawa product be incorporated into any product or design as the exclusive or sole safety control.
  • Page 5 • EnDat is a trademark of DR. JOHANNES HEIDENHAIN GmbH. • HIPERFACE is a trademark of SICK STEGMANN GmbH & Co., KG. Trademarks are the property of their respective owners. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 6 Indicates a hazardous situation, which, if not avoided, could result in death or serious injury. CAUTION Indicates a hazardous situation, which, if not avoided, could result in minor or moderate injury. NOTICE Indicates an equipment damage message. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 7 • When ordering new copies of the manual, contact a Yaskawa representative or the nearest Yaskawa sales office and provide the manual number shown on the front cover.

  • Page 8: Product Overview

    The PG-F3 Option reads a maximum input frequency from the encoder of 20 kHz when using EnDat 2.1/01, EnDat 2.2/01, or HIPERFACE. Be sure to select an encoder with an output of maximum of 20 kHz when operating at maximum speed.

  • Page 9: Receiving

    • A pair of diagonal cutting pliers. • A small file or medium-grit sandpaper. Note: Tools required to prepare option cables for wiring are not listed in this manual. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...

  • Page 10: Option Components

    IP IG CK CK A+ A– a+ a– FE B+ B– b– Refer to Table 8 Table 9 on page for details on TB1 and TB2 terminal functions and signal levels. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...

  • Page 11: Installation Procedure

    Do not touch circuit boards while the power to the drive is on. Failure to comply could result in death or serious injury. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 12 Do not use unshielded cable for control wiring. Failure to comply may cause electrical interference resulting in poor system performance. Use shielded twisted-pair wires and ground the shield to the ground terminal of the drive. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 13 Failure to comply may prevent proper operation and possibly damage equipment. Check wiring to ensure that all connections are correct after installing the option and connecting any other devices. Failure to comply may result in damage to the option. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 14 D – Front cover J – Connector CN5-A E – Digital operator K – Connector CN5-B F – Terminal cover L – Connector CN5-C Figure 2 Drive Components with Option YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 15 NOTICE: Damage to Equipment. Observe proper electrostatic discharge procedures (ESD) when handling the option, drive, and circuit boards. Failure to comply may result in ESD damage to circuitry. Figure 3 Figure 3 Remove the Front Cover, Terminal Cover, and Digital Operator YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 16 Insert the option card (B) into the CN5-C (L) connector located on the drive and fasten it into place using one of the included screws (C). Figure 4 Figure 4 Insert the Option Card YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 17 Note: There are two screw holes on the drive for use as ground terminals (I). When connecting three options, two ground wires will need to share the same drive ground terminal. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 18 To PG at motor with fingers, keeping the ends from fraying. (do not solder ends) about 5.5 mm (7/32”) When not using crimped insulated sleeves Figure 7 Preparing and Connecting Cable Wiring YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 19 Refer to Figure 8 for the connection diagram. The signal “Sensor Up”must be connected to terminal IP on the PG-F3 option for cables longer than 10 m. Additionally, the “Sensor 0 V”must be connected to terminal IG. Refer Table 8 Table 9 for a detailed description of the option terminal functions.
  • Page 20 Option Terminal Color PG Encoder Signal Brown/Green Blue Sensor Up White/Green White Sensor 0V Purple CLOCK Yellow CLOCK Gray DATA Pink DATA Green/Black A– Yellow/Black A– Blue/Black B– Red/Black B– YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 21 Refer to Figure 9 for the connection diagram. The signal “Sensor Up” must be connected to terminal IP on the PG-F3 option for cables Refer longer than 10 m. Additionally, the “Sensor 0 V” must be connected to terminal IG.
  • Page 22 Color PG Encoder Signal Brown/Green Blue Sensor Up White/Green White Sensor 0V Purple CLOCK Yellow CLOCK Gray DATA Pink DATA − − − − A– − − − − B– YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 23 Figure 10 PG-F3 Option and PG Encoder Connection Diagram (HIPERFACE) YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 24 PG encoder may not operate properly or may become damaged as a result. Table 5 Setting the PG Encoder Power Supply Voltage (IP) with Jumper CN3 Voltage Level 5 V ± 5% (default) 8 V ± 10% Jumper CN3 Position YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 25 <1> <1> The drive will not meet NEMA Type 1 requirements if wiring is exposed outside the enclosure. Figure 11 Wire Routing Examples YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 26 Note: Take proper precautions when wiring the option so that the front covers will easily fit back onto the drive. Make sure cables are not pinched between the front covers and the drive when replacing the covers. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 27 Note: If the drive is initialized using A1-03 = 1110, 2220, or 3330, the value for F1-05 will reset to the factory default and the parameter will need to be readjusted to switch the direction. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 28 (HIPERFACE) on page 24 for details. Crimp Terminals ■ Yaskawa recommends using CRIMPFOX 6 by Phoenix Contact or equivalent crimp terminals with the specifications listed in Table 7 for wiring to ensure proper connections. Note: Properly trim wire ends so loose wire ends do not extend from the crimp terminals.
  • Page 29 • Output voltage: RS-422 level • Possible resolution: 1/n Inverse B phase monitor signal b– Set F1-06 to monitor the pulse signal. output Varies by drive model. Note: Not available when using EnDat 2.2/22. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 30 Inverse A phase monitor signal a– Set F1-06 to monitor the pulse signal. output Varies by drive model. Note: Not available when using EnDat 2.2/22. Ground Ground terminal for shielded cable. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 31 • Output voltage: RS-422 level Inverse COS pulse monitor • Possible resolution ratio: 1/n (n = 0 to 32) signal output Set F1-06 to monitor the pulse signal. Ground Ground terminal for shielded cable. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...

  • Page 32: Related Parameters

    "Continue running" setting except under special circumstances. F1-05 0: Forward = A pulse leads Default: <1> PG 1 Rotation (384) 1: Forward = B pulse leads CLV/PM Range: 0, 1 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 33 Default: 80 Sets the level for detecting a PG Hardware Fault F1-51 PGoH Detection CLV/PM Min: 1 (3D3) Level (PGoH). Set as a percentage of Sinθ + Cosθ Max: 100 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 34 <2> The output frequency of the PG encoder can be calculated with the following formula: Operation at maximum Motor speed at maximum frequency output (r/min) × PG rating (p/rev) ＝ output frequency (Hz) YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...

  • Page 35: Troubleshooting

    • Make sure the motor is rotating in the proper direction. An external force on the load • Investigate problems on the load side causing motor rotation in the opposite side caused the motor to move. direction. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 36 Non-compatible option is connected to drive port CN5-A. Cause Possible Solution Non-compatible option is Use only compatible options. Connect PG-F3 to CN5-C. For other options, refer connected to drive port CN5-A. to the Installation Manual for that option. Digital Operator Display...
  • Page 37 Alarm reading EnDat absolute position data from the PG encoder (OR flag from EnDat error for overvoltage, undervoltage, etc.) Cause Possible Solution Power supply to PG encoder is Correct the wiring. wired incorrectly. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 38 Correct the brake control sequence and verify that the brake has been released. incorrect. Digital Operator Display Fault Name PG Encoder Hardware Fault PGoH PG encoder cable is disconnected. Cause Possible Solution PG encoder cable is Reconnect the cable. disconnected. YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 39 Correct the setting for the control method. Cause Possible Solution Control mode requires installing a PG option, but no PG option is Connect a PG option. installed (A1-02 = 7). YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 40 • Limit the length of all motor output power cables to less than 20 m. • The signal “Sensor Up” must be connected to terminal IP on the PG-F3 option for cables longer than 10 m. Additionally, the “Sensor 0 V”must be connected to terminal IG.
  • Page 41 7 Troubleshooting EnDat 2.2/22 Figure 12 PG-F3 A–,B– 120 Ω A+,B+ PG Encoder 2.5V Clock Data output 120 Ω Data input 26LS31 Level Figure 15 Interface Circuit (EnDat 2.2/22) YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 42 7 Troubleshooting HIPERFACE Figure 13 PG-F3 Encoder A-,B- 120 Ω A+,B+ 2.5 V Clock Data output 120 Ω Data input 26LS31 Level Monitor Signals Figure 16 Interface Circuit (HIPERFACE) YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...

  • Page 43: Specifications

    -20°C to 60°C (-4°F to 140°F) allowed for short-term transport of the product Temperature Area of Use Indoor (free of corrosive gas, airborne particles, etc.) Altitude 1000 m (3280 ft.) or lower YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 44 Back cover Revision: Address, format March 2010 Entire Document Edited for procedural clarity and readability. November 2009 Entire Document Edited for procedural clarity and readability. − − July 2009 First edition YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual...
  • Page 45 Phone: 81-3-5402-4502 Fax: 81-3-5402-4580 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: (800) YASKAWA (927-5292) or 1-847-887-7000 Fax: 1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. Avenda Fagundes Filho, 620 Bairro Saude, São Paulo, SP04304-000, Brazil Phone: 55-11-3585-1100 Fax: 55-11-5581-8795 http://www.yaskawa.com.br...