YASKAWA GA800 Series Manual
  1. Manuals
  2. Brands
  3. YASKAWA Manuals
  4. Servo Drives
  5. GA800 Series
  6. Manual
YASKAWA GA800 Series Manual

YASKAWA GA800 Series Manual

Hide thumbs Also See for GA800 Series:
Table of Contents

Advertisement

Quick Links

Download this manual
GA800 DRIVE
C U S T O M S O F T W A R E S U P P L E M E N T
M O T I O N C O N T R O L
D R I V E M O D E L S :
GA80Uxxxxxxx
Three-Phase 200 V Class: 1 to 150 HP
Three-Phase 400 V Class: 1 to 600 HP
6-Phase/12-Pulse 400 V Class: 75 to 600 HP
Three-Phase 600 V Class: 125 to 500 HP
S O F T W A R E N U M B E R :
VSAA10040
D O C U M E N T N U M B E R : T M . G A 8 0 0 S W . 1 1 7

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the GA800 Series and is the answer not in the manual?

Questions and answers

Related Manuals for YASKAWA GA800 Series

Summary of Contents for YASKAWA GA800 Series

  • Page 1 GA800 DRIVE C U S T O M S O F T W A R E S U P P L E M E N T M O T I O N C O N T R O L D R I V E M O D E L S : GA80Uxxxxxxx Three-Phase 200 V Class: 1 to 150 HP Three-Phase 400 V Class: 1 to 600 HP...
  • Page 2 YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...

  • Page 3: Table Of Contents

    MOTION CONTROL FUNCTIONS ........27 Refer to the GA800 Technical Reference for content not described in this document. Copyright © 2025 YASKAWA AMERICA, INC. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 4 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. Every precaution has been taken in the preparation of this manual.
  • Page 5 This Page Intentionally Blank YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...

  • Page 6: Preface And Safety

    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 the Yaskawa manual.

  • Page 7: Product Overview

    400 V Three-Phase GA80U4002 to GA80U4720 VSAA10060 400 V 6-Phase/12-Pulse GA80UT103 to GA80UT720 VSAA10060 600 V Three-Phase GA80U5125 to GA80U5472 VSAA10060 <1> See “PRG” on the drive nameplate for the software version number. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...

  • Page 8: Application Selection

    • C1-11 (Acceleration/Deceleration Time Switchpower Freq) • Motor 2 Selection has been removed. • Parameters relating to Motor 2 have been disabled/re-purposed. • d2-02 (Frequency Reference Lower Limit) and d2-03 (Analog Frequency Ref Lower Limit) are disabled. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 9 • Commanded to Destination Position - using 06D0H - 06D1H when P1-02 = 3 (Destination Position Source: Memobus/Modbus Comms (32-bit)) • Warning, enabling the following features may cause inconsistent Motion Control behavior: • L3-04 (Stall Prevention) • b5-01 (PID Mode Setting) YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...

  • Page 10: Encoder Setup

    F1-01 (Encoder 1 Pulse Count) • P3-01 = 0 (Position Encoder Source: CN5-C) Mechanical Setup: Connect the encoder directly to the motor shaft Figure 1 Single Encoder Wiring (P3-01 = 0) Figure 1 YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 11 These parameters set the ratio of motor revolutions (P3-04) to 2 encoder revolutions (P3-03) and adjust the the point at which deceleration begins. Figure 2 Dual Encoder Wiring (P3-01 = 1) Figure 2 YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...

  • Page 12: Related Parameters And Functions

    (0.00 - 10.00 sec) Sets the S-curve deceleration time at start. d1-09 Reference 9 6.09 Hz (0288) (0.00 - 590.00 Hz) Sets the frequency reference in the units from o1-03 (Frequency Display Unit Selection). <3> YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 13 <5> The setting range changes when the A1-02 (Control Method Selection) value changes: - When A1-02 = 5 (OLV/PM), the setting range is 0 to 2. - When A1-02 = 6, 7, 8 (AOLV/PM, CLV/PM, EZOLV), the setting range is 0, 1. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 14 (DJ Injection/ZeroSpeed Threshold). This value also determines when another edge-triggered move will be accepted. P1-09 Encoder Counts Per 4096 cts (0608) Unit (1 - 65535 cts) The number of quadrature encoder counts per unit specified in P1-10 (Position Display Units). YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 15 Machine mounted encoder ratio numerator that is used in conjunction with P3-04 in the P3-03 2nd Encoder (0616) Numerator (1 - 65535) following equation: . This is effective only when a machine-mounted encoder is used (P3-01 = 1). Refer to Figure 2 for more information. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 16 (0.00 - 655.35 P1-09 (Encoder Counts Per Unit) x P4-06 = the position in encoder counts. Units) Uses C1-03 (Acceleration Time 2), C1-04 (Deceleration Time 2), and d1-14 (Reference 14) to complete Move. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 17 (0.00 - 655.35 P1-09 (Encoder Counts Per Unit) x P4-15 = the position in encoder counts. Units) Uses C1-05 (Acceleration Time 3), C1-06 (Deceleration Time 3), and d1-15 (Reference 15) to complete Move. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...

  • Page 18: Function Group

    <6> If P3-01 = 1 (Position Encoder Source: CN5-B (CH2), One revolution = (F1-31 x 4 x P3-07) + P3-08). Table 4 Class Function Text Function Group Keypad Display Motion Control Motion Setup Homing Setup Advanced Motion Setup Preset Position Setup YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...

  • Page 19: Monitors

    P2-01 = 4 or 5 (Homing with Marker), plus the offset of the home switch position from the marker pulse of the encoder as well. This value is referred to as “Home”. If P1-01 = 3 or 4 (Relative Memory Off or Relative Memory On), the value is in reference to the start of the Move routine. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...

  • Page 20: Memobus Registers

    9: Move Complete bit A: Homing Complete bit B: Homing Needed bit C: At Home bit D: Learn Successful bit E: Pre-Action Output bit F: Not Used (normal value of 0) YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 21 P2-01 = 4 or 5 (Homing with Marker), plus the offset of the home switch position from the marker pulse of the encoder as well. This value is referred to as “Home”. If P1-01 = 3 or 4 (Relative Memory Off or Relative Memory On), the value is in reference to the start of the Move routine. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...

  • Page 22: Multi-Function Digital Inputs / Outputs

    Destination Position Select D Open: Used to select destination position sources P4-xx. <4> Closed: Used to select destination position sources P4-xx. <4> Disable Motion Control Open: - Closed: Motion Control is disabled. <5> YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 23 Closed: The current position has been saved to the digital preset parameter selected (P4- xx). Pre-Action Open: - Closed: The current position lies between P2-08 (Pre-Action) and P1-08 (In Position Window) of the destination position during a Move routine. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 24 Open: The current position has been saved to the digital preset parameter selected (P4-xx). Closed: - Open: The current position lies between P2-08 (Pre-Action) and P1-08 (In Position !Pre-Action Window) of the destination position during a Move routine. Closed: - YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...

  • Page 25: Faults, Alarms, And Errors

    4) Input Setting (0003) Error P1-01 > 0 (Motion Control Type: Enabled) and Set P1-01 = 0 (Disabled) or correct the MFDI H1-xx = 0 (MFDI Function Select: 3-Wire function selection. Sequence) YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 26 P3-01 = 1 (Position Encoder Source: CN5-B Error Install a PG-X3 or PG-B3 on CN5-B or set P3-01 = 0 (PG CH2)) but a PG-X3 or PG-B3 is not installed on (Position Encoder Source: CN5-C (PG CH1)). CN5-B. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...

  • Page 27: Motion Control Functions

    Move MFDI is set, or in reverse if the Inverse Move MFDI is set (H1-xx = 80 or 81). Rotary Motion would be applicable in use cases such as index turntables, turret winders, and dial tables. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 28 The Move routine behavior depends on which of the following are true: 1. The current position is not within In Position Window (P1-08) of the destination position and has not yet arrived at the destination YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 29 Another Move command is given: The current position is within In Position Window (P1-08) but has not reached the destination position. The start position is set to the difference between the current position and destination position, in this case, -0.8 ft. The Move is then completed to 10 ft. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 30 -0.8 ft. The Move is then completed to 10ft. For comparison, this section is an uninterrupted Relative Move routine. Figure 8 Figure 8 [EXAMPLE 3] Move with Memory Example – Within In Position Window (Undershoot) YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 31 (H1-xx = 87 - 8A) and open/close them according to Table 12 Profile Selection Information on page 32. Each parameter preset uses different acceleration, deceleration, and Move frequency reference parameters outlined in Table YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 32 Linear Absolute or Rotary Absolute), a Homing routine must be completed prior to a Move. The Move command will only be accepted if the Move command switch is closed according to the setting of P1-03 (Move Command Type). YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 33 Move command is removed. This can be adjusted via parameter P1-04 (Position Regulator Gain). Figure 10 Move from Home to a Positive Destination Position Figure 10 P1-03 = 0 (Move Command Type: Maintained) YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 34 0 Hz using the default drive deceleration. The position is still being tracked. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 35 (Triangle Move Compensation). If undershooting, decrease P1-07. If a Triangle Move is not desired, the following settings can be altered: • Increase the destination position • Lower Move frequency reference • Shorten acceleration/deceleration times YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...

  • Page 36: Position Tracking

    The reference point can then be offset by P2-06 (Home Offset) if desired. Note that when P1-01 = 2 (Motion Type: Rotary Absolute), all “Move to Home” phases are completed in the forward YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 37 Move to Home: When the drive has decelerated, a Move routine to the recorded reference point + P2-06 (Home Offset) with a max frequency of d1-16 (Reference 16), acceleration rate of C1-01 (Acceleration Time 1) and deceleration rate of C1-02 (Deceleration Time 1) is completed. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 38 3. Move to Home: When the drive has decelerated, a Move routine to the recorded reference point + P2-06 (Home Offset) with a max frequency of - d1-16 (Reference 16), acceleration rate of C1-01 (Acceleration Time 1) and deceleration rate of C1-02 (Deceleration Time 1) is completed. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 39 Move to Home: When the drive has decelerated, a Move routine to the recorded reference point + P2-06 (Home Offset) with a max frequency of - d1-16 (Reference 16), acceleration rate of C1-01 (Acceleration Time 1) and deceleration rate of C1-02 (Deceleration Time 1) is completed. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 40 Move to Home: When the drive has decelerated, a Move routine to the recorded reference point + P2-06 (Home Offset) with a max frequency of d1-16 (Reference 16), acceleration rate of C1-01 (Acceleration Time 1) and deceleration rate of C1-02 (Deceleration Time 1) is completed. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 41 Move to Home: When the drive has decelerated, a Move routine to the recorded reference point + P2-06 (Home Offset) with a max frequency of - d1-16 (Reference 16), acceleration rate of C1-01 (Acceleration Time 1) and deceleration rate of C1-02 (Deceleration Time 1) is completed. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 42 Whenever P2-06 (Home Offset) is not zero, the recorded Home Switch position is shifted by that amount. Whenever the Homing Routine has a "Move to Home" phase, it will move to the Home Switch Position + P2-06 (Home Offset). YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 43 (Homing Type), the drive will run until the falling edge of the H1-xx = 83 (MFDI Function Select: Home Switch), then continue with the Home routine. Figure 22 Negative Homing Type (P2-01 = 0) and Starting on Home Switch Timing Chart Figure 22 YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...

  • Page 44: Notes And Warnings

    The current position can be saved to a digital preset parameter P4-xx (Position xx) using Learn. The Learn routine can be performed by: Selecting a digital preset parameter (P4-xx) using H1-xx = 87-8A (MFDI Function Select: Destination Position Select) YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 45 P2-08 and P1-08 (In Position Window) of the destination position and a Move routine is in progress. If the Move routine is cancelled or the current position is within +/- P1-08 (In Position Window), H2-xx = 46 (MFDO Function Selection: Pre-Action) will deactivate. YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 46 10 Motion Control Functions Figure 24 Pre-Action Digital Output Figure 24 YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...

  • Page 47: Revision History

    MANUAL NO. TM.GA800SW.117 Published in U.S.A. March 2025 25-2 Revision number Date of original Date of publication publication Date of Publication Revision Number Software Number Revised Content March 2025 VSAA10040 First release YASKAWA TM.GA800SW.117 Motion Control GA800 Custom Software Supplement...
  • Page 48 2121, Norman Drive South, Waukegan, IL Philipp-Reis-Str. 6, 65795 Hattersheim am LTDA. 60085, U.S.A. Main, Germany 777, Avenida Piraporinha, Diadema, São Phone: +1-800-YASKAWA (927-5292) or +1- Phone: +49-6196-569-300 Fax: +49-6196- Paulo, 09950-000, Brasil 847-887-7000 Fax: +1-847-887-7310 569-398 Phone: +55-11-3585-1100 Fax: +55-11-3585- www.yaskawa.com...

This manual is also suitable for:

Ga80u2004 seriesGa80u4002 seriesGa80ut103 seriesGa80u5125 seriesGa80u2415 seriesGa80u4720 series ... Show all

Table of Contents