Q2 Q2A - 11.13 R: Q2 PACK JOINTS; R1: Q2 PACK JOINTS

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Parameter List

11.13 r: Q2PACK JOINTS

SIEPYEUOQ2A01G AC Drive Q2A Technical Manual 487

11.13 r: Q2PACK JOINTS

◆ r1: Q2PACK JOINTS

No.

(Hex.)

Name Description

Default

(Range)

r1-01 to r1-40:

(1840 to 1867)

Q2pack Joints

Q2pack joints 1 to 20 (Upper / Lower)

(0 - FFFFH)

V/f

CL-V/f

OLV

CLV

AOLV

OLV/PM OLV/PM

AOLV/PM

CLV/PM

EZOLV

Main Page

Table of Contents3
Preface and General Precautions13
Safety Information14
General Safety Precautions14
Warning Label Content and Location16
Legal Information17
Warranty and Exclusion of Liability17
About Registered Trademarks17
Receiving19
Model Number and Nameplate Check20
Nameplate20
How to Read Type Designations20
Features and Advantages of Control Methods24
Mechanical Installation29
Safety Precautions30
Installation Environment33
Installation Position and Distance34
Moving the Drive36
Vertical Suspension36
Horizontal Suspension36
Remove and Reattach the Keypad38
Remove the Keypad38
Reattach the Keypad38
Install the Keypad to a Control Panel or Another Device39
Connect the Keypad from a Remote Location39
Install Outside of Control Panel39
Install Inside Control Panel40
External Dimensions of Keypad43
Removing/Reattaching Covers44
Remove the Front Cover of Drive Models 2004 - 2211, 4002 - 416844
Reattach the Front Cover of Drive Models 2004 - 2211, 4002 - 416844
Remove the Front Cover of Drive Models 2257 - 2415, 4208 - 467545
Reattach the Front Cover of Drive Models 2257 - 2415, 4208 - 467546
Change the Drive Enclosure Type48
Attach the Protective Cover of Drive Models 2004 - 2082, 4002 - 406048
Attach the Protective Cover of Drive Models 2110, 407549
Attach the Protective Cover of Drive Models 2138, 4089 - 410351
Attach the Protective Cover of Drive Models 2169 - 2210, 4140 - 416853
Attach the Protective Cover of Drive Models 2257 - 2313, 4208 - 429656
Attach the Protective Cover of Drive Models 2360, 437158
Installation Methods61
Electrical Installation65
Safety Precautions66
Standard Connection Diagram69
Main Circuit Wiring72
Motor and Main Circuit Connections72
Configuration of Main Circuit Terminal Block73
Main Circuit Terminal Functions76
Wire Selection77
Main Circuit Terminal and Motor Wiring77
Main Circuit Terminal Block Wiring82
Control Circuit Wiring88
Control Circuit Connection Diagram88
Control Circuit Terminal Block Functions89
Control Circuit Terminal Configuration91
Wiring the Control Circuit Terminal92
Switches and Jumpers on the Terminal Board94
Control I/O Connections96
Pulse Train Output (Terminal PO)96
Set Sinking Mode/Sourcing Mode97
Set Input Signals for MFAI Terminals AI1 to AI397
Set MFAI Terminal AI3 to PTC Input98
Set Output Signals for MFAO Terminals AO1, AO298
Switch on Termination Resistor for Modbus Communications99
Connect the Drive to a PC100
External Interlock101
Braking Resistor Installation102
Install a Braking Resistor: ERF-Type102
Install a Braking Resistor Unit: LKEB-Type102
Install a Braking Unit Connection: CDBR-Type103
Connect Braking Units in Parallel103
Dynamic Braking Option Overload Protection104
Drive Wiring Protection105
Dynamic Braking Option, Motor Protection106
Improve the Power Factor108
Connect an AC Reactor108
Connect a DC Reactor108
Prevent Switching Surge109
Decrease Noise110
Connect a Noise Filter to the Input Side (Primary Side)110
Connect a Noise Filter to the Output Side (Secondary Side)110
Protect the Drive During Failures112
Branch Circuit Protection for 200 V Class (ND)112
Branch Circuit Protection for 200 V Class (HD)112
Branch Circuit Protection for 400 V Class (ND)113
Branch Circuit Protection for 400 V Class (HD)114
Wiring Checklist116
Motor Application Precautions118
Precautions for Existing Standard Motors118
Precautions for PM Motors119
Precautions for Specialized Motors119
Notes on the Power Transmission Mechanism120
Startup Procedure and Test Run121
Safety Precautions122
User Interface Elements123
Operator Display124
Keypad Mode and Menu Displays125
Start-Up Procedures126
Flowchart A: Connect and Run the Motor with Minimum Setting Changes126
Sub-Chart A-1: Induction Motor Auto-Tuning and Test Run Procedure127
Sub-Chart A-2: PM Motor Auto-Tuning and Test Run Procedure127
Sub-Chart A-3: EZ Open Loop Vector Control Test Run Procedure129
Items to Check before Starting up the Drive130
Check before Energizing the Drive130
Check after Energizing the Drive130
Keypad Operation131
Use the HOME Screen131
Show the Standard Monitor132
Set Custom Monitors132
Show Custom Monitors133
Set the Monitors to Show as a Bar Graph133
Show Monitors as Bar Graphs134
Set the Monitors to Show as Analog Gauges134
Display Monitors as an Analog Gauge134
Set Monitoring Items to be Shown as a Trend Plot135
Show Monitor Items as a Trend Plot137
Change Parameter Settings137
Examine Manual Setup Parameters138
Save a Backup of Parameters138
Write Backed-Up Parameters to the Drive139
Verify Keypad Parameters and Drive Parameters139
Delete Parameters Backed up to the Keypad140
Check Modified Parameters140
Restore Modified Parameters to Defaults140
Show Fault History141
Auto-Tuning the Drive141
Set the Keypad Language Display142
Set the Date and Time142
Set Parameters Using the Q2 Wizard143
Start Data Logging144
Set Data to Log144
Set Backlight to Automatically Turn off145
Show Information about the Drive145
Write Automatically Backed-Up Parameters to the Drive146
Auto-Tuning147
Precautions before Auto-Tuning147
Auto-Tuning for Induction Motors149
Auto-Tuning for PM Motors151
EZ Tuning152
Control Tuning153
Test Run156
Load Test Run156
Do a No-Load Test Run156
Actual-Load Test Run156
Do an Actual-Load Test Run157
Fine Tuning During Test Runs (Adjust the Control Function)158
V/F Control and Closed Loop V/F Control158
Open Loop Vector Control Method158
Closed Loop Vector Control Method160
Advanced Open Loop Vector Control Method160
Fine-Tuning Open Loop Vector Control for PM Motors161
Advanced Open Loop Vector Control Method for PM162
Closed Loop Vector Control Method for PM162
EZ Open Loop Vector Control Method162
Test Run Checklist164
Standards Compliance167
Safety Precautions168
European Standards170
EU Declaration of Conformity171
CE Low Voltage Directive Compliance177
EMC Directive190
UL Standards199
Area of Use199
Wire the Main Circuit Terminal Block199
Low Voltage Wiring for Control Circuit Terminals215
Drive Motor Overload and Overheat Protection216
China Rohs Compliance222
对应中国Rohs指令223
Safe Disable Input224
Safe Disable Specifications224
Safety Precautions224
Using the Safe Disable Function225
Network Communications231
Field Bus Network Support232
Modbus Communications233
Configure Master/Slave233
Communication Specifications233
Communication with the PLC233
Modbus Drive Operations235
Communications Timing235
Message Format236
Examples of Messages for Commands/Responses238
Enter Command242
Self-Diagnostics242
Communications Data Table243
Error Codes257
Troubleshooting259
Safety Precautions260
Types of Faults, Minor Faults, Alarms, and Errors262
List of Fault, Minor Fault, Alarm, and Error Codes263
Faults266
Minor Faults/Alarms285
Parameter Setting Errors296
Auto-Tuning Errors301
Backup Function Operating Mode Display and Errors305
Diagnosing and Resetting Faults307
Fault and Power Loss Occur at the same Time307
Fault Occurs Without Power Loss307
Fault Reset307
Troubleshooting Without Fault Display308
The Parameter Settings will Not Change308
The Motor Does Not Rotate after Entering Run Command308
The Motor Rotates in the Opposite Direction from the Run Command309
The Motor Rotates in Only One Direction309
The Motor Is too Hot309
The Correct Auto-Tuning Mode Is Not Available310
The Motor Stalls During Acceleration or Accel/Decel Time Is too Long310
Command311
The Motor Speed Is Not Stable When Using a PM Motor311
There Is too Much Motor Oscillation and the Rotation Is Irregular311
Deceleration Takes Longer than Expected When Dynamic Braking Is Enabled312
The Load Falls When a Brake Is Applied312
Energized312
Residual Current Monitoring/Detection (RCM/RCD) Trips During Run312
Motor Rotation Causes Unexpected Audible Noise from Connected Machinery313
Motor Rotation Causes Oscillation or Hunting313
PID Output Fault313
The Starting Torque Is Not Sufficient313
The Motor Rotates after the Drive Output Is Shut off313
The Output Frequency Is Lower than the Frequency Reference314
The Motor Is Making an Audible Noise314
The Motor will Not Restart after a Loss of Power314
Periodic Inspection and Maintenance315
Safety Precautions316
Inspection318
Recommended Daily Inspection318
Recommended Periodic Inspection318
Maintenance321
Replace a Cooling Fan and Circulation Fan323
Replace a Fan (Models 2018, 2021, 4007 to 4012)323
Replace a Fan (Models 2030, 2042, 4018, 4023)325
Replace a Fan (Models 2056, 4031, 4038)327
Replace a Fan (Models 2070 to 2110, 4044 to 4075)329
Replace a Fan (Models 2138 to 2313, 4089 to 4296)331
Replace Fans (Models 2360, 2415, 4371, 4389)334
Replace Fans (Models 4453 to 4675)340
Replace the Drive348
About the Control Circuit Terminal Block348
Notes on Wiring the Main Circuit Terminal Block348
Remove the Control Circuit Terminal Block350
Wire a New Drive350
Connect the Control Circuit Terminal Block352
Replace the Keypad Battery354
Storage Guidelines355
Disposal357
Safety Precautions358
Disposal Instructions359
Specifications361
Drive Duty Modes362
Model Specifications (200 V Class)363
Model Specifications (400 V Class)366
Drive Specifications372
Drive Derating375
Carrier Frequency Settings and Rated Current Values375
Open Loop Vector Control Method377
Altitude Derating379
Drive Watt Loss380
Leakage Current for Built-In Filter384
Drive Exterior and Mounting Dimensions385
Drive Dimensions for Open Chassis Type (IP20)385
Drive Dimensions for Enclosed Wall-Mounted Type (UL Type 1)395
Knock-Out Hole Dimensions (UL Type 1)402
Peripheral Devices and Options407
Parameter List411
How to Read the Parameter List412
A: Initialization413
A1: Initialization413
A2: Manual Selection414
B: APPLICATION415
B1: OPERATION MODE SELECT415
B2: DC INJ / SHORT CKT BRAKE416
B3: SPEED SEARCH417
B4: TIMER418
B5: PID CONTROL419
B6: DWELL FUNCTION422
B7: DROOP CONTROL422
B8: ENERGY SAVING422
B9: ZERO SERVO423
C: Tuning424
C1: Accel / Decel424
C2: Jerk Control424
C3: Slip Compensation425
C4: Torque Compensation426
C5: Asr - Speed Regulation426
C6: Duty and Carrier428
D: REFERENCE429
D1: FREQUENCY REFERENCE429
D2: REFERENCE LIMITS430
D3: JUMP FREQUENCY430
D4: FREQUENCY UP/DOWN431
D5: TORQUE CONTROL431
D6: FIELD WEAKENING / FORCING432
D7: OFFSET FREQUENCY432
E: Motor433
E1: V/F Parameter Motor 1433
E2: Motor 1 Parameters434
E3: V/F Parameter Motor 2434
E4: Motor 2 Parameters435
E5: Pm Motor Settings435
E9: Simple Vector Settings436
F: Options437
F1: Encoder437
F2: Analog Input439
F3: Digital Input439
F4: Analog Output440
F5: Digital Output441
F6: Communications441
F7: Ethernet445
H: Terminals448
H1: Digital Inputs448
H2: Digital Outputs453
H3: Analog Inputs459
H4: Analog Outputs461
H5: Modbus Ports462
H6: Pulse Input Output463
H7: Virtual Input Output464
L: Protection466
L1: Motor Protection466
L2: Power Loss Ride through466
L3: Stall Prevention468
L4: Speed Detection469
L5: Fault Restart470
L6: Torque Detection470
L7: Torque Limit472
L8: Drive Protection472
L9: Drive Protection 2474
11.10 N: SPECIAL475
N1: HUNTING PREVENTION475
N2: AFR - AUTO FREQ REGULATION475
N3: HIGHSLIP/OVEREXCITATION BRAKE476
N4: ADV. OPEN LOOP VECTOR TUNING476
N5: FEED FORWARD CONTROL477
N6: ONLINE TUNING477
N7: SIMPLE VECTOR TUNING478
N8: PM MOTOR CONTROL TUNING478
11.11 O: KEYPAD481
O1: KEYPAD DISPLAY481
O2: KEYPAD OPERATION482
O3: COPY FUNCTION483
O4: MAINTENANCE MONITORS484
O5: DATA LOGGER485
11.12 Q: Q2PACK PARAMETERS486
Q1-01 to Q8-40: Q2Pack Parameters486
11.13 R: Q2PACK JOINTS487
R1: Q2PACK JOINTS487
11.14 T: Autotuning488
T0: Tune Mode488
T1: Induction Motor488
T2: Pm Motor489
T3: Asr490
T4: Simple Vector490
11.15 U: Monitors491
U1: Status491
U2: Fault493
U3: Fault History494
U4: Maintenance495
U5: Pid498
U6: Advanced499
U8: Q2Pack Monitors500
11.16 A1-02 [Control Method] Dependent Parameters502
11.17 E1-03 [V/F Pattern Selection] Dependent Parameters505
E3-01 [M2 Control Method Selection] Dependent Parameters507
11.19 Defaults by Drive Model and Duty Rating ND/HD508
Class508
11.20 Parameters Changed by PM Motor Code Selection515
Yaskawa SSR1 Series IPM Motors (Derated Torque)515
Yaskawa SST4 Series IPM Motors (Constant Torque)520
Parameter Details527
A: Initialization528
A1: Initialization528
A2: Manual Selection533
B: APPLICATION535
B1: OPERATION MODE SELECT535
B2: DC INJ / SHORT CKT BRAKE547
B3: SPEED SEARCH550
B4: TIMER558
B5: PID CONTROL560
B6: DWELL FUNCTION575
B7: DROOP CONTROL576
B8: ENERGY SAVING577
B9: ZERO SERVO582
C: Tuning584
C1: Accel / Decel584
C2: Jerk Control589
C3: Slip Compensation590
C4: Torque Compensation594
C5: Asr - Speed Regulation596
C6: Duty and Carrier604
D: REFERENCE608
D1: FREQUENCY REFERENCE608
D2: REFERENCE LIMITS614
D3: JUMP FREQUENCY614
D4: FREQUENCY UP/DOWN616
D5: TORQUE CONTROL622
D6: FIELD WEAKENING / FORCING626
D7: OFFSET FREQUENCY627
E: Motor629
E1: V/F Parameter Motor 1629
E2: Motor 1 Parameters636
E3: V/F Parameter Motor 2639
E4: Motor 2 Parameters641
E5: Pm Motor Settings643
E9: Simple Vector Settings646
F: Options649
F1: Encoder649
F2: Analog Input656
F3: Digital Input658
F4: Analog Output662
F5: Digital Output664
F6: Communications, F7: Ethernet667
H: Terminals687
H1: Digital Inputs687
Multi-Function Digital Input Setting Values691
H2: Digital Outputs709
Multi-Function Digital Output Setting Value718
H3: Analog Inputs732
Multi-Function Analog Input Setting Values738
H4: Analog Outputs744
H5: Modbus Ports747
H6: Pulse Input Output751
H7: Virtual Input Output754
L: Protection758
L1: Motor Protection758
L2: Power Loss Ride through764
L3: Stall Prevention774
L4: Speed Detection784
L5: Fault Restart785
L6: Torque Detection787
L7: Torque Limit792
L8: Drive Protection795
L9: Drive Protection 2803
N: SPECIAL804
N1: HUNTING PREVENTION804
N2: AFR - AUTO FREQ REGULATION806
N3: HIGHSLIP/OVEREXCITATION BRAKE807
N4: ADV. OPEN LOOP VECTOR TUNING810
N5: FEED FORWARD CONTROL813
N6: ONLINE TUNING816
N7: SIMPLE VECTOR TUNING816
N8: PM MOTOR CONTROL TUNING818
12.10 O: KEYPAD826
O1: KEYPAD DISPLAY826
O2: KEYPAD OPERATION832
O3: COPY FUNCTION836
O4: MAINTENANCE MONITORS838
O5: DATA LOGGER840
12.11 T: Autotuning846
T0: Tune Mode846
T1: Induction Motor846
T2: Pm Motor849
T3: Asr851
T4: Simple Vector852
Glossary855
Index856
Revision History865

Q2 Q2A - 11.13 R: Q2 PACK JOINTS; R1: Q2 PACK JOINTS

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