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This document describes the Yaskawa CIMR-F7Z Vector Control Drive, specifically designed for crane applications. It details the drive's functions, technical specifications, usage, and maintenance features, highlighting differences from the standard F7Z model.
The CIMR-F7Z Crane Drive is a specialized vector control drive offering enhanced functionalities for crane operations. It includes a sophisticated Brake Sequence and Brake Signal Observation Function to ensure safe and precise control during lifting and lowering. This function manages the clamping and release of the brake based on torque reference, motor current, or internal frequency reference, preventing sudden slipping or dropping of the load. The drive also features Run Command Tuning for optimized response to run commands, particularly during quick inching operations, by holding the command for a minimum "on-time."
An Impact Stop Function is integrated for precise positioning in applications like conveyor belts, where the drive stops upon detecting an impact with the cart or load. This function is enabled in Deceleration Stop Mode and relies on monitoring torque reference or output current exceeding a standard value. The Swift Lift Function is designed to optimize acceleration time by detecting lighter loads and increasing the frequency reference, thereby constricting operation time. It offers two acceleration modes, Swift Lift 1 and Swift Lift 2, which adjust acceleration rates and power limits based on load conditions and motor output.
For safety, the drive incorporates an Overload Detection Function and an Overtorque Detection Function. These functions limit drive operations based on torque reference or output current, providing protection for the manipulated load. The Overload Detection can be configured with two levels and various detection conditions and actions, including acceleration prohibition, deceleration to stop, or interrupting output current. Similarly, Overtorque Detection offers two levels of protection and can trigger warnings or faults if the motor current or torque exceeds set limits for a specified duration.
A Travel Limit Function is included to prevent the cart or container from exceeding target locations or raising too high. This function uses input relays to detect travel limits and triggers braking operations to stop the motor. The Motor Switch Function allows a single drive to operate separate motors, enabling switching between Motor 1 and Motor 2 via an external sequence. This is particularly useful for applications requiring different motors for various tasks.
The drive also includes Sequence Error Detection Function to monitor for brake sequence faults, triggering a baseblock and fault relay if conditions for a fault arise. This ensures system integrity and safety during critical operations.
The CIMR-F7Z drive is available in two voltage classes:
The software number for the Crane Custom Transistor Inverter Varispeed F7Z (Custom Model) is VSF107070.
Parameter Changes from Standard F7Z: Many parameters have been modified or added to suit crane applications:
Multi-Function Input / Output Functions: Initial values for H1-xx and H2-xx terminals are changed. For instance, H1-01 (Terminal S3 Function) is set to 24 (External Fault), and H2-01 (Terminal M1-M2 Function) is set to 21 (Brake Release Command).
Controls for Operating without a Brake Sequence: When operating without a brake sequence, specific parameters must be adjusted after initialization:
Brake Sequence: The drive's brake sequence is crucial for safe operation. It ensures that the brake is released only after sufficient torque is generated to hold the load and clamped before the load slips. This process is governed by parameters like Brake Release Frequency (FRF/FRR), Brake Release Current (IF/IR), and Brake Release Torque (TF/TR). Different settings are possible for forward and reverse operations.
Run Command Tuning: The Run Command Minimum ON Time Function (S2-01, S2-02) prevents re-acceleration during brief stops or rapid command changes, ensuring stable operation. The Run Command Delay Timer (Reverse? Forward) (S2-03) helps reduce excessive current flow when starting hoist operations immediately after lowering the load, by delaying the hoist command.
Impact Stop Function: This feature (setting value 35 for Multi-Function Terminal) allows for precise stopping by detecting an impact. The drive decelerates to the Impact Stop Clip Frequency (FCR) and then monitors torque or current. If the set threshold is exceeded for a specific duration, the brake is released.
Swift Lift Function:
Travel Limit Function: Configurable via Multi-Function Inputs (settings 31-34), this function ensures the crane operates within defined physical boundaries, preventing over-travel in forward or reverse directions.
Motor Switch Function: Setting Multi-Function Input terminals to "16" enables switching between Motor 1 and Motor 2. This allows for flexible use of different motors with a single drive, provided the drive is stopped during the switch.
Parameter Initialization: The drive allows for user parameter initialization (A1-03) and 2-wire initialization, enabling users to reset or store custom parameter values.
Fault Trace/Fault History: The drive records fault traces and history (02-12), which can be cleared for maintenance purposes. This aids in diagnosing past issues.
Output Power Monitor Clear: The kWh monitor (02-14) can be reset when the drive is initialized, providing a clear record of power consumption.
Monitoring Capabilities: The drive offers extensive monitoring options (U1-xx parameters) for various operational data, including frequency reference, output frequency, current, control method, motor speed, voltage, power, and torque reference. This data is crucial for diagnostics and performance optimization.
Troubleshooting: The manual includes a comprehensive "Check List and Trouble Shooting" section (Appendix-2) to help identify and resolve common problems such as:
Parameter Calculations (Appendix-1): Detailed formulas and guidelines are provided for adjusting critical parameters like Brake Delay Frequency, Brake Delay Time, Brake Release Current/Torque, Slip Prevention Frequency/Time, and Impact Stop parameters. This ensures that the drive is tuned correctly for specific crane applications and loads.
Tuning Procedures (Appendix-3): A step-by-step guide for tuning the drive in hoisting applications (Open Loop Vector Mode) is included. This covers initial parameter settings, adjustments during no-load testing, tuning for rated load conditions, and addressing issues like slipping, fluctuations, and excessive current during hoisting or lowering. The procedure emphasizes adjusting parameters like Brake Release Frequency, Torque Forcing Amount, and Slip Prevention Time based on observed performance.
General