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YASKAWA
Control Unit
U1000 Series
YASKAWA U1000 Series User Manual
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Y
ASKA
W
A U1000 Ser
ies
Lo
w Har
monics Regenerativ
e Matr
ix Con
v
er
ter
T
echnical Man
ual
MANU
AL NO
.
SIEP C710636 02B
T
ype:
CIMR-U
A
, CIMR-UB
,
C
I
M
R
-
U
D
, CIMR-UT
Rated Output Current:
200
V Class:
22 to 248 A
400
V Class:
9.6 to 930 A
1
2
3
4
5
6
7
8
A
B
C
D
E
1
2
3
4
5
6
7
8
A
B
C
D
E
Receiving
Mechanical Installation
Electrical Installation
Start-Up Programming &
Operation
Parameter Details
Troubleshooting
Periodic Inspection &
Maintenance
Peripheral Devices &
Options
Specifications
Parameter List
MEMOBUS/Modbus
Communications
Standards Compliance
Quick Reference Sheet
2
Table of Contents
Table of Contents
5
Quick Reference
3
Table of Contents
5
I.1 Preface
16
I.2 General Safety
18
Safety Messages
19
Application Notes
21
Notes on Motor Operation
25
Applications with Specialized Motors
26
Warranty Information
27
Receiving
29
Section Safety
30
General Description
31
Control Mode Selection
32
Model Number and Nameplate Check
33
Model Number
34
Drive Models and Enclosure Types
36
Harmonic Filter Module
37
Component Names
38
IP20/NEMA 1, UL Type 1 Enclosure
41
Harmonic Filter Module
44
Front Views
45
2 Mechanical Installation
47
Section Safety
48
Mechanical Installation
50
Installation Orientation and Spacing
51
Instructions on Installation
52
Remote Operation
55
Exterior and Mounting Dimensions
58
Electrical Installation
67
Section Safety
68
Standard Connection Diagram
70
CIMR-UT20028 to 20248, 40011 to 40590
71
CIMR-UB20028 to 20248, 40011 to 40590
73
CIMR-UT40720 to 40930
75
CIMR-UB40720 to 40930
77
Main Circuit Connection Diagram
79
Terminal Block Configuration
80
Terminal Cover
84
To 20248, 40156 to 40930
85
Digital Operator and
86
Top Protective Cover
88
Main Circuit Wiring
89
Protecting Main Circuit Terminals
90
Main Circuit Wire Gauges and Tightening Torque
91
Main Circuit Terminal and Motor Wiring
97
Control Circuit Wiring
99
Control Circuit Terminal Block Functions
102
Output Terminals
103
Terminal Configuration
104
Wiring the Control Circuit Terminal
106
Module Communications Connector
108
Cable Specifications
109
Control I/O Connections
110
Sinking/Sourcing Mode for Digital Inputs (CIMR-UB)
111
Power Supply Inputs Instead of the Safe Disable Feature (CIMR-UA/UD/UT)
112
Using the Photocoupler and Contact Outputs (CIMR-UA/UD/UT)
113
Using the Pulse Train Output
114
Terminal A2 Input Signal Selection
115
Terminal A3 Analog/Ptc Input Selection (CIMR-UB)
116
Connect to a Pc
117
Memobus/Modbus Termination
118
Enable the Internal Emc Filter
119
Control Power Supply Unit Wiring
123
Power Supply Terminal Block TB1 Wiring
125
V Control Power Supply Unit Specifications
126
External Interlock
127
Wiring Checklist
128
Start-Up Programming & Operation
131
Section Safety
132
Using the Digital Operator
133
Lcd Display
134
ALARM (ALM) LED Displays
135
Menu Structure for Digital Operator
136
The Drive and Programming Modes
137
Changing Parameter Settings or Values
139
Verifying Parameter Changes: Verify Menu
140
Simplified Setup Using the Setup Group
141
Switching between LOCAL and REMOTE
142
Start-Up Flowcharts
143
Subchart A-1: Simple Motor Setup Using V/F Control
144
Subchart A-2: High Performance Operation Using OLV or CLV
145
Subchart A-3: Operation with Permanent Magnet Motors
146
Powering up the Drive
147
Status Display
147
Application Selection
148
Setting 2: Conveyor Application
149
Setting 5: Air Compressor Application
150
Notes on Controlling the Brake When Using the Hoist Application Preset
151
Setting 7: Traveling Application
153
Auto-Tuning
154
Before Auto-Tuning the Drive
157
Auto-Tuning Interruption and Fault Codes
159
Parameter Settings During Induction Motor Auto-Tuning: T1
161
Parameter Settings During PM Motor Auto-Tuning: T2
164
Parameter Settings During Inertia and Speed Control Loop Auto-Tuning: T3
167
No-Load Operation Test Run
168
During Operation
168
Test Run with Load Connected
170
Verifying Parameter Settings and Backing up Changes
171
Backing up Parameter Values: O2-03
171
Copy Function
172
Test Run Checklist
173
Parameter Details
175
Default Chapter
176
A: Initialization
176
A2: User Parameters
181
B: Application
182
B2: DC Injection Braking
191
B3: Speed Search
192
B4: Timer Function
200
B5: PID Control
201
B6: Dwell Function
211
B7: Droop Control (CLV, CLV/PM)
212
B8: Energy Saving
213
B9: Zero Servo
215
C: Tuning
216
C2: S-Curve Characteristics
218
C4: Torque Compensation
221
C5: Automatic Speed Regulator (ASR)
222
C6: Carrier Frequency
227
C7: Voltage Adjustment
229
D: Reference Settings
231
D2: Frequency Upper/Lower Limits
233
D4: Frequency Reference Hold and Up/Down 2 Function
234
D5: Torque Control
238
D6: Field Weakening and Field Forcing
242
D7: Offset Frequency
243
E: Motor Parameters
244
E2: Motor 1 Parameters
248
E3: V/F Pattern for Motor 2
251
E4: Motor 2 Parameters
252
E5: PM Motor Settings
254
F: Option Settings
257
F2: Analog Input Card Settings
260
F3: Digital Input Card Settings
261
F5: Digital Output Card Settings
263
H: Terminal Functions
266
H2: Multi-Function Digital Outputs
276
H3: Multi-Function Analog Inputs
286
H4: Multi-Function Analog Outputs
291
H5: Memobus/Modbus Serial Communication
293
L: Protection Functions
296
L2: Momentary Power Loss Ride-Thru
301
L3: Stall Prevention
303
L4: Speed Detection
308
L5: Fault Restart
309
L6: Torque Detection
310
L7: Torque Limit
313
L8: Drive Protection
315
L9: Drive Protection 2
320
N: Special Adjustments
321
N2: Speed Feedback Detection Control (AFR) Tuning
322
N5: Feed Forward Control
323
N6: Online Tuning
325
O1: Digital Operator Display Selection
331
O: Operator Related Settings
331
O2: Digital Operator Keypad Functions
332
O3: Copy Function
334
O4: Maintenance Monitor Settings
335
Q: Driveworksez Parameters
337
U1: Operation Status Monitors
338
U: Monitor Parameters
338
U6: Control Monitors
339
Troubleshooting
341
Section Safety
342
Motor Performance Fine-Tuning
344
Fine-Tuning Closed Loop Vector Control
345
Fine-Tuning Advanced Open Loop Vector Control for PM Motors
346
Parameters to Minimize Motor Hunting and Oscillation
347
Drive Alarms, Faults, and Errors
348
Alarm and Error Displays
349
Fault Detection
354
Alarm Detection
366
Operator Programming Errors
373
Auto-Tuning Fault Detection
376
Copy Function Related Displays
380
Diagnosing and Resetting Faults
382
Fault Reset Methods
383
Common Problems
384
External Run Command
385
Motor Is too Hot
386
Command
387
Connected Machinery Vibrates When Motor Rotates
388
Output Frequency Is Not as High as Frequency Reference
389
Periodic Inspection & Maintenance
391
Section Safety
392
Inspection
394
Recommended Periodic Inspection
395
Replacement Parts
396
Cooling Fan and Circulation Fan
398
Cooling Fan Component Names
399
Cooling Fan Replacement
401
Drive Replacement
428
Replacing the Drive
429
Peripheral Devices & OPTIONS
431
Section Safety
432
Drive Options and Peripheral Devices
433
Connecting Peripheral Devices
436
CIMR-U40720 to 40930
437
Option Card Installation
438
Installing the Option
439
Installing Peripheral Devices
449
Installing a Magnetic Contactor at the Power Supply Side
450
Attachment for External Heatsink (IP00 Enclosure)
451
A. Specifications
453
A.1 Heavy Duty and Normal Duty Ratings
454
A.2 Three-Phase 200 V Class Drives
455
A.3 Three-Phase 400 V Class Drives
456
A.4 Drive Specifications
457
A.5 Drive Watt Loss Data
459
Harmonic Filter Module
460
A.6 Drive Derating Data
461
Parameter Settings
462
Altitude Derating
463
B. Parameter List
465
B.1 Understanding the Parameter Table
466
B.2 Parameter Groups
467
B.3 Parameter Table
468
B: Application
469
C: Tuning
476
D: Reference Settings
481
E: Motor Parameters
484
F: Option Settings
489
H: Multi-Function Terminals
496
L: Protection Function
508
N: Special Adjustments
514
O: Operator Related Settings
517
Q: Driveworksez Parameters
519
U: Monitors
522
B.4 Control Mode Dependent Parameter Default Values
532
E3-01 (Motor 2 Control Mode) Dependent Parameters
535
B.5 V/F Pattern Default Values
536
B.6 Defaults by Drive Model Selection (O2-04) and ND/HD (C6-01)
538
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
543
YASKAWA SSR1 Series IPM Motor (for Derated Torque)
544
YASKAWA SST4 Series IPM Motor (for Constant Torque)
550
C. Memobus/Modbus Communications
557
C.1 Memobus/Modbus Configuration
558
C.2 Communication Specifications
559
Network Cable Connection
560
Network Termination
561
C.4 Memobus/Modbus Setup Parameters
562
C.5 Drive Operations by Memobus/Modbus
565
C.6 Communications Timing
566
C.7 Message Format
567
Error Check
568
Loopback Test
569
Writing to Multiple Registers
570
C.9 Memobus/Modbus Data Table
571
Monitor Data
572
Broadcast Messages
579
Fault Trace Contents
580
Alarm Register Contents
581
C.10 Enter Command
582
C.11 Communication Errors
583
C.12 Self-Diagnostics
584
D. Standards Compliance
585
D.1 Section Safety
586
D.2 European Standards
588
EMC Guidelines Compliance for CIMR-UE/W
589
EMC Guidelines Compliance for CIMR-U40477 to 40930
591
D.3 UL Standards
594
Drive Motor Overload Protection
606
Safety Standards
608
Specifications
608
Using the Safe Disable Function
609
E. Quick Reference Sheet
613
E.1 Drive and Motor Specifications
614
E.2 Multi-Function I/O Terminal Settings Record
615
E.3 User Setting Table
616
Index
622
Revision History
635
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Installation Manual
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YASKAWA U1000 Series Specifications
General
Brand
YASKAWA
Model
U1000 Series
Category
Control Unit
Language
English
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