Yaskawa VS-616PS5 Series Programming Manual Manuale Utente

VS-616PS5 SeriesProgramming ManualBrushless Motor Drive

10 VS-616PS5 Programming ManualMain Menu: Programming <ENTER> B Application ParametersB1 Sequence Setting Range: 0 to 4Factory Default: 1Freq

100 VS-616PS5 Programming ManualT Tuning ParametersT1 Auto-tuningAuto-tuning is required at the time of commissioning to allow the drive to determine

VS-616PS5 Programming Manual 101Appendix: VS-616PS5 Parameter List No. Parameter Description Unit Setting Range DefaultAccess LevelUserSettingOperat

U2 Fault TraceU2-01 Existing detected fault - - - QU2-02 Previous detected fault - - - QU2-03 Frequency reference when fault was detected % - - QU2-04

VS-616PS5 Programming Manual 103Programming B ApplicationB1 SequenceB1-01 Frequency reference selection0: Operator 3: Option PCB1: Terminals 4: CP

104 VS-616PS5 Programming ManualC Tuning ParametersC1 Accel/DecelC1-01 Acceleration time 1 s 0.00~6000.0 10.0 QC1-02 Deceleration time 1 s 0.00~6000.0

VS-616PS5 Programming Manual 105D2 Reference LimitsD2-01 Reference upper limit % 0.0~110.0 100.0 BD2-02 Reference lower limit % 0.0~100.0 0.0 BD3 Jump

106 VS-616PS5 Programming ManualF1-04 PG deviation detection stopping method0: Ramp to Stop 2: Fast-Stop1: Coast to Stop 3: Alarm Only- 0~3 3 BF1-

VS-616PS5 Programming Manual 107F4-06 Analog output channel 2 bias - ±109.2 0.0 AF5 DO-02 SetupF5-01 DO-02C digital output channel 1 selection0: Duri

108 VS-616PS5 Programming ManualF9-04 Trace sampling of option - 0~60000 0 AF9-05 Torque reference selection from communication option0: Torque refer

VS-616PS5 Programming Manual 109H2-02 Multi-function output 2 selection (terminal 25, 27)(same as F5-01)- 0~FF 1 BH2-03 Multi-function output 3 (termi

VS-616PS5 Programming Manual 11• Ramp to Stop (B1-03 = “0”) Upon removal of the FWD (REV) run command, the motor decelerates at a rate determined by t

110 VS-616PS5 Programming ManualH5-03 Serial communication speed selection0: No parity, 1: Even parity, 2: Odd parity1 0-2 0 AH5-04 Stopping method af

VS-616PS5 Programming Manual 111L8-03 Stopping method selection after OH pre-alarm0: Ramp to stop 2: Fast-stop1: Coast to stop 3: Alarm only- 0~3

112 VS-616PS5 Programming ManualO2-08 Cumulative 0peration time selection0: Power-ON time 1: Running time- 0/1 0 AT TuningT1 Auto-tuningT1-02 Tuning

VS-616PS5 Programming Manual 113YASKAWA ELECTRIC AMERICA, INC.Chicago-Corporate Headquarters 2121 Norman Drive South, Waukegan, IL 60085, U.S.A.Phon

12 VS-616PS5 Programming Manual• Coast to Stop with Timer 1 (B1-03 = “3”) Upon removal of the run command, a new run command is blocked until the coas

VS-616PS5 Programming Manual 13This parameter determines how the inverter will function when switching from local to remote operation when the externa

14 VS-616PS5 Programming ManualB2 Zero Speed Level.Setting Range: 0.0 to 20.0%Factory Default: 0.5%Sets the speed at which the inverter baseblocks upo

VS-616PS5 Programming Manual 15B3 Magnetic Pull-inThe magnetic pull-in (Synchronization) feature is used only during the PG orientation auto-tuning p

16 VS-616PS5 Programming ManualSetting Range: 0.0 to 5.0sFactory Default: 1.0sThis parameter sets the time to allow the rotor to pull in (align) with

VS-616PS5 Programming Manual 17B4 Delay TimersUse the inverter input (multifunction inputs) and output (multifunction outputs) in place of an externa

18 VS-616PS5 Programming ManualB5 PID Control The Proportional, Integral, and Derivative (PID) control function provides closed-loop control and regul

VS-616PS5 Programming Manual 19Control circuit terminal 14 accepts voltage signal:Set terminal 14 signal selection (H3-08) to “0” for 0-10 VDC input s

2 VS-616PS5 Programming Manual

20 VS-616PS5 Programming ManualSetting Range: 0.00 to 360.0sFactory Default: 1.00sThe integral calculation sums the deviation over time which forces t

VS-616PS5 Programming Manual 21Setting Range: ±100.0%Factory Default: 0.0%The PID offset adds a bias to the calculated PID value.Setting Range: 0.00 t

22 VS-616PS5 Programming ManualB6 Reference HoldThe reference hold or dwell function is used to temporarily hold the output frequency at a set referen

VS-616PS5 Programming Manual 23B7 Droop ControlDroop Control is a function that allows the speed of a motor to decrease in proportion to load torque.

24 VS-616PS5 Programming ManualC Tuning ParametersC1 Accel/DecelSetting Range: 0.00 to 6000.0sFactory Default: 10.0sThe acceleration parameters set th

VS-616PS5 Programming Manual 25.Setting Range: 0.00 to 6000.0sFactory Default: 10.0sWhen a Multi-function contact input is set to fast-stop command (s

26 VS-616PS5 Programming Manualthe automatic change of accel/decel. Output FrequencyC1-07Accel/Decel Switching LevelC1-01 C1-02 C1-08(C1-11)Figure 14

VS-616PS5 Programming Manual 27C2 PG Origin Pulse Compensation Setting Range: ±180°Indicates the angular displacement between the magnetic pole and th

28 VS-616PS5 Programming ManualC3 Voltage Limit Control This parameter sets the voltage limit control.C3-05 Voltage Limit Control Selection ASet Value

VS-616PS5 Programming Manual 29C5 ASR TuningThe Automatic Speed Regulator (ASR) provides closed loop motor speed control so that optimum performance d

VS-616PS5 Programming Manual 3YASKAWA manufactures component parts that can be used in a wide variety of industrial applications. The selection and a

30 VS-616PS5 Programming ManualSetting Range: 0.000 to 10.000sFactory Default: 0.500sThe ASR integral time 2 is an additional integral time adjustment

VS-616PS5 Programming Manual 31C6 Carrier FrequencyThis function sets the inverter output transistor switching frequency (carrier fre-quency). Increas

32 VS-616PS5 Programming ManualPS5U41852kHzPS5U4220PS5U4300460 Volt ModelsModel Number Carrier FrequencySection C: Tuning ParametersC6 Carrier Frequen

VS-616PS5 Programming Manual 33Setting Range: 0 - 1000Factory Default: 0Sets the denominator portion of the pulse reference multiplication block. Used

34 VS-616PS5 Programming ManualC7 S-Curve Accel/DecelAn S-curve pattern is used to reduce shock and provide smooth transitions during machine accelera

VS-616PS5 Programming Manual 35D Reference ParametersD1 Preset References Setting Range: 0.00 to 100.00%Factory Default: 0.00%Up to 9 preset speed ref

36 VS-616PS5 Programming Manual Note: Setting units for D1-01 to D1-09 are dependent upon the setting of digital operator display mode (O1-03). Possib

VS-616PS5 Programming Manual 37D2 Reference Limits Setting Range: 0.0 to 110.0%Factory Default: 100.0%The speed reference upper limit is set as a perc

38 VS-616PS5 Programming ManualD3 Jump Frequencies Setting Range: 0.0 to 200.0%Factory Default: 0.0% Setting Range: 0.0 to 200.0%Factory Default: 1.

VS-616PS5 Programming Manual 39D4 Reference Memory (Memorize Last Reference)Selects whether the reference memorization feature during, Up/Down or Acc

4 VS-616PS5 Programming ManualREAD THIS ENTIRE MANUAL BEFORE INSTALLING OR OPERATING THE VS-616PS5!WARNING!The PS5 motor uses permanent magnets. HIGH

40 VS-616PS5 Programming ManualD5 Torque Control Select either speed and torque control. Speed/torque control selection can also be made by using a m

VS-616PS5 Programming Manual 41Setting Range: 0 to 1000msFactory Default: 50msWhen using a multifunction input to switch between speed and torque mode

42 VS-616PS5 Programming ManualTherefore, when torque reference > 0 and speed limit (%) > 0, the torque control range is:[-l × D5-05] < motor

VS-616PS5 Programming Manual 43Sequence Description• When the speed/torque control selection contact is OPEN, speed control is acti-vated:• Speed refe

44 VS-616PS5 Programming ManualE Motor ParametersE1 Motor Constant Setting Range: 180 to 230V (360 to 460V)Factory Default: 230V (460V)Set E1-01 to th

VS-616PS5 Programming Manual 45 Setting Range: 0.0 to 605.0Factory Default: 0.00 (E1-02=1000)Set to the motor rated current as indicated on the motor

46 VS-616PS5 Programming ManualSetting Range: 0 to 65.535ΩFactory Default: 0.000 (E1-02=1000)Set the terminal to terminal resistance of the motor in u

VS-616PS5 Programming Manual 47Setting Range: 0.0 to 10.0%Factory Default: 1.0Wiring resistance between the inverter and the motor is set by a percent

48 VS-616PS5 Programming Manual1: 2∆ Connection:2: 1Y Connection: 3: 2Y Connection: T1T2T3········T1T2T3·T1T2T3·····Section E: Motor Paramet

VS-616PS5 Programming Manual 49F Option ParametersF1 PG Option Set-upThese parameters set up the Speed feedback pulse generator (PG). Setting Range: 0

VS-616PS5 Programming Manual 5ContentsSection Description PageINTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

50 VS-616PS5 Programming ManualSets the relationship between the motor rotation direction and PG polarity. (Hall sen-sor HS4 & HS5 or encoder chan

VS-616PS5 Programming Manual 51 Setting Range: 0 to 50%Factory Default: 10%This sets the excessive speed deviation detection level as a percentage of

52 VS-616PS5 Programming ManualF2 AI-14B Set-upSets CH1 to CH3 input functions when AI-14B option is connected. When the 3CH individual input selectio

VS-616PS5 Programming Manual 53F3 DI-08/DI-16H Set-upThis parameter selects the setting mode of the frequency reference input from the DI-08 and DI-16

54 VS-616PS5 Programming ManualF4 AO-08/AO-12 Set-upSetting Range: 1 to 53Factory Default: 5Selects the analog output monitors for channel 1 of the AO

VS-616PS5 Programming Manual 55Setting Range: ±300.0Factory Default: 1.0Sets the channel 1 output gain for the analog output monitors. To obtain the

56 VS-616PS5 Programming ManualF5 DO-02 Set-upSetting Range: 0 to 37Factory Default: During run 1 (setting = “0”)Selects the multi-function output sel

VS-616PS5 Programming Manual 57F6 DO-08 Set-upSelects the multi-function output selections for the DO-08 option. * When F6-01 is set to binary output

58 VS-616PS5 Programming ManualF8 PG Option Set-up 2 Setting Range: 0,1Factory Default: 1Selects the speed feedback method (hall sensor or line drive

VS-616PS5 Programming Manual 59F9 CP-916 SetupThis parameter selects the initial state for an external fault condition when the inverter is configured

6 VS-616PS5 Programming ManualSection Description PageL8 Hardware Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 O OPERATOR P

60 VS-616PS5 Programming ManualThis allows the Communication option card (ex. Device Net) to set the torque limits when the inverter is in the speed c

VS-616PS5 Programming Manual 61H Control Circuit Terminal ParametersH1 Digital InputsThe VS-616PS5 has six multi-function contact inputs for the set-u

62 VS-616PS5 Programming ManualSection H: Control Circuit Terminal ParametersH1 Digital Intputs • Local/Remote Selection (setting: “1”)Selects the op

VS-616PS5 Programming Manual 63. Notes:1. When both a hold reference memory selection (D4-01 = “1”) and an accel/decel hold command are input, a stop

64 VS-616PS5 Programming ManualSection H: Control Circuit Terminal ParametersH1 Digital Inputs• Up/Down Command (settings: Up = “10,” Down = “11”)All

VS-616PS5 Programming Manual 65Notes:1. When either forward or reverse jog command is input during run, this command has priority.2. When both the fo

66 VS-616PS5 Programming ManualSection H: Control Circuit Terminal ParametersH1 Digital Inputsing table to choose the desired response upon inputting

VS-616PS5 Programming Manual 67H2 Digital OutputsThe VS-616PS5 has three multi-function digital outputs for the indication of various conditions, incl

68 VS-616PS5 Programming ManualSection H: Control Circuit Terminal ParametersH2 Digital Outputs• During Run (setting: “0”)Closes after a run command

VS-616PS5 Programming Manual 69• Speed Detection 1 (setting: “4”)Closes whenever the output speed is at or below the Speed Agree Detection Level (L4-

VS-616PS5 Programming Manual 7IntroductionIntroductionThe Model VS-616PS5 is a series of high quality, general purpose, inverters designed to control

70 VS-616PS5 Programming ManualSection H: Control Circuit Terminal ParametersH2 Digital OutputsCloses when run command is input from the digital opera

VS-616PS5 Programming Manual 71 • Desired Speed Agree 2 (setting: “14”)Closes whenever the output Speed “agrees” with the Speed Agree Detection Level

72 VS-616PS5 Programming Manual • Overtorque Detection 1 - N.C. (setting: “17”)Opens during overtorque detection 1 (L6-01, see section L6, Overtorque

VS-616PS5 Programming Manual 73• Current/Torque Limit (setting: “30”)Closes during torque limit.• Speed Limit (setting: “31”)Closes when the Speed L

74 VS-616PS5 Programming ManualH3 Analog InputsThe VS-616PS5 has three analog inputs (two multi-function and one fixed), for the external input of num

VS-616PS5 Programming Manual 75The following table lists the function selections for the multi-function analog inputs (terminals 14 & 16). H3-05 T

76 VS-616PS5 Programming ManualSetting Range: 0.0 to 1000.0%Factory Default: 100.0%Sets the terminal 16 input gain level when the reference voltage is

VS-616PS5 Programming Manual 77Setting Range: ±100.0%Factory Default: 0.0%Sets the terminal 14 input bias level when the reference current is 4mA, (se

78 VS-616PS5 Programming ManualSection H: Control Circuit Terminal ParametersH4 Analog OutputsH4 Analog OutputsThe VS-616PS5 has two analog outputs, f

VS-616PS5 Programming Manual 79 Setting Range: ±109.2%Factory Default: 0.0%Sets the terminal 21 output bias for the analog output monitors. To obtai

8 VS-616PS5 Programming ManualVS-616PS5 Parameter Overview Group Function Parameter No.Quick-start Basic AdvancedU1 Monitor 01-03, 05-14 15-19 20-22,

80 VS-616PS5 Programming ManualH Control Circuit Terminal ParametersH5 Modbus Communication ParametersThe inverter uses communication port 6CN to comm

VS-616PS5 Programming Manual 81Selects the stopping method after a transmission error is detected. H5-05 enables or disables the MODBUS time out detec

82 VS-616PS5 Programming ManualSection L: Protection ParametersL4 Power Loss Ride-throughL Protection ParametersL2 Power Loss Ride-throughWhen momenta

VS-616PS5 Programming Manual 83L3 Stall Prevention/Current LimitThis function automatically adjusts the output deceleration rate in order to continue

84 VS-616PS5 Programming ManualSection L: Protection ParametersL4 Reference DetectionL4 Reference DetectionThe VS-616PS5 utilizes three different func

VS-616PS5 Programming Manual 85Setting Range: 0.0 to 100.0%Factory Default: 2.0%Sets the detection width, for desired speed agree 2, and for speed det

86 VS-616PS5 Programming ManualSection L: Protection ParametersL5 Fault ResetL5 Fault RestartAfter a fault occurs, the inverter can be reset automatic

VS-616PS5 Programming Manual 87Selects whether a fault contact output is activated during automatic restart.A setting of “0” will energize the fault r

88 VS-616PS5 Programming ManualL6 Torque DetectionThe overtorque detection circuit activates when the motor load causes the motor cur-rent (or torque

VS-616PS5 Programming Manual 89Setting Range: 0 to 300%Factory Default: 150%Sets the overtorque detection level as a percentage of motor rated torque

VS-616PS5 Programming Manual 9Main Menu:Initialize <ENTER>A Initialization ParametersA1 Initialization Set-upThis parameter allows the “masking

90 VS-616PS5 Programming ManualSetting Range: 0.0 to 10.0sFactory Default: 0.1sThe overtorque detection time sets the time for which the motor current

VS-616PS5 Programming Manual 91L7 Torque LimitThe torque limit function limits the amount of motor torque in all four quadrants of vec-tor control ope

92 VS-616PS5 Programming ManualSets the regenerating side torque limit value during REV run. 0REV Run Regeneration Torque Limit (L7-04)Positive Torque

VS-616PS5 Programming Manual 93L8 Hardware ProtectionThe VS-616PS5 comes equipped with a number of built-in functions designed to pro-tect the inverte

94 VS-616PS5 Programming ManualSection L: Protection Parameters L8 Hardware ProtectionInput phase loss detection is disabled in the following cases:•

VS-616PS5 Programming Manual 95O Operator ParametersO1 Monitor SelectionThe operation menu allows simple viewing of four monitor variables (via the DS

96 VS-616PS5 Programming ManualSection O: Operator ParametersO1 Monitor Selection Selects the monitor to be displayed on the digital operator immedia

VS-616PS5 Programming Manual 97O2 Key SelectionEnables/disables the digital operator LOCAL/REMOTE key. Enables/disables the digital operator STOP key,

98 VS-616PS5 Programming Manual460 V ModelsSelects whether the ENTER key is used when the frequency reference is set by the digital operator. The dig

VS-616PS5 Programming Manual 99Defines the operation time that accumulates in the timer. After changing this setting, reinitialize the inverter in par