Omron L7Z - User manual

Quick Start Guide
L7Z
Cat.No. I62E-EN-01

L7Z Quick Start Guide
Table of Contents
Warnings..............................................................................1
Safety Precautions and Instructions ................................................................... 2
EMC Compatibility .............................................................................................. 3
Installation ...........................................................................5
Mechanical Installation ....................................................................................... 5
Electrical Connection .......................................................................................... 6
Keypad Operation ............................................................. 11
Digital Operator Display (optional) ................................................................... 11
Power Up and Basic Parameter Setup ............................12
Start Up Procedure ........................................................................................... 12
Before Power Up .............................................................................................. 13
Display after Power Up ..................................................................................... 13
Control Mode Selection .................................................................................... 13
Autotuning .........................................................................14
Autotuning Mode Selection .............................................................................. 14
Autotuning Alarms and Faults .......................................................................... 15
Autotuning Procedure with Induction Motors ................................................... 16
Autotuning Procedure for PM Motors ............................................................... 17
PM Motor Encoder Offset Tuning ..................................................................... 18
Ride Profile and Sequence Setup....................................19
Up and Down Commands and Speed Reference Selection ............................. 19
Speed Selection Sequence Using Digital Inputs .............................................. 19
Acceleration / Deceleration / Jerk Settings ....................................................... 22
Brake Sequence ............................................................................................... 22
Inertia Compensation (Feed Forward) ............................................................. 22
Troubleshooting ................................................................24
Fault and Alarm Detection ................................................................................ 24
Operator Programming Errors (OPE) ............................................................... 26
Auto-tuning Faults ........................................................................................... 27
Parameter Table ................................................................28

EN-1
Warnings
CAUTION
Cables must not be connected or disconnected, nor signal tests carried out, while the power is
switched on.
The Varispeed L7 DC bus capacitor remains charged even after the power has been switched off. To
avoid an electric shock hazard, disconnect the frequency inverter from the mains before carrying out
maintenance. Then wait for at least 5 minutes after all LEDs have gone out.
Do not perform a withstand voltage test on any part of the inverter. It contains semiconductors,
which are not designed for such high voltages.
Do not remove the digital operator while the mains supply is switched on. The printed circuit board
must also not be touched while the inverter is connected to the power.
Never connect general LC/RC interference suppression filters, capacitors or overvoltage protection devices to
the inverter input or output.
To avoid unnecessary over current faults, etc., being displayed, the signaling contacts of any contac-
tor or switch fitted between inverter and motor must be integrated into the inverter control logic
(e.g. baseblock).
This is absolutely imperative!
This manual must be read thoroughly before connecting and operating the inverter. All safety pre-
cautions and instructions for use must be followed.
The inverter must be operated with the appropriate line filters, following the installation instructions
in this manual and with all covers closed and terminals covered.
Only then will adequate protection be provided. Please do not connect or operate any equipment
with visible damage or missing parts. The operating company is responsible for any injuries or
equipment damage resulting from failure to heed the warnings in this manual.

EN-2
Safety Precautions and Instructions
1. General
Please read these safety precautions and instructions for use thoroughly before installing and operating this
inverter. Also read all of the warning signs on the inverter and ensure they are never damaged or removed.
Live and hot inverter components may be accessible during operation. Removal of housing components, the
digital operator or terminal covers runs the risk of serious injuries or damage in the event of incorrect installa-
tion or operation. The fact that frequency inverters control rotating mechanical machine components can give
rise to other dangers.
The instructions in this manual must be followed. Installation, operation and maintenance may only be carried
out by qualified personnel. For the purposes of the safety precautions, qualified personnel are defined as indi-
viduals who are familiar with the installation, starting, operation and maintenance of frequency inverters and
have the proper qualifications for this work. Safe operation of these units is only possible if they are used
properly for their intended purpose.
The DC bus capacitors can remain live for about 5 minutes after the inverter is disconnected from the power. It
is therefore necessary to wait for this time before opening its covers. All of the main circuit terminals may still
carry dangerous voltages.
Children and other unauthorized persons must not be allowed access to these inverters.
Keep these Safety Precautions and Instructions for Use readily accessible and supply them to all persons with
any form of access to the inverters.
2. Intended Use
Frequency inverters are intended for installation in electrical systems or machinery.
Their installation in machinery and systems must conform to the following product standards of the Low Volt-
age Directive:
EN 50178, 1997-10,Equipping of Power Systems with Electronic Devices
EN 60204-1, 1997-12Machine Safety and Equipping with Electrical Devices
Part 1: General Requirements (IEC 60204-1:1997)/
Please note: Includes Corrigendum of September 1998
EN 61010-1, A2, 1995Safety Requirements for Information Technology Equipment
(IEC 950, 1991 + A1, 1992 + A2, 1993 + A3, 1995 + A4, 1996, modified)
CE marking is carried out to EN 50178, using the line filters specified in this manual and following the appro-
priate installation instructions.
3. Transportation and storage
The instructions for transportation, storage and proper handling must be followed in accordance with the tech-
nical data.
4. Installation
Install and cool the inverters as specified in the documentation. The cooling air must flow in the specified
direction. The inverter may therefore only be operated in the specified position (e.g. upright). Maintain the
specified clearances. Protect the inverters against impermissible loads. Components must not be bent nor insu-
lation clearances changed. To avoid damage being caused by static electricity, do not touch any electronic
components or contacts.

EN-3
5. Electrical Connection
Carry out any work on live equipment in compliance with the national safety and accident prevention regula-
tions. Carry out electrical installation in compliance with the relevant regulations. In particular, follow the
installation instructions ensuring electromagnetic compatibility (EMC), e.g. shielding, grounding, filter
arrangement and laying of cables. This also applies to equipment with the CE mark. It is the responsibility of
the manufacturer of the system or machine to ensure conformity with EMC limits.
Contact your supplier or Omron-Yaskawa Motion Control representative when using leakage current circuit
breaker in conjunction with frequency inverters.
In certain systems it may be necessary to use additional monitoring and safety devices in compliance with the
relevant safety and accident prevention regulations. The frequency inverter hardware must not be modified.
If Permanent Magnet Motors are used:
If a PM motor is turned by any external force, high voltage is generated in the windings.
•During wiring, maintenance or inspection make sure, that the motor is stopped and can not turn.
•If the inverter is turned off and the motor must be turned, make sure that motor and inverter output are
electrically disconnected.
6. Inverter Setup
This L7 inverter can drive induction motors as well as permanent magnet motors.
Always select the appropriate control mode:
•For induction motors use V/f, Open Loop Vector or Closed Loop Vector control (A1-01 = 0, 2 or 3).
•For permanent magnet motors use no other control mode than Closed Loop Vector for PM (A1-01 = 6).
A wrong control mode selection can damage the inverter and motor.
If a motor is exchanged or operated the first time, always set up the motor control relevant parameters using
the nameplate data or perform autotuning. Do not change the parameters recklessly. To ensure a safe operation
with PM motors always set the:
•correct motor data
•the PG open detection parameters
•the speed deviation detection parameters
•the over acceleration detection parameters
Wrong parameter settings can cause dangerous behavior or motor and inverter damage.
Refer to page 12, Start Up Procedure for details about the correct start up procedure.
7. Notes
The Varispeed L7 frequency inverters are certified to CE, UL, and c-UL.
EMC Compatibility
1. Introduction
This manual was compiled to help system manufacturers using Omron-Yaskawa Motion Control frequency
inverters to design and install electrical switch gear. It also describes the measures necessary to comply with
the EMC Directive. The manual's installation and wiring instructions must therefore be followed.
Our products are tested by authorized bodies using the standards listed below.
Product standard: EN 61800-3:1996
EN 61800-3; A11:2000

EN-4
2. Measures to Ensure Conformity of Omron-Yaskawa Motion Control Frequency
Inverters to the EMC Directive
Omron-Yaskawa Motion Control frequency inverters do not necessarily have to be installed in a switch cabi-
net.
It is not possible to give detailed instructions for all of the possible types of installation. This manual therefore
has to be limited to general guidelines.
All electrical equipment produces radio and line-borne interference at various frequencies. The cables pass
this on to the environment like an aerial.
Connecting an item of electrical equipment (e.g. drive) to a supply without a line filter can therefore allow HF
or LF interference to get into the mains.
The basic countermeasures are isolation of the wiring of control and power components, proper grounding and
shielding of cables.
A large contact area is necessary for low-impedance grounding of HF interference. The use of grounding
straps instead of cables is therefore definitely advisable.
Moreover, cable shields must be connected with purpose-made ground clips.
3. Laying Cables
Measures Against Line-Borne Interference:
Line filter and frequency inverter must be mounted on the same metal plate. Mount the two components as
close to each other as possible, with cables kept as short as possible.
Use a power cable with well-grounded shield. Use a shielded motor cable not exceeding 20 meters in length.
Arrange all grounds so as to maximize the area of the end of the lead in contact with the ground terminal (e.g.
metal plate).
Shielded Cable:
•Use a cable with braided shield.
•Ground the maximum possible area of the shield. It is advisable to ground the shield by connecting the
cable to the ground plate with metal clips (see following figure).
The grounding surfaces must be highly conductive bare metal. Remove any coats of varnish and paint.
– Ground the cable shields at both ends.
– Ground the motor of the machine.
Ground clip Ground plate

EN-5
Installation
Mechanical Installation
Unpacking the Inverter
Check the following items after unpacking the inverter.
If you find any irregularities in the above items, contact the agency from which you purchased the Inverter or
your Omron-Yaskawa Motion Control representative immediately.
Checking the Installation Site
Before installing the inverter check the following:
•Make sure that the ambient temperature is not exceeded
•Install the Inverter in a clean location which is free from oil mist and dust. It can be installed in a totally
enclosed panel that is completely shielded from floating dust.
•When installing or operating the Inverter, always take special care so that metal powder, oil, water, or other
foreign matter does not get into the Inverter.
•Do not install the Inverter on combustible material, such as wood.
•Install the Inverter in a location free from radioactive materials and combustible materials.
•Install the Inverter in a location free from harmful gasses and liquids.
•Install the Inverter in a location without excessive oscillation.
•Install the Inverter in a location free from chlorides.
•Install the Inverter in a location free from direct sunlight.
Installation Orientation
Install the Inverter vertically so as not to reduce the cooling effect. When installing the Inverter, always pro-
vide the following installation space to allow normal heat dissipation.
Item Method
Has the correct model of Inverter been delivered? Check the model number on the nameplate on the side of the Inverter.
Is the Inverter damaged in any way? Inspect the entire exterior of the Inverter to see if there are any scratches or other
damage resulting from shipping.
Are any screws or other components loose? Use a screwdriver or other tools to check for tightness.
1. The same space is required horizontally and vertically for IP00, IP20 and NEMA 1 Inverters.
2. Always remove the top protection cover after installing an Inverter with an output of 18.5 kW or less in a
panel.
Always provide enough space for suspension eye bolts and the main circuit lines when installing an
Inverter with an output of 22 kW or more in a panel.
A
50 mm min. 30 mm min.
30 mm min.
B
120 mm min.
Air
Air
Vertical Space
Horizontal Space
A B
50 mm 120 mm
IMPORTANT

EN-6
Electrical Connection
Installation of Inverters and EMC filters
For an EMC rules compliant installation consider the following
points:
•Use a line filter.
•Use shielded motor cables.
•Mount the inverter and filter on a grounded conductive plate.
•Remove any paint or dirt before mounting the parts in order to
reach the lowest possible grounding impedance.
Wiring Main Circuit Inputs
Consider the following precautions for the main circuit power sup-
ply input.
•If a moulded case circuit breaker is used for the power supply connection (R/L1, S/L2, and T/L3), ensure
that the circuit breaker is suitable for the Inverter.
•If an earth leakage breaker is used, it should be able to detect all kinds of current should be used in order to
ensure a safe earth leakage current detection
•A magnetic contactor or other switching device can be used at the inverter input. The inverter should not
be powered up more than once per hour.
•The input phases (R/S/T) can be connected in any sequence.
•If the Inverter is connected to a large-capacity power transformer (600 kW or more) or a phase advancing
capacitor is switched nearby, an excessive peak current could flow through the input power circuit, causing
an inverter damage. As a countermeasure install an optional AC Reactor at the inverter input or a DC reac-
tor at the DC reactor connection terminals.
•Use a surge absorber or diode for inductive loads near the Inverter. Inductive loads include magnetic con-
tactors, electromagnetic relays, solenoid valves, solenoids, and magnetic brakes.
Wiring the Output Side of the Main Circuit
The following precautions should be considered for the output circuit wiring.
•Never connect any power source to the inverter output terminals. Otherwise the inverter can be damaged.
•Never short or ground the output terminals. Otherwise the inverter can be damaged.
•Do not use phase correction capacitors. Otherwise the inverter and capacitors can be damaged.
•Check the control sequence to make sure, that the magnetic contactor (MC) between the Inverter and
motor is not turned ON or OFF during inverter operation. If the MC is turned ON during the Inverter is
operation, a large inrush current will be created and the inverter’s over current protection may operate.
Ground Connection
The following precautions should be considered for the ground connection.
•Do not share the ground wire with other devices, such as welding machines or power tools.
•Always use a ground wire, that complies with technical standards on electrical equipment and minimize
the length of the ground wire.
PE
L1
L2
L3
PE
Line
Filter
Load
GND L1
L2
L3 GND
U
V
W
M
~3
Inverter
Ground Bonds
Remove any paint!
Ground Bonds
Remove any paint!
Cable Length
as short as possible
Grounded
Metal Plate
Screened
Motor cable

EN-7
Leakage current is caused by the Inverter. Therefore, if the distance between the ground electrode and the
ground terminal is too long, potential on the ground terminal of the Inverter will become unstable.
•When more than one Inverter is used, do not to loop the ground wire.
Fig 1 Ground Wiring
Control Circuit Wiring Precautions
Consider the following precautions for wiring the control circuits.
•Separate control circuit wiring from main circuit wiring (terminals R/L1, S/L2, T/L3, B1, B2, U/T1, V/T2,
W/T3, , 1, 2, and 3, PO, NO) and other high-power lines.
•Separate wiring for control circuit terminals MA, MB, MC, M1, M2, M3, M4, M5, and M6 (contact out-
puts) from wiring to other control circuit terminals.
•If an optional external power supply is used, it should be a UL Listed Class 2 power supply.
•Use twisted-pair or shielded twisted-pair cables for control circuits to prevent operating faults.
•Ground the cable shields with the maximum contact area of the shield and ground.
•Cable shields have to be grounded on both cable ends.
Main Circuit Terminals
Main circuit terminal functions are summarized according to terminal symbols in Table 1. Wire the terminals
correctly for the desired purposes.
Table 1 Main Circuit Terminal Functions (200 V Class and 400 V Class)
Control Circuit Terminals
Fig 2 shows the control terminal arrangement. The functions of the control circuit terminals are shown in
Table 2. Use the appropriate terminals for the correct purposes.
Fig 2 Control terminal arrangement
Purpose Terminal Symbol Model: CIMR-L7Z
200 V Class 400 V Class
Main circuit power input R/L1, S/L2, T/L3 23P7 to 2055 43P7 to 4055
R1/L11, S1/L21, T1/L31 2022 to 2055 4022 to 4055
Inverter outputs U/T1, V/T2, W/T3 23P7 to 2055 43P7 to 4055
DC bus terminals 1, 23P7 to 2055 43P7 to 4055
Braking Resistor Unit connection B1, B2 23P7 to 2018 43P7 to 4018
DC reactor connection 1, 2 23P7 to 2018 43P7 to 4018
Braking Unit connection 3, 2022 to 2055 4022 to 4055
Ground 23P7 to 2055 43P7 to 4055
Control Power Supply PO, NO 23P7 to 2055 43P7 to 4055
OK NO
+V
SC SC SC BB A1 AC
E(G) S1 S2 S3 S4 S5 S6 S7 BB1
M5 M6
M3 M4
MA MB MC
M1 M2
E(G)

EN-8
Table 2 Control Circuit Terminals with default settings
Fig 3 Flywheel Diode Connection
Sinking/Sourcing Mode (NPN/PNP Selection)
The input terminal logic can be switched over between sinking mode (0-V common, NPN) and sourcing mode
(+24V common, PNP) by using the jumper CN5. An external power supply is also supported, providing more
freedom in signal input methods.
Type No. Signal Name Function Signal Level
Dig-
ital
input
signals
S1 Forward run/stop command Forward run when ON; stopped when OFF.
24 VDC, 8 mA
Photo-coupler
S2 Reverse run/stop command Reverse run when ON; stopped when OFF.
S3 Nominal speed Nominal speed when ON.
Functions are
selected by setting
H1-01 to H1-05.
S4 Inspection Run Inspection RUN when ON.
S5 Intermediate speed Intermediate speed when
ON.
S6 Leveling speed Leveling speed when ON.
S7 Not used –
BB Hardware baseblock Both inputs must be enabled to enable the inverter
outputBB1 Hardware baseblock 1
SC Digital input common – –
Ana-
log
input
signals
+V 15 V power supply*1
*1. Do not use this power supply for supplying any external equipment.
15 V power supply for analog references 15 V
(Max. current: 20 mA)
A1 Frequency reference 0 to +10 V/100% 0 to +10 V(20 kΩ)
AC Analog reference neutral – –
E(G) Shield wire, optional ground line
connection point ––
Dig-
ital
output
signals
M1 Brake command
(1NO contact) Brake command when ON.
Multi-function con-
tact outputs Relay contacts
Contact capacity:
1 A max. at 250 VAC
1 A max. at 30 VDC*2
*2. When driving a reactive load, such as a relay coil with DC power supply, always insert a flywheel diode as shown in Fig 3.
M2
M3 Contactor Control
(1NO contact) Contactor Control when ON
M4
M5 Inverter Ready
(1NO contact) Inverter Ready when ON.
M6
MA Fault output signal (SPDT)
(1 Change over contact)
Fault when CLOSED across MA and MC
Fault when OPEN across MB and MC
MB
MC
1. In Fig 4 the wiring of the digital inputs S1 to S7 and BB, BB1 is shown for the connection of contacts or NPN
transistors (0V common and sinking mode). This is the default setting.
For the connection of PNP transistors or for using a 24V external power supply, refer to Table 3.
2. A DC reactor is an option only for Inverters of 18.5 kW or less. Remove the short circuit bar when connecting a
DC reactor.
External power: 30
VDC max.
Coil
Flywheel diode
1 A max.
The rating of the flywheel diode must
be at least as high as the circuit volt-
age.
IMPORTANT

EN-9
Table 3 Sinking/Sourcing Mode and Input Signals
Internal Power Supply – Sinking Mode (NPN)
S1
S2
SC
IP24V
(+24V)
CN5
A1 A3
B1 B3B2
A2
External Power Supply – Sinking Mode (NPN)
S1
S2
SC
IP24V
(+24V)
CN5
A1 A3
B1 B3B2
A2
24 VDC
+
Internal Power Supply – Sourcing Mode (PNP)
S1
S2
SC
IP24V
(+24V)
CN5
A1 A3
B1 B3B2
A2
External Power Supply – Sourcing Mode (PNP)
S1
S2
SC
IP24V
(+24V)
CN5
A1 A3
B1 B3B2
A2
24 VDC
-

EN-10
Wiring the Inverter
Fig 4 Wiring Diagram
Voltage adjust-
ment
DC reactor to improve input
power factor (optional)
Braking Resistor
unit (optional)
Link
Magnetic
Contactor
3-phase power
380 to 480V
50/60Hz
L1
L2
L3
PE
Line
Filter
L1(R)
L2(S)
L3(T)
(+1) (+2) (-) B1 B2
U/T1
V/T2
W/T3
TA 1
PG-X2
(Optional)
Motor
IM/PM
TA 3
TA 2
P
P
PG
S1
S3
S2
S4
S5
S6
S7
BB
BB1
Multi function
Inputs
(Factory setting)
Forward run/stop
Reverse run/stop
Nominal Speed
Inspection Run
Intermediate Speed
Leveling Speed
Not used
Hardware Baseblock (note 3)
SC
+24V, 8mA
IP24V (24V)
CN5(NPN setting)
A Pulse
B Pulse
Z Pulse
Pulse Monitor Output
RS-422
(100m or less)
E(G) MA
MB
MC
Fault contact output
250VAC, max. 1A
30VDC, max. 1A
M1
M2
M3
M5
M4
M6
Brake Command
(Factory setting)
Contactor Control
(Factory setting)
Inverter Ready
(Factory setting)
Multi-function
contact output
250VAC, max. 1A
30VDC, max. 1A
Analog input power
supply +15V, 20mA
Master speed
reference 0 to 10V
+V
A1
AC
0 V
P
2CN
2kOhm
Analog input
(Speed reference)
2kOhm 0 to 10 V
Input option cards
Optional control power
supply input for Rescue
Operation
to terminal B1
to terminal -
Control Power
Supply Input
P0
N0
Twisted-pair
wires
Shielded
wires
Note:
1
. Main circuit terminals are indicatied with double circles and
control circuit terminals are indicatied with a single circles
2. The CN5 factory setting is NPN
3. To enable the inverter both inputs, BB and BB1 must be closed. If
only one of the inputs is closed, “BB” will be displayed in the
operator panel and the inverter will not start.
Output option
cards
3CN

EN-11
Keypad Operation
Digital Operator Display (optional)
The key names and functions of the Digital Operator are described below
Digital Operator Keys
Note: Except in diagrams, Keys are referred to the key names listed in the above table.
Key Name Function
LOCAL/REMOTE Key
Switches between operation via the Digital Operator (LOCAL) and the settings in
b1-01 and b1-02 (REMOTE).
This key can be enabled or disabled by setting parameter o2-01.
MENU Key Selects menu items (modes).
ESC Key Returns to the status before the DATA/ENTER key was pressed.
JOG Key Starts jog operation when the inverter is operated by the Digital Operator and d1-18
is set to 0.
FWD/REV Key Selects the rotation direction of the motor when the Inverter is operated by the Dig-
ital Operator.
Shift/RESET Key Sets the active digit when programming parameters.
Also acts as the Reset key when a fault has occurred.
Increment Key Selects menu items, sets parameter numbers, and increments set values.
Used to move to the next item or data.
Decrement Key Selects menu items, sets parameter numbers, and decrements set values.
Used to move to the previous item or data.
DATA/ENTER Key Enters menus and parameters, and set validates parameter changes.
RUN Key Starts the Inverter operation when the Inverter is controlled by the Digital Operator.
STOP Key
Stops Inverter operation.
This key can be enabled or disabled using parameter o2-02 when operating from a
source different than the operator.
Drive Status Indicators
FWD: Lights up when a forward run command is input.
REV: Lights up when a reverse run command is input.
SEQ: Lights up when any other run command source
than the digital operator is selected
REF: Lights up when any other frequency reference
source than the digital operator is selected
ALARM:Lights up when an error or alarm has
occurred.
Data Display
Displays monitor data, parameter numbers and param-
eter settings.
Mode Display (displayed at the upper left of data display)
DRIVE: Lights up in Drive Mode.
QUICK: Lights up in Quick Programming Mode.
ADV: Lights up in Advanced Programming Mode.
VERIFY: Lights up in Verify Mode.
A. TUNE: Lights up in Autotuning Mode.
Keys
Execute operations such as setting parameters, moni-
toring, jogging, and autotuning.

EN-12
Power Up and Basic Parameter Setup
Start Up Procedure
Fig 5 Basic Start Up Sequence
* V/f control
* Open Loop Vector Control
* Closed Loop Vector Control
* Closed Loop Vector Control for PM
START
Mechanical installation
Main and control circuit wiring
Check the encoder power supply selection
* (Closed Loop only)
Switch on the power supply
Perform motor data / encoder offset auto tuning
Speed reference
source
Analog Input
Digital operator (b1-02 = 0)
Set up the analog/digital I/O’s in the H1-xx,
H2-xx and H3-xx parameters
Set up the
* Acceleration / Deceleration times (C1-xx)
* S-Curves (Jerk) (C2-x)
Make test runs
Fine Tuning
* Brake sequence tuning
* Special functions setup
FINISH
Set up the
* Preset speed values (d1-xx)
* Acceleration / Deceleration times (C1-xx)
* S-Curves (Jerk) (C2-xx)
Set up the digital I/O’s in the H1-xx
and H2-xx parameters
Select the control sequence in
paramerter d1-18
Select the control mode in parameter A1-02
page 16, Autotuning Procedure with Induction Motors
page 17, Autotuning Procedure for PM Motors

EN-13
Before Power Up
The following points should be checked carefully before the power is switched on.
•Check if the power supply meets the inverter specification.
•Check if the power supply cables are tightly connected to the right terminals (L1, L2, L3).
•Check if the motor cables are tightly connected to the right terminals on the inverter side (U, V, W) as well
as on the motor side.
•Check if the braking unit / braking resistor is connected correctly.
•Check if the Inverter control circuit terminal and the control device are wired correctly.
•Set all Inverter control circuit terminals to OFF.
•When a PG card is used, check if it is wired correctly.
Display after Power Up
After normal power up without any problems the operator display shows the following messages
When a fault occurs or an alarm is active, a fault or alarm message will appear. In this case, refer to page 28,
Factory settings are in bold..
Control Mode Selection
As the first thing after power up one of the four control modes must be selected depending on the machine
type. The Closed Loop Vector modes require PG feedback cards. Table 4 shows the required / possible PG
cards for each mode.
Table 4 Control Mode Selection
Display for normal operation The Baseblock message blinks.
Display for fault operation
A fault or alarm message is shown on the
display.
The example shows a low voltage alarm.
Machine Type Control Mode A1-02 setting PG Card
Induction motor without encoder V/f control 0 -
Open Loop Vector Control 2 -
Induction motor with incremental encoder Closed Loop Vector Control 3 PG-B2 / PG-X2
Permanent magnet motor with Hiperfaceyor EnDat 2.1
encoder
Closed Loop Vector Control for
PM motors 6PG-F2
Yaskawa IPM motor with incremental encoder Closed Loop Vector Control for
PM motors 6 PG-X2
CAUTION
• For Permanent Magnet motors do not use any other control mode than Closed Loop Vector for PM
(A1-02 = 6). Using any other control mode can cause damage to the equipment or can cause dangerous
behavior.
-DRIVE-
Base Block
Rdy
BB
-DRIVE-
UV
Main Power Loss

EN-14
Autotuning
The motor data autotuning function sets the V/f pattern parameters (E1-), motor data parameters
(E2-, E5-) and the encoder data (F1-01) automatically. The steps which have to be performed during
the autotuning depend on the tuning mode selection.
Autotuning Mode Selection
The autotuning mode has to be selected according to selected control mode and the mechanical system (motor
no load rotation possible or not). Table 5 shows the selectable tuning mode for each control mode.
Table 5 Motor Data Autotuning Modes
Autotuning Modes
Autotuning with Rotating Motor (T1-01 =0)
This autotuning mode can be used in any Vector control mode. After the motor nameplate data have been
input, the inverter will operate the motor for approximately 1~2 minutes and set the required motor parameters
automatically.
Autotuning with Not Rotating Motor (T1-01 =1)
This autotuning mode can be used for Open Loop and Closed Loop Vector control for IM only. The inverter
supplies power to the motor for approximately 1 minute and some of the motor parameters are set automati-
cally while the motor does not turn. The motor no-load current and the rated slip value will automatically be
fine tuned during the first time operation.
Verify the rated slip value (E2-02) and the no-load current (E2-03) after the first run with nominal speed.
Autotuning for Line-to-Line Resistance (T1-01 = 2)
Non-rotating autotuning for line-to-line resistance can be used in V/f control, Open Loop Vector control and
Closed loop Vector control. The Inverter supplies power to the motor for approximately 20 seconds to measure
the motor line-to-line resistance and cable resistance. The motor does not turn during this tuning procedure.
Encoder Offset Tuning (T1-01=4)
This tuning mode is available in Closed Loop Vector control for PM motors only. It automatically sets the off-
set between the magnetic pole and the encoder zero position. It can be used to retune the offset after an
encoder change without changing the motor data settings.
Autotuning Mode Function
Tuning
Mode
Selection
(T1-01)
Control Mode
V/f
Open
Loop
Vector
Closed
Loop
Vector
Closed
Loop
Vector
(PM)
Standard tuning with rotating motor Tunes all motor parameters. 0 No Yes Yes Yes
IM tuning with not rotating motor Tunes the basic motor parameters. 1 No Yes Yes No
IM Line-to-line resistance tuning Tunes the line-to-line resistance
only 2YesYesYesNo
Encoder offset tuning Tunes the offset between the
encoder and magnetic zero position. 4NoNoNoYes
Use this tuning mode only, if the motor can rotate freely which means that the ropes must be removed
and the brake must be open. The gearbox can remain connected to the motor.
IMPORTANT

EN-15
Autotuning Alarms and Faults
Data Input Errors
The inverter will show a “Data Invalid” message and will not perform autotuning if:
•the motor speed, rated frequency and pole pair number do not correspond.
•the rated current does not correspond to the rated power value
The inverter calculates the motor power using the input current value and data from the internal motor data
table. The calculated value must be between 50% and 150% of the input value for the rated power.
Other Alarms and Faults During Autotuning
For an overview of possible autotuning alarms or faults and corrective actions refer to page 27, Auto-tuning
Faults.
General Precautions:
1. Use rotating autotuning whenever high precision is required or for a motor that is not connected to a load.
2. Use not rotating autotuning whenever the load cannot be disconnected from the motor (e.g. the ropes can’t be
removed).
3. Make sure, that the mechanical brake is not open for not rotating autotuning.
4. During autotuning the motor contactors have to be closed.
5. For autotuning the BB and BB1 signals must be ON (Inverter must not be in base block condition).
6. Confirm, that the motor is mechanically fixed and can not move.
7. Power is supplied during auto tuning, even though the motor does not turn. Do not touch the motor until auto-
tuning has been completed.
8. Remove the feather key from the motor shaft before performing a tuning with rotating motor with a stand alone
motor (no traction sheave or gear mounted).
9. To cancel autotuning, press the STOP key on the Digital Operator.
Precautions for rotating and encoder offset autotuning:
1. The load should be disconnected which means, that the ropes have to be removed and the brake must be open.
2. If the load can’t be removed, the tuning can be done with a balanced car. The tuning result accuracy will be
lower which can result in a performance loss.
3. Make sure that the brake is open during autotuning.
4. During autotuning the motor can be started and stopped repeatedly. When the tuning is finished, “END” will be
displayed in the operator panel. Do not touch the motor until this display is shown and the motor has completely
stopped.
IMPORTANT
Motor Speed Base Frequency 60⋅
2 Motor pole⋅
---------------------------------------------------
<

EN-16
Autotuning Procedure with Induction Motors
Fig 6 shows the autotuning procedure for an induction motor with or without encoder in V/f-, Open loop vec-
tor and Closed loop vector control.
Fig 6 Autotuning for Induction Motors
Set:
T1-02 - Motor rated power
T1-03 - Motor rated voltage
T1-04 - Motor rated current
T1-05 - Rated motor frequency
T1-06 - Motor pole number
T1-07 - Motor rated speed
T1-08 - PG pulse number*
(*CLV only)
Press the UP button until
“Tuning Ready” display appears
Enter auto tuning mode and
set parameter T1-01 = 0
START
Set the Base Block Inputs BB and
BB1
V/f Control ?
(A1-02 = 0)
Can the motor
rotate freely ?
No
(A1-02 = 2/3)
Yes
Enter auto tuning mode and
set parameter T1-01 = 2
Set:
T1-02 - Motor rated power
T1-04 - Motor rated current
Press the UP button until
“Tuning Ready” display appears
Set:
T1-02 - Motor rated power
T1-03 - Motor rated voltage
T1-04 - Motor rated current
T1-05 - Rated motor frequency
T1-06 - Motor pole number
T1-07 - Motor rated speed
T1-08 - PG pulse number*
(*CLV only)
Press the UP button until
“Tuning Ready” display appears
Enter auto tuning mode and
set parameter T1-01 = 1
Open the brake
Close the motor contactor(s)
Press the RUN button
No
Yes
(ropes removed?)
Refer to
and eliminate the fault source
Tuning
successful ?
No
(Fault code is
displayed)
Yes
(” Tuning successful”
is displayed)
Open the contactors, open the base
block inputs and close the brake if auto
tuning with rotating motor was performed
FINISH
page 27, Auto-tuning Faults

EN-17
Autotuning Procedure for PM Motors
Fig 7 shows the autotuning procedure for permanent magnet motors. Before tuning make sure that the control
mode is set to PM Closed Loop Vector (A1-02 = 6).
Fig 7 Autotuning for Permanent Magnet Motors
T2-04 - Motor rated current
T2-05 - Motor pole number
T2-09 - Encoder resolution
T2-10 - Motor voltage constant
START
* Remove the ropes so that the motor can rotate freely
* Set the Base Block inputs BB and BB1
T1-01 = 0 - Rotati onal Tuning
T2-01 - Motor rated power
T2-02 - Motor base frequency
T2-03 - Motor rated voltage
Press the UP button until the “Tuning Ready” displ ay appear s
Set the autotuning par am eters:
Set mechanical constants:
S3-13 - Tr acti on sheave diam eter
S3-14 - Ropi ng
S3-15 - Gear r atio
Close the m otor contactor( s) and pr ess the RU N button
Wait until tuning is finsihed
Tuning successful?
Yes
(”Tuning successful” is displayed)
No
(Fault code is displayed)
Open the contactors, open the baseblock
inputs and close the br ake
FINISH
Refer to
and eli minate the faul t sour ce
Does a CPF24 fault
occur?
Switch ON the power supply if it is OFF
* Check parameter n8-35
* If EnDat / Hiperface is used
- check the encoder power supply
- check the CLOCK and DATA signal wiring
* Switch off the power supply.
No
Yes
Does a OPE06 fault
occur?
Check parameter
* F1-01
* n8-35
Switch off the power supply
and check if the right PG card
is correctley installed
Yes
No
Does a OPE02 fault
occur?
* Check if the correct PG constant (F1-01) and
absolute encoder resolution (F1-21) has been set.
* Refer to:
and eliminate the fault source
No
Yes
* C heck the wir ing
* C heck/r eadj ust the encoder
power supply
* C heck the encoder wi ring
* C hange par ameter F1- 05
Does PGO (no
encoder feedback)
occur?
Is the sign of the
U1-05 value positive
(not -)?
No
Yes
No
Yes
Open the brake, close the motor contactor,
turn the motor slowly in Forward direction*
1
and check monitor U1-05.
page 27, Auto-tuning Faults
page 26, Operator Programming Errors (OPE)
* 1. Forward direction means:
The direction the motor turns with an UP command at terminal S1 (i.e.
with a clockwise rotating 3 phase supply and U-U, V-V, W-W wiring
between inverter and motor). Usually the direction is clockwise seen
from the motor shaft (traction sheave) side.
Refer to the motor instruction manual or consult the manufacturer for
details about the rotation direction.