YASKAWA U1000 Series User manual

YASKAWA U1000 Series
Technical Manual
MANUAL NO. SIEP C710636 03A
To properly use the product, read this manual thoroughly and retain for
easy reference, inspection, and maintenance. Ensure the end user receives
this manual.
Type: CIMR-U
Rated Output Current: 200 V Class: 22 to 248 A
400 V Class: 9.6 to 414 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

2YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Copyright ©2014 YASKAWA ELECTRIC CORPORATION.
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted,
in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of Yaskawa. No patent liability is assumed with respect to the use of the information
contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the
information contained in this manual is subject to change without notice. Every precaution has been taken in
the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions.
Neither is any liability assumed for damages resulting from the use of the information contained in this
publication.

YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 3
Quick Reference
Easily Set Parameters for Specific Applications
Preset parameter defaults are available for setting up applications. Refer to Application Selection on page 110.
Run a Motor One-Frame Larger
This drive can operate a motor one frame size larger when running variable torque loads such as fans and pumps. Refer to C6-01: Drive Duty Mode Selection on page 189.
Drive a Synchronous PM Motor
U1000 can operate synchronous PM motors. Refer to Subchart A-3: Operation with Permanent Magnet Motors on page 108.
Perform Auto-Tuning
Automatic tuning sets motor parameters. Refer to Auto-Tuning on page 116.
Maintenance Check Using Drive Monitors
Use drive monitors to check the if fans, capacitors, and other components may require maintenance. Refer to Performance Life Monitors Maintenance Monitors on page 354.
Fault Display and Troubleshooting
Refer to Drive Alarms, Faults, and Errors on page 306 and Refer to Troubleshooting without Fault Display on page 342.
Standards Compliance
Refer to European Standards on page 518.
Refer to UL Standards on page 521.
YEG

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YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 5
Table of Contents
Quick Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
i. PREFACE & GENERAL SAFETY............................................................................ 15
i.1 Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Applicable Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Terms and Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Trademarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
i.2 General Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Supplemental Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Safety Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Application Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Notes on Motor Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Applications with Specialized Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Drive Label Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Warranty Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1. RECEIVING .............................................................................................................. 27
1.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.2 General Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
U1000 Model Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
1.3 Model Number and Nameplate Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Model Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
1.4 Drive Models and Enclosure Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.5 Component Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
IP00 Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
IP20/NEMA Type 1 Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Front Views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2. MECHANICAL INSTALLATION............................................................................... 39
2.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.2 Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Installation Orientation and Spacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Instructions on Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Digital Operator Remote Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Exterior and Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

6YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
3. ELECTRICAL INSTALLATION ................................................................................ 55
3.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
3.2 Standard Connection Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58
3.3 Main Circuit Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.4 Terminal Block Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
3.5 Terminal Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
20028 to 20130, 40011 to 40124 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
20154 to 20248, 40156 to 40414 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
3.6 Digital Operator and Front Cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Removing/Reattaching the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
Removing/Reattaching the Front Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
3.7 Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Attaching the Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69
Removing the Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69
3.8 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70
Main Circuit Terminal Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Protecting Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70
Main Circuit Wire Gauges and Tightening Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Main Circuit Terminal and Motor Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
3.9 Control Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Control Circuit Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Control Circuit Terminal Block Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Terminal Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Wiring the Control Circuit Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
3.10 Control I/O Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Switches and Jumpers on the Terminal Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
Sinking/Sourcing Mode for Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
Sinking/Sourcing Mode Selection for Safe Disable Inputs . . . . . . . . . . . . . . . . . . . . . . 81
Terminal DM+ and DM- Output Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Using the Pulse Train Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82
Terminal A2 Input Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Terminal A3 Analog/PTC Input Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83
Terminal AM/FM Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
3.11 Connect to a PC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
3.12 MEMOBUS/Modbus Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
3.13 Enable the Internal EMC Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86
3.14 External Interlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
Operation Ready . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
3.15 Wiring Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90
4. START-UP PROGRAMMING & OPERATION ........................................................ 93
4.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .94
4.2 Using the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Keys and Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
LCD Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96
ALARM (ALM) LED Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
LO/RE LED and RUN LED Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Menu Structure for Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98
4.3 The Drive and Programming Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99
Navigating the Drive and Programming Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Changing Parameter Settings or Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101
Verifying Parameter Changes: Verify Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102
Simplified Setup Using the Setup Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103
Switching Between LOCAL and REMOTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 7
4.4 Start-Up Flowcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Flowchart A: Basic Start-up and Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Subchart A-1: Simple Motor Setup Using V/f Control . . . . . . . . . . . . . . . . . . . . . . . . 106
Subchart A-2: High Performance Operation Using OLV or CLV . . . . . . . . . . . . . . . . 107
Subchart A-3: Operation with Permanent Magnet Motors . . . . . . . . . . . . . . . . . . . . . 108
4.5 Powering Up the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Powering Up the Drive and Operation Status Display . . . . . . . . . . . . . . . . . . . . . . . . 109
4.6 Application Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Setting 1: Water Supply Pump Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Setting 2: Conveyor Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Setting 3: Exhaust Fan Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Setting 4: HVAC Fan Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Setting 5: Air Compressor Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Setting 6: Hoist Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Notes on Controlling the Brake when Using the Hoist Application Preset . . . . . . . . . 113
Setting 7: Traveling Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
4.7 Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Types of Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Before Auto-Tuning the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Auto-Tuning Interruption and Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Auto-Tuning Operation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Parameter Settings during Induction Motor Auto-Tuning: T1 . . . . . . . . . . . . . . . . . . . 123
Parameter Settings during PM Motor Auto-Tuning: T2 . . . . . . . . . . . . . . . . . . . . . . . 125
Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3 . . . . . . 127
4.8 No-Load Operation Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
No-Load Operation Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
4.9 Test Run with Load Connected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Test Run with the Load Connected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
4.10 Verifying Parameter Settings and Backing Up Changes . . . . . . . . . . . . . . . . . . . 132
Backing Up Parameter Values: o2-03 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Parameter Access Level: A1-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Password Settings: A1-04, A1-05 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Copy Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
4.11 Test Run Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
5. PARAMETER DETAILS......................................................................................... 137
5.1 A: Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
A1: Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
A2: User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
5.2 b: Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
b1: Operation Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
b2: DC Injection Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
b3: Speed Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
b4: Timer Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
b5: PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
b6: Dwell Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
b7: Droop Control (CLV, CLV/PM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
b8: Energy Saving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
b9: Zero Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

8YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
5.3 C: Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
C1: Acceleration and Deceleration Times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
C2: S-Curve Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
C3: Slip Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .180
C4: Torque Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .183
C5: Automatic Speed Regulator (ASR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184
C6: Carrier Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
C7: Voltage Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
5.4 d: Reference Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192
d1: Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
d2: Frequency Upper/Lower Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194
d3: Jump Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194
d4: Frequency Reference Hold and Up/Down 2 Function . . . . . . . . . . . . . . . . . . . . .195
d5: Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .200
d6: Field Weakening and Field Forcing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .204
d7: Offset Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
5.5 E: Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .206
E1: V/f Pattern for Motor 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
E2: Motor 1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
E3: V/f Pattern for Motor 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
E4: Motor 2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
E5: PM Motor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216
5.6 F: Option Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .218
F1: PG Speed Control Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .218
F2: Analog Input Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
F3: Digital Input Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .222
F4: Analog Monitor Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
F5: Digital Output Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
F6 and F7: Communication Option Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
5.7 H: Terminal Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .227
H1: Multi-Function Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .227
H2: Multi-Function Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
H3: Multi-Function Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
H4: Multi-Function Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
H5: MEMOBUS/Modbus Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
H6: Pulse Train Input/Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
5.8 L: Protection Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .257
L1: Motor Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
L2: Momentary Power Loss Ride-Thru . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .262
L3: Stall Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
L4: Speed Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .269
L5: Fault Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .270
L6: Torque Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
L7: Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
L8: Drive Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
L9: Drive Protection 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
5.9 n: Special Adjustments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .281
n1: Hunting Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .281
n2: Speed Feedback Detection Control (AFR) Tuning . . . . . . . . . . . . . . . . . . . . . . . .281
n3: Overexcitation Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
n5: Feed Forward Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .283
n6: Online Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .284
n8: PM Motor Control Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 9
5.10 o: Operator Related Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
o1: Digital Operator Display Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
o2: Digital Operator Keypad Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
o3: Copy Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
o4: Maintenance Monitor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
q: DriveWorksEZ Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
r: DriveWorksEZ Connection Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
T: Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
5.11 U: Monitor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
U1: Operation Status Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
U2: Fault Trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
U3: Fault History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
U4: Maintenance Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
U5: PID Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
U6: Control Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
U8: DriveWorksEZ Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
U9: Power Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
6. TROUBLESHOOTING ........................................................................................... 299
6.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
6.2 Motor Performance Fine-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Fine-Tuning V/f Control and V/f Control with PG . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Fine-Tuning Open Loop Vector Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Fine-Tuning Closed Loop Vector Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Fine-Tuning Open Loop Vector Control for PM Motors . . . . . . . . . . . . . . . . . . . . . . . 303
Fine-Tuning Advanced Open Loop Vector Control for PM Motors . . . . . . . . . . . . . . 304
Fine-Tuning Closed Loop Vector Control for PM Motors . . . . . . . . . . . . . . . . . . . . . . 304
Parameters to Minimize Motor Hunting and Oscillation . . . . . . . . . . . . . . . . . . . . . . . 305
6.3 Drive Alarms, Faults, and Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Types of Alarms, Faults, and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Alarm and Error Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
6.4 Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Fault Displays, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
6.5 Alarm Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
Alarm Codes, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
6.6 Operator Programming Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
oPE Codes, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
6.7 Auto-Tuning Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Auto-Tuning Codes, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . 334
6.8 Copy Function Related Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Tasks, Errors, and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
6.9 Diagnosing and Resetting Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Fault Occurs Simultaneously with Power Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
If the Drive Still has Power After a Fault Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Viewing Fault Trace Data After Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Fault Reset Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
6.10 Troubleshooting without Fault Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Common Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Cannot Change Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Motor Does Not Rotate Properly after Pressing RUN Button or after Entering
External Run Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Motor is Too Hot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Drive Does Not Allow Selection the Desired Auto-Tuning Mode . . . . . . . . . . . . . . . . 344
oPE02 Error Occurs When Lowering the Motor Rated Current Setting . . . . . . . . . . . 344
Motor Stalls during Acceleration or Acceleration Time is Too Long . . . . . . . . . . . . . 345

10 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Drive Frequency Reference Differs from the Controller Frequency
Reference Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
Excessive Motor Oscillation and Erratic Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . .345
Load Falls When Brake is Applied (Hoist-Type Applications) . . . . . . . . . . . . . . . . . . .345
Noise From Drive or Motor Cables When the Drive is Powered On . . . . . . . . . . . . . . 346
Equipment for Residual Current Monitoring/Detection
(RCM/RCD) Trips During Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .346
Connected Machinery Vibrates When Motor Rotates . . . . . . . . . . . . . . . . . . . . . . . . 346
PID Output Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .346
Insufficient Starting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .346
Motor Rotates After the Drive Output is Shut Off (Motor Rotates During
DC Injection Braking) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .347
Output Frequency is not as High as Frequency Reference . . . . . . . . . . . . . . . . . . . .347
Buzzing Sound from Motor at 2 kHz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
Unstable Motor Speed when Using PM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .347
Motor Does Not Restart after Power Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
The Safety Controller Does Not Recognize Safe Disable Monitor Output Signals
(Terminals DM+ and DM-) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
7. PERIODIC INSPECTION & MAINTENANCE ........................................................ 349
7.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .350
7.2 Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
Recommended Daily Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
Recommended Periodic Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
7.3 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .354
Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
7.4 Cooling Fan and Circulation Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
Number of Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
Cooling Fan Component Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
Cooling Fan Replacement: 20028 to 20130, 40011 to 40124 . . . . . . . . . . . .358
Cooling Fan Replacement: 20154, 20192, 40156, 40180 . . . . . . . . . . . . . . .360
Cooling Fan Replacement: 20248, 40216 to 40414 . . . . . . . . . . . . . . . . . . . . . 364
7.5 Drive Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .369
Serviceable Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .369
Terminal Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
Replacing the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .370
8. Peripheral Devices & OPTIONS ........................................................................... 373
8.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .374
8.2 Drive Options and Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
8.3 Connecting Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .377
8.4 Option Card Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .378
Prior to Installing the Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .378
Installing the Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .379
8.5 Installing Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .388
Installing a Molded Case Circuit Breaker (MCCB) and Equipment for Residual
Current Monitoring/Detection (RCM/RCD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
Installing a Magnetic Contactor at the Power Supply Side . . . . . . . . . . . . . . . . . . . . .389
Connecting a Surge Absorber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .389
Reducing Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .389
Attachment for External Heatsink (IP00/NEMA type 1 Enclosure) . . . . . . . . . . . . . . . 390
Internal EMC-Filter Model Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .390
Installing a Motor Thermal Overload (oL) Relay on the Drive Output . . . . . . . . . . . . .390

YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 11
A. SPECIFICATIONS.................................................................................................. 391
A.1 Heavy Duty and Normal Duty Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
A.2 Three-Phase 200 V Class Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
A.3 Three-Phase 400 V Class Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
A.4 Drive Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
A.5 Drive Watt Loss Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
A.6 Drive Derating Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
Rated Current Depending on Carrier Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
Carrier Frequency Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
Temperature Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Altitude Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
B. PARAMETER LIST ................................................................................................ 401
B.1 Understanding the Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402
Control Modes, Symbols, and Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402
B.2 Parameter Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
B.3 Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
A: Initialization Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
b: Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
C: Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412
d: Reference Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417
E: Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420
F: Option Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424
H: Multi-Function Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
L: Protection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
n: Special Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448
o: Operator Related Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451
q: DriveWorksEZ Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
r: DriveWorksEZ Connection Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
T: Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
U: Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
B.4 Control Mode Dependent Parameter Default Values. . . . . . . . . . . . . . . . . . . . . . . 465
A1-02 (Motor 1 Control Mode) Dependent Parameters . . . . . . . . . . . . . . . . . . . . . . . 465
E3-01 (Motor 2 Control Mode) Dependent Parameters . . . . . . . . . . . . . . . . . . . . . . . 467
B.5 V/f Pattern Default Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01) . . . . . . . . . . . . . . 469
B.7 Parameters that Change with the Motor Code Selection (for PM Motors) . . . . . 473
YASKAWA SMRA Series SPM Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
YASKAWA SSR1 Series IPM Motor (For Derated Torque) . . . . . . . . . . . . . . . . . . . . 474
YASKAWA SST4 Series IPM Motor (For Constant Torque) . . . . . . . . . . . . . . . . . . . 480
C. MEMOBUS/MODBUS COMMUNICATIONS ......................................................... 487
C.1 MEMOBUS/Modbus Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
C.2 Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
C.3 Connecting to a Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
Network Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
Wiring Diagram for Multiple Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
Network Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
C.4 MEMOBUS/Modbus Setup Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
MEMOBUS/Modbus Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
C.5 Drive Operations by MEMOBUS/Modbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495
Observing the Drive Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495
Controlling the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495

12 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
C.6 Communications Timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .496
Command Messages from Master to Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
Response Messages from Drive to Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .496
C.7 Message Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Message Content . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .497
Slave Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Function Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .497
Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Error Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
C.8 Message Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
Reading Drive MEMOBUS/Modbus Register Contents . . . . . . . . . . . . . . . . . . . . . . .499
Loopback Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
Writing to Multiple Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
C.9 MEMOBUS/Modbus Data Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .501
Command Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501
Monitor Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .502
Broadcast Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509
Fault Trace Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
Alarm Register Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .511
C.10 Enter Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .512
Enter Command Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .512
C.11 Communication Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
MEMOBUS/Modbus Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
Slave Not Responding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
C.12 Self-Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .514
D. STANDARDS COMPLIANCE................................................................................. 515
D.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .516
D.2 European Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
CE Low Voltage Directive Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
EMC Guidelines Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .519
D.3 UL Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .521
UL Standards Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
Drive Motor Overload Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .527
D.4 Safe Disable Input Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .529
Safety Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .529
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529
Using the Safe Disable Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .530
E. QUICK REFERENCE SHEET................................................................................. 533
E.1 Drive and Motor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .534
Drive Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
Motor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .534
E.2 Basic Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Basic Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .535
V/f Pattern Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .535
Motor Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .535
Multi-Function Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Pulse Train Input/Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Multi-Function Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Monitor Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
E.3 User Setting Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536

YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 13
Index ............................................................................................................................. 542
Revision History ............................................................................................................ 555

14 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual

i
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 15
Preface & General Safety
This section provides safety messages pertinent to this product that, if not heeded, may result
in fatality, personal injury, or equipment damage. Yaskawa is not responsible for the
consequences of ignoring these instructions.
i.1 PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
i.2 GENERAL SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

16 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
i.1 Preface
i.1 Preface
Yaskawa manufactures products used as components in a wide variety of industrial systems and equipment. The selection
and application of Yaskawa products remain the responsibility of the equipment manufacturer or end user. Yaskawa
accepts no responsibility for the way its products are incorporated into the final system design. Under no circumstances
should any Yaskawa product be incorporated into any product or design as the exclusive or sole safety control. Without
exception, all controls should be designed to detect faults dynamically and fail safely under all circumstances. All
systems or equipment designed to incorporate a product manufactured by Yaskawa must be supplied to the end user with
appropriate warnings and instructions as to the safe use and operation of that part. Any warnings provided by Yaskawa
must be promptly provided to the end user. Yaskawa offers an express warranty only as to the quality of its products in
conforming to standards and specifications published in the Yaskawa manual. NO OTHER WARRANTY, EXPRESS OR
IMPLIED, IS OFFERED. Yaskawa assumes no liability for any personal injury, property damage, losses, or claims
arising from misapplication of its products.
This manual is designed to ensure correct and suitable application of U1000 Series Drives. Read this manual before
attempting to install, operate, maintain, or inspect a drive and keep it in a safe, convenient location for future reference.
Be sure you understand all precautions and safety information before attempting application.
Applicable Documentation
The following manuals are available for U1000 series drives:
Symbols
Note: Indicates a supplement or precaution that does not cause drive damage.
Terms and Abbreviations
•V/f: V/f Control
•V/f w/PG: V/f Control with PG
•OLV: Open Loop Vector Control
•CLV: Closed Loop Vector Control
•OLV/PM: Open Loop Vector Control for PM
•AOLV/PM: Advanced Open Loop Vector Control for PM
•CLV/PM: Closed Loop Vector Control for PM
•PM motor: Permanent Magnet Synchronous motor (an abbreviation for IPM motor or SPM motor)
•IPM motor: Interior Permanent Magnet Motor (such as Yaskawa’s SSR1 Series and SST4 Series motors)
•SPM motor: Surface mounted Permanent Magnet Motor (such as Yaskawa’s SMRA Series motors)
Trademarks
• CANopen is a trademark of CAN in Automation (CiA).
• CC-Link is a trademark of CC-Link Partner Association (CLPA).
• DeviceNet is a trademark of Open DeviceNet Vendor Association, Inc. (ODVA).
• PROFIBUS-DP is a trademark of PROFIBUS International (PI).
• MECHATROLINK-II and MECHATROLINK-III are a trademark of MECHATROLINK Members Association
(MMA).
• LONWORKS is a trademark of ECHELON USA.
• Modbus TCP/IP is a trademark of Modbus-IDA.
• EtherNet/IP is a trademark of the ODVA.
• Other companies and product names mentioned in this manual are trademarks of those companies.
YASKAWA U1000 Series
Safety Precautions
This guide is packaged together with the product. It contains basic information required to install and wire the drive, in addition to an
overview of fault diagnostics, maintenance safety, and parameter settings.
YASKAWA U1000 Series
Technical Manual (this book)
This manual is included on the CD-ROM packaged with the product (Yaskawa AC Drive Manuals, TOBC C710616 21). A new version of
this manual is also available for download on our documentation website, e-mechatronics.com. This manual provides detailed information
on parameter settings, drive functions, and MEMOBUS/Modbus specifications. Use this manual to expand drive functionality and to take
advantage of higher performance features.

i.2 General Safety
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 17
i.2 General Safety
Supplemental Safety Information
WARNING! will also be indicated by a bold key word embedded in the text followed by an italicized safety message.
CAUTION! will also be indicated by a bold key word embedded in the text followed by an italicized safety message.
NOTICE: will also be indicated by a bold key word embedded in the text followed by an italicized safety message.
General Precautions
• The diagrams in this manual may be indicated without covers or safety shields to show details. Restore covers or
shields before operating the drive and run the drive according to the instructions described in this manual.
• Any illustrations, photographs, or examples used in this manual are provided as examples only and may not apply to
all products to which this manual is applicable.
• The products and specifications described in this manual or the content and presentation of the manual may be
changed without notice to improve the product and/or the manual.
• When ordering a new copy of the manual due to damage or loss, contact your Yaskawa representative or the nearest
Yaskawa sales office and provide the manual number shown on the front cover.
• If nameplate becomes worn or damaged, order a replacement from your Yaskawa representative or the nearest
Yaskawa sales office.
WARNING
Read and understand this manual before installing, operating or servicing this drive. The drive must be installed
according to this manual and local codes.
The following conventions are used to indicate safety messages in this manual. Failure to heed these messages could
result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.
DANGER
Indicates a hazardous situation, which, if not avoided, will result in death or serious injury.
WARNING
Indicates a hazardous situation, which, if not avoided, could result in death or serious injury.
CAUTION
Indicates a hazardous situation, which, if not avoided, could result in minor or moderate injury.
NOTICE
Indicates a property damage message.

i.2 General Safety
18 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Safety Messages
DANGER
Heed the safety messages in this manual.
Failure to comply will result in death or serious injury.
The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings
in this manual.
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
Before servicing, disconnect all power to the equipment. The capacitor for the control power supply remains charged
even after the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on
the drive before touching any components.
WARNING
Sudden Movement Hazard
System may start unexpectedly upon application of power, resulting in death or serious injury.
Clear all personnel from the drive, motor and machine area before applying power. Secure covers, couplings, shaft
keys and machine loads before applying power to the drive.
When using DriveWorksEZ to create custom programming, the drive I/O terminal functions change from
factory settings and the drive will not perform as outlined in this manual.
Unpredictable equipment operation may result in death or serious injury.
Take special note of custom I/O programming in the drive before attempting to operate equipment.
Electrical Shock Hazard
Do not attempt to modify or alter the drive in any way not explained in this manual.
Failure to comply could result in death or serious injury.
Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.
Do not allow unqualified personnel to use equipment.
Failure to comply could result in death or serious injury.
Installation, maintenance, inspection and servicing must be performed only by authorized personnel familiar with
installation, adjustment and maintenance of AC drives.
Do not remove covers or touch circuit boards while the power is on.
Failure to comply could result in death or serious injury.
Make sure the protective earthing conductor complies with technical standards and local safety regulations.
When an EMC filter is installed or with models CIMR-U40414 and larger, the leakage current exceeds 3.5 mA.
Therefore according to IEC/EN 61800-5-1 automatic power supply interruption in case of discontinuity of the
protective earthing conductor must be provided or a protective earthing conductor with a cross section of at least 10
mm2(Cu) or 16 mm2(Al) must be used.
Use appropriate equipment for residual current monitoring/detection (RCM/RCD).
This drive can cause a residual current with a DC component in the protective earthing conductor. Where a residual
current operated protective or monitoring device is used for protection in case of direct or indirect contact, always use
an RCM or RCD of type B according to IEC/EN 60755.

i.2 General Safety
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual 19
Fire Hazard
Do not use an improper voltage source.
Failure to comply could result in death or serious injury by fire.
Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.
Crush Hazard
Do not use this drive in lifting applications without installing external safety circuitry to prevent accidental
dropping of the load.
The drive does not possess built-in load drop protection for lifting applications.
Failure to comply could result in death or serious injury from falling loads.
Install electrical and/or mechanical safety circuit mechanisms independent of drive circuitry.
If using a crane or a lifter to transport the drive, make sure that only qualified personnel are allowed operating.
Incorrect operation may cause the drive to suddenly drop, resulting in serious injury.
Only allow qualified personnel to operate a crane or hoist to transport the drive.
Failure to comply could result in death or serious injury from falling equipment.
CAUTION
Crush Hazard
Do not carry the drive by the front cover.
Failure to comply may result in minor or moderate injury from the main body of the drive falling.
WARNING

i.2 General Safety
20 YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Application Notes
Selection
Drive Rated Output Current
Make sure that the motor rated current is less than the rated output current for the drive.
When running more than one motor in parallel from a single drive, the capacity of the drive should be larger than [motor
rated current 1.1]. Run only one motor from each drive when using vector control. It is not possible to run more than
one motor from one drive with vector control.
When 2 Seconds is Required for Momentary Power Loss Ride-Thru Time
Use the units listed below when continuing drive operation after the power is restored even after a momentary loss of
power of 2 seconds occurs:
• 200 V class Momentary Power Loss Ride-Thru unit: Model No. P0010
• 400 V class Momentary Power Loss Ride-Thru unit: Model No. P0020
Drive Start-Up Time
The drive requires 1.5 seconds to prepare for operation after the power is turned on. Be mindful of this delay when using
an external reference input.
Note: 1.5 seconds is the required time when no optional devices are used with the drive. When using an optional communication
device, the time required for the drive to be ready for operation will vary in accordance with the start up time of the
communication card.
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
Do not perform a withstand voltage test on any part of the drive.
Failure to comply could result in damage to the sensitive devices within the drive.
Do not operate damaged equipment.
Failure to comply could result in further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
If a fuse is blown or equipment for residual current monitoring/detection (RCM/RCD) is tripped, check the
wiring and the selection of the peripheral devices.
Contact your supplier if the cause cannot be identified after checking the above.
Do not restart the drive or immediately operate the peripheral devices if a fuse is blown or equipment for
residual current monitoring/detection (RCM/RCD) is tripped.
Check the wiring and the selection of peripheral devices to identify the cause.
Contact your supplier before restarting the drive or the peripheral devices if the cause cannot be identified.
Install adequate branch circuit short circuit protection per applicable codes.
Failure to comply could result in damage to the drive.
The drive is suitable for circuits capable of delivering not more than 100,000 RMS symmetrical Amperes, 240 Vac
maximum (200 V Class), 480 Vac maximum (400 V Class: CIMR-U4E, CIMR-U4W), and 500 Vac
maximum (400 V Class: CIMR-U4A, CIMR-U4P).
Do not expose the drive to halogen group disinfectants.
Failure to comply may cause damage to the electrical components in the drive.
Do not pack the drive in wooden materials that have been fumigated or sterilized.
Do not sterilize the entire package after the product is packed.