YASKAWA PG-F3 User manual

エンコーダインタフェース
（
EnDat, HIPERFACE 用）
安川インバータ1000シリーズオプション
取扱説明書
形 式 PG-F3
Motor Encoder Feedback
(EnDat, HIPERFACE) Interface
YASKAWA AC Drive 1000-Series Option
Installation Manual
Type: PG-F3
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
製品を安全にお使い頂くために，本書を必ずお読みください。
また，本書をお手元に保管していただくとともに，最終的に本製品をご使用になる
ユーザー様のお手元に確実に届けられるよう，お取り計らい願います。
MANUAL NO. TOBP C730600 51F

2YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual
Copyright © 2009 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. 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.

YASK AWA E L E C T R I C TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 3
Table of Contents
1 PREFACE AND SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 PRODUCT OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3 RECEIVING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4 OPTION COMPONENTS. . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
5 INSTALLATION PROCEDURE . . . . . . . . . . . . . . . . . . . . . . .11
6 RELATED PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7 TROUBLESHOOTING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
8 SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43

4YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual
1 Preface and Safety
1 Preface and Safety
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.
◆Applicable Documentation
The following manuals are available for the option:
Option
Yaskawa AC Drive 1000-Series Option
Motor Encoder Feedback
(EnDat/HIPERFACE) Interface
PG-F3 Installation Manual (This book)
Manual No: TOBPC73060051
Read this manual first.
The installation manual is packaged
with the option and contains
information required to install the
option and set up related drive
parameters.
Yaskawa Drive
Yaskawa AC Drive
1000-Series
Quick Start Guide
The drive manuals cover basic installation, wiring, operation
procedures, functions, troubleshooting, and maintenance
information.
The manuals also include important information about
parameter settings and drive tuning.
Access these sites to obtain Yaskawa instruction manuals:
U.S.: http://www.yaskawa.com
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
For questions, contact your local Yaskawa sales office or the
nearest Yaskawa representative.
Yaskawa AC Drive
1000-Series
Technical Manual
F3

1 Preface and Safety
YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 5
◆Terms and Abbreviations
◆Registered Trademarks
• EnDat is a trademark of DR. JOHANNES HEIDENHAIN GmbH.
• HIPERFACE is a trademark of SICK STEGMANN GmbH & Co., KG.
Trademarks are the property of their respective owners.
Note: Indicates supplemental information that is not related to safety messages
Drive: Yaskawa AC Drive 1000-Series
Option: Yaskawa AC Drive 1000-Series Option Motor Encoder Feedback (EnDat/HIPERFACE) Interface:
Type PG-F3
PG: Pulse Generator or Encoder mounted on the motor
V/f: V/f Control
V/f w/PG: V/f Control with PG
CLV: Closed Loop Vector Control
AOLV/PM: Advanced Open Loop Vector Control for PM
CLV/PM: Closed Loop Vector Control for PM

1 Preface and Safety
6YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual
◆Supplemental Safety Information
Read and understand this manual before installing, operating, or servicing this option. Install
the option according to this manual and local codes.
The following conventions indicate safety messages in this manual. Failure to heed these
messages could cause fatal injury or damage products and 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 an equipment damage message.

1 Preface and Safety
YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 7
■General Safety
General Precautions
• The diagrams in this book may include options and drives without covers or safety shields to
illustrate details. Be sure to reinstall covers or shields before operating any devices. Use the option
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 new copies of the manual, contact a Yaskawa representative or the nearest Yaskawa
sales office and provide the manual number shown on the front cover.
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.
NOTICE
Do not modify the drive or option circuitry.
Failure to comply could result in damage to the drive or option and will void warranty.
Yaskawa is not responsible for any modification of the product made by the user. This
product must not be modified.
Do not expose the drive or option to halogen group disinfectants.
Failure to comply may cause damage to the electrical components in the option.
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.

8YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual
2 Product Overview
2 Product Overview
◆About This Product
The PG-F3 Option allows the user to connect certain rotary encoders to applicable Yaskawa
drives. Suitable rotary encoders include either EnDat 2.1/01, EnDat 2.2/01, or EnDat 2.2/22
by HEIDENHAIN, or HIPERFACE by SICK STEGMANN.
The PG-F3 Option facilitates motor speed feedback to the drive and takes advantage of
Closed Loop Vector control for PM Motors. The option increases control accuracy and
performance.
An encoder signal allows the drive to compensate for subtle variations in the load, while
providing the drive with the necessary data to control the output frequency and maintain an
accurate constant speed.
The PG-F3 Option reads a maximum input frequency from the encoder of 20 kHz when
using EnDat 2.1/01, EnDat 2.2/01, or HIPERFACE. Be sure to select an encoder with an
output of maximum of 20 kHz when operating at maximum speed.
The maximum input frequency is not a concern when using EnDat 2.2/22 because
compatible encoder models utilize serial communication.
Set the drive motor control mode to operate in the Closed Loop Vector Control for PM
Motors when using the PG-F3 Option. Refer to the drive Technical Manual for details.
◆Applicable Models
The option can be used with the drive models in Table 1 .
Table 1 Applicable Models
Drive Series
<1> Only available in software version S1018 and later. The software version (PRG) is indicated on the nameplate
affixed to the side of the drive.
<2> EnDat 2.2/22 and HIPERFACE are available in drive software PRG:7016 and later.
Drive Model Number
A1000 All models <1>
L1000A All models <2>

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 9
3 Receiving
3 Receiving
Please perform the following tasks upon receiving the option:
• Inspect the option for damage. Contact the shipper immediately if the option appears
damaged upon receipt.
• Verify receipt of the correct model by checking the model number printed on the option
nameplate (Refer to Figure 1 on page 10 for more information).
• Contact your supplier if you have received the wrong model or the option does not
function properly.
◆Option Package Contents
◆Tools Required for Installation
• A Phillips screwdriver (M3 metric / #1, #2 U.S. standard size) is required to install the
option.
• A flat-blade screwdriver (blade depth: 0.4 mm, width: 2.5 mm) is required to wire the
option terminal block.
• A pair of diagonal cutting pliers.
• A small file or medium-grit sandpaper.
Note: Tools required to prepare option cables for wiring are not listed in this manual.
Description: Option Ground Wire Screws (M3) Installation Manual
–
Quantity: 1131
F3
F3
MANUAL

10 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual
4 Option Components
4 Option Components
◆PG-F3 Option
Figure 1
Figure 1 PG-F3 Option Components
◆Terminal Blocks TB1 and TB2
Refer to Table 8 and Table 9 on page 29 for details on TB1 and TB2 terminal functions and
signal levels.
A – Terminal block TB1 E – Installation hole
B – Terminal block TB2 F – Model number
C – Jumper for PG encoder power
supply voltage (CN3) <1>
G – Ground terminal and installation
hole <2>
<1> Refer to Table 5 on page 24 for details.
<2> The ground wires provided in the option shipping package must be connected during installation.
D – Connector (CN5)
G
E
A
F
CB
D
Underside
PG-F3
CN3
F3
IP b–b+B+ B–DTDTIG
TB1
TB2
IP IG CK CK A+ A– a+ a– FE
F3

YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 11
5 Installation Procedure
5 Installation Procedure
◆Section Safety
DANGER
Electric Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
Disconnect all power to the drive, wait at least the amount of time specified on the drive
front cover safety label. After all indicators are off, measure the DC bus voltage to
confirm safe level, and check for unsafe voltages before servicing. The internal capacitor
remains charged after the power supply is turned off.
WARNING
Electrical Shock Hazard
Do not remove the front covers of the drive while the power is on.
Failure to comply could result in death or serious injury.
The diagrams in this section may include options and drives without covers or safety
shields to show details. Be sure to reinstall covers or shields before operating any devices.
Use the option according to the instructions described in this manual.
Do not allow unqualified personnel to use equipment.
Failure to comply could result in death or serious injury.
Maintenance, inspection, and replacement of parts must be performed only by authorized
personnel familiar with installation, adjustment, and maintenance of this product.
Do not touch circuit boards while the power to the drive is on.
Failure to comply could result in death or serious injury.

5 Installation Procedure
12 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual
Do not use damaged wires, stress the wiring, or damage the wire insulation.
Failure to comply could result in death or serious injury.
Fire Hazard
Tighten all terminal screws to the specified tightening torque.
Loose electrical connections could result in death or serious injury by fire due to
overheating of electrical connections.
NOTICE
Damage to Equipment
Observe proper electrostatic discharge (ESD) procedures when handling the option,
drive, and circuit boards.
Failure to comply may result in ESD damage to circuitry.
Never shut the power off while the drive is running or outputting voltage.
Failure to comply may cause the application to operate incorrectly or damage the drive.
Do not operate damaged equipment.
Failure to comply may cause further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
Tighten all terminal screws to the specified tightening torque.
Failure to comply could result in damage to the terminal block.
Do not use unshielded cable for control wiring.
Failure to comply may cause electrical interference resulting in poor system performance.
Use shielded twisted-pair wires and ground the shield to the ground terminal of the drive.
WARNING

5 Installation Procedure
YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 13
Properly connect all pins and connectors.
Failure to comply may prevent proper operation and possibly damage equipment.
Check wiring to ensure that all connections are correct after installing the option
and connecting any other devices.
Failure to comply may result in damage to the option.
NOTICE

5 Installation Procedure
14 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual
◆Prior to Installing the Option
Prior to installing the option, wire the drive, make the necessary connections to the drive
terminals, and verify that the drive functions normally. Refer to the Quick Start Guide
packaged with the drive for information on wiring and connecting the drive.
Figure 2 shows an exploded view of the drive with the option and related components for
reference.
Figure 2
Figure 2 Drive Components with Option
A – Insertion point for CN5 G – Removable tabs for wire routing
B – Option card H – Ground wire
C – Included screws I – Drive grounding terminal (FE)
D – Front cover J – Connector CN5-A
E – Digital operator K – Connector CN5-B
F – Terminal cover L – Connector CN5-C
G
A
B
C
H
D
E
F
I
J
K
L

5 Installation Procedure
YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 15
◆Installing the Option
Refer to the instructions below to install the option.
1. Shut off power to the drive, wait the appropriate amount of time for voltage to
dissipate, then remove the digital operator (E), front cover (D), and terminal cover
(F). Refer to the Quick Start Guide packaged with the drive.
DANGER! Electrical Shock Hazard. Disconnect all power to the drive and wait at least the amount of time
specified on the drive front cover safety label. After all indicators are off, measure the DC bus voltage to
confirm safe level, and check for unsafe voltages before servicing to prevent electric shock. The internal
capacitor remains charged even after the power supply is turned off.
NOTICE: Damage to Equipment. Observe proper electrostatic discharge procedures (ESD) when handling
the option, drive, and circuit boards. Failure to comply may result in ESD damage to circuitry.
Figure 3
Figure 3 Remove the Front Cover, Terminal Cover, and Digital Operator
D
E
F

5 Installation Procedure
16 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual
2. Insert the option card (B) into the CN5-C (L) connector located on the drive and
fasten it into place using one of the included screws (C).
Figure 4
Figure 4 Insert the Option Card
K
J
L
A
B
C

5 Installation Procedure
YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 17
3. Connect the ground wire (H) to the ground terminal (I) using one of the remaining
screws (C). Connect the other end of the ground wire (H) to the remaining ground
terminal and installation hole on the option (B) using the last remaining provided
screw (C).
Figure 5
Figure 5 Connect the Ground Wire
Note: There are two screw holes on the drive for use as ground terminals (I). When connecting three
options, two ground wires will need to share the same drive ground terminal.
I
B
H
C

5 Installation Procedure
18 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual
4. Prepare and connect the wire ends as shown in Figure 6 and Figure 7. Refer to
Wire Gauges and Tightening Torques on page 28 to confirm that the proper
tightening torque is applied to each terminal. Take particular precaution to ensure
that each wire is properly connected and wire insulation is not accidentally pinched
into electrical terminals.
WARNING! Fire Hazard. Tighten all terminal screws according to the specified tightening torque. Loose
electrical connections could result in death or serious injury by fire due to overheating electrical connections.
Tightening screws beyond the specified tightening torque may result in erroneous operation, damage the
terminal block, or cause a fire.
NOTICE: Heat shrink tubing or electrical tape may be required to ensure that cable shielding does not
contact other wiring. Insufficient insulation may cause a short circuit and damage the option or drive.
Figure 6
Figure 6 Preparing Ends of Shielded Cable
Figure 7
Figure 7 Preparing and Connecting Cable Wiring
Insulation
Shield sheath
Shield
PG option terminal PG at moto
r
FE/SD
Ground Terminal
(Insulate with electrical tape
or shrink tubing)
F3
Option terminal block
Screwdriver blade size
about 5.5 mm (7/32”)
When not using crimped
insulated sleeves
Pull back the shielding and lightly twist the end
with fingers, keeping the ends from fraying.
To PG at motor
(do not solder ends)
Loosen the screws and
insert the wire into the
opening on the terminal block.
Blade depth of
0.4 mm or less
Blade width of
2.5 mm or less
F3

5 Installation Procedure
YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual 19
5. Wire the motor PG encoder to the terminal block on the option.
•Wiring EnDat 2.1/01 or EnDat 2.2/01 Encoders
Wire the motor PG encoder to the terminal block on the option using a HEIDENHAIN 17-
conductor cable. Refer to Figure 6 and Figure 7 for wiring instructions. Refer to
Figure 8 for the connection diagram.
The signal “Sensor Up”must be connected to terminal IP on the PG-F3 option for cables
longer than 10 m. Additionally, the “Sensor 0 V”must be connected to terminal IG. Refer
to Table 8 and Table 9 for a detailed description of the option terminal functions.
Connection Diagram
Figure 8 PG-F3 Option and PG Encoder Connection Diagram (EnDat 2.1/01, EnDat 2.2/01)
<1> Properly connect the cable shield to terminal IG on the option Terminal Block TB2 or remove the ground
connection on both ends.
<2> Ground the shield on the PG encoder side and the drive side. If noise problems arise in the PG encoder signal,
remove the shield ground from one end of the signal line or remove the shield ground connection on both ends.
0V
IP
IP
IG
IG
CN3
8V
5V
a–
M
CN5-C
YASKAWA
Drive
PG-F3
Option
U/T1
V/T2
W/T3
R/L1
S/L2
T/L3
FE
B+
B–
A–
A+
DT
DT
CK
CK
TB1,TB2
FE
a+
b+
b–
Cable
(by HEIDENHAIN)
EnDat 2.1/01,
EnDat 2.2/01
encoder
A pulse monitor signal
B pulse monitor signal
main circuit terminal control circuit terminal
<2>
Shielded cable <1>
Ground wire
F3

5 Installation Procedure
20 YASKAWA ELECTRIC TOBP C730600 51F 1000-Series Option PG-F3 Installation Manual
Table 2 PG Encoder Cable Specification (EnDat 2.1/01, EnDat 2.2/01)
Option Terminal PG Encoder Cable
Color PG Encoder Signal
IP Brown/Green Up
Blue Sensor Up
IG White/Green 0V
White Sensor 0V
CK Purple CLOCK
CK Yellow CLOCK
DT Gray DATA
DT Pink DATA
A+ Green/Black A+
A– Yellow/Black A–
B+ Blue/Black B+
B– Red/Black B–