YASKAWA CIMR-F7Z User manual

Vector Control Drive
Model: CIMR-F7Z
200V Class, 0.4~110kW (1.2~160kVA)
400V Class, 0.4~300kW (1.4~460kVA)
Software No.VSF107070
Application Software Instruction Manual
YEG_DMF001B
Software Title Crane Software
Software Version VSF 107070
Issued Date 16. April 2004
Product Name Varispeed F7Z
This is a Special Software for Yaskawa inverter Varispeed F7Z. It can be downloaded to a standard Varispeed F7Z
inverter to provide additional functions, which are described, attached. For all other functions please refer to the Instruction
Manual TOE-S616-55.1
To download this software, please use the download cable “UWR00468-1” between PC and the inverter and execute the
flash memory download program “ FlashWrite2000.EXE”.

Table of Contents
1. General Specifications 1
2. Specification Sheet 1
3. Connection Diagram 2
4. Changes with the Standard F7Z Drive 3
5. Test Run 32
6. Description of Additional Functions 33
7. Faults and Counter-Measures (for new and modified faults) 49
Appendix-1: How Parameters are Calculated 50
Appendix-2: Check Point 55
Appendix-3: Tuning Procedure 57
Appendix-4: Parameter Tables 59

1
1. General Specifications
The generalspecifications for the F7Z Crane Drive are based on the information found in the Varispeed F7ZManual,
EZZ009297.
(a) For information on how the digital operator works and how Auto-Tuning functions, refer to the Varispeed F7Z
Manual (EZZ009297).
(b) Any external sequence errors or parameter setting errors in the custom software installed into the crane drive are
sequence errors, namely SE1 through SE4. If such an error occurs, check the external sequence, or the values set to
parameters S1-01throughS1-15by referringto theformulas forparameter calculationin Appendix-1 and checking
external sequence in 6.1.5,“sequence checking Function”.
2. Specification Sheet
2.1 Drive Design/Construction
Varispeed F7Z (standard drive)
2.2 Possible Options
(1) Frequency Options (connected to 2CN)
DI-08
AI-14U
AI-14B
DI-16H2
(2) Speed Control Options (connected to 4CN)
PG-A2
PG-D2
PG-B2
PG-X2
2.3 Crane Drive
The software numbers for the F7Z Crane Drive and the standard model of the Varispeed F7Z are shown below:
(1) Software Number
Crane Custom Transistor Inverter Varispeed F7Z (Custom Model) Software Number: VSF107070
Example of Drive Nameplate:
400V 37KW
MODEL :CIMR-F7Z4037
SPEC :40370A
Nameplate

Emergency Main
out
in
MS MS
MC
FLT MS Main
MS Main Circuit Contractor
F Forward Command
R reverse Command
B Brake Contactor
BRX Brake Command
BX Brake Release Check
indicates twisted pair wireindicates shielded wireNote:
R
F
BRX
F
R
B
BR
Brake Self-Maitenance
Brake Command
REV Stop FWD
MB MC
9 10
B
Multi-Function
Analog Output
MB
IM
R
T
MC
R(L1)
S(L2)
T(L3)
F
R
External Fault
Fault Reset
Brake ReleaseCheck
Multi-Step Speed Cmd 1
ExtBB
When the External Baseblock signal
is closed, then BB is not performed.
BX
MS
2kΩ
2kΩ
p p
S1 FWD / Stop
S2 REV/ Stop
S3
S4
S5
S6
S7
S10
SC Sequence Common
(0V) Terminalis insulated
E(G) Shielded Wire
Connection Terminal
Multi-Function Terminal
+V
A1
A2
AC
0V
Fault relay Output
AC 250V 1A and under
DC30V 1A and under
FLT
BR Brake Command
(when closed, thebreakreleases)
AC250V 1A andunder
DC 30V 1A and under
MA
MB
MC
M1
M2
Analog Monitor 1
Analog Monitor 2
AF
AC
AM
3rdGround
U(T1)
V(T2)
W(T3)
B
B1 B22
?
Braking Resistor Unit (Option)
VarispeedG7
NotUsed
1
?
S
M3
M4
M5
M6
3. Connect
ion Diagram
2

3
4. Changes with the Standard F7Z Drive (parameter table included)
4.1 Changes made from the standard drive:
4.1.1 Function
Differences Between the Crane Drive and F7Z Standard Drive
Added Functions Deleted Functions Changed Functions
Brake Sequence and Brake
Signal Observation Function
Local/RemoteKey Function
Operations changed when an external BB command is input
during run (see section 6.9).
Run Command Tuning 3-Wire Mode
Impact Stop Function Timer Function
UV1 and UV2 detection are not executed during
performing
DC Braking (during initial excitation).
Swift Lift Function PID Control
Overload Detection Function
Speed Search Function
Parameter initial values and setting ranges
(refertoparameter
table 4.2 for more information) are changed.
Travel Limit Function Energy Saving Operation Function
Torque Control Mode
Name for parameter b2-
04 changed to "Stop Timer" when Flux
Vector Control Mode is selected.
Momentary Power Loss
Compensation Function
Fault Restart Function
Detection Function Speed Limit
Frequency Lower Limit Function
The following setting standard for the current level has been
changed from the inverter rating to the motor rating:
?b2-02 (DC Braking Current)
?L6-02, -05 (Overtorque Detection Level 1, 2)
Magnetic Field Weakening Motor 2 Switch Time Shortening
High Slip Braking
4.1.2 Parameter
The following parameter groups have been changed from the standard F7Z model.
Group Standard Drive Model Crane Drive Changes
A1 Environment Setting ←A1-01, -02, -03 setting range changed
b1 Operation Mode Selection ←b1-07, -08 deleted
b2 DC Braking ←b2-04 initial value and name changed (see p.6)
b3 Speed Search none Speed Search deleted
b4 Timer Function none Timer Function deleted
b5 PID Control none PID Control deleted
b6 Dwell Function none Dwell Function deleted
b8 Energy Saving Control none Energy Saving Control deleted
d5 Torque Reference none Torque Reference deleted
d6 Magnetic Field Weakening none Magnetic field control deleted
H1 Sequence Input ?H1-03~05, change in initial value (see p.4,p.13)
H2 Sequence Output ?H2-01, change in initial value (see p.4,p.13)
H6 Pulse Input/Output ?H6-01 setting range change
L2 Momentary Power Loss
Compensation none Momentary Power Loss Compensation deleted
L3 Stall Prevention Function ?L3-04, initial value changed (see p.15)
L5 Fault Restart none Fault Restart deleted
L6 Overtorque Detection none Overtorque detection deleted
L8 Hardware Protection ?L8-07 initial value changed (see p.16)
n3 High Slip Braking none High Slip Braking deleted
o1 Display Selection ?O1-05 deleted
o2 Operation (Key Function) ?O1-01 deleted
S1 none Brake Sequence Braking sequence added
S2 none Run Cmd Tuning Run Cmd Tuning added
S3 none Impact Stop Function Impact Stop Function added
S4 none Swift Lift Function Swift Lift Function added
S5 none Overload Detection Overload Detection added
S6 none Overtorque Detection Overtorque Detection add
U1 Monitor Contents ?U1-24，U36~38 deleted, U1-48 added

4
4.1.3 Multi-Function Input / Output Functions
The initial value for H1-xx and H2-xx in the F7Z Crane drive have been changed as shown below when
compared to the standard drive model:
Parameter No. Name Standard Drive Crane Drive
H1-01 Terminal S3Function 24 (External Fault) 24 (External Fault)
H1-02 Terminal S4Function 14 (Fault Reset) 14 (Fault Reset)
H1-03 Terminal S5Function (Multi-Step Speed Cmd 1) 3 0 (Brake Release Check)
H1-04 Terminal S6Function (Multi-Step Speed Cmd 2) 43 (Multi-Step Speed Cmd 1)
H1-05 Terminal S7Function (Jog Command Selection) 6 9 (External BB N.C.)
Parameter No. Name Standard Drive Crane Drive
H2-01 Terminal M1-
M2 Function
0 (During Run) 21 (Brake Release Command)
H2-02 Terminal M3-M4 Fu
nction
1 (Zero Speed) 1 (Zero Speed)
H2-03 Terminal M5-
M6 Function
2 (Frequency Agree) 2 (Frequency Agree)
Inadditionthefunctionslistedinsection4.1.1were addedordeleted. There are changesrelated sequence inputs
and outputs, the analoginput selection. For more information, see page 24.
4.1.4 Controls for Operating without a Brake Sequence
When operating the drive without a brake sequence, be sure to change the setting values of the following
parameters after initializing the drive.
Parameter Name Initial Value Value after Change Comments/Notes
S1-03 Brake Delay Frequency 3.0 0.0 Initial value in Flux Vector Control = 0.0
S1-04 Brake Lag Time 0.30 0.00 Initial value in Flux Vector Control = 0.00
S1-09 FWD Torque Forcing 50 0Only in Open Loop Vector
S1-14 Slip Prevention Freq 3.0 0.0 Initial value in Flux Vector Control = 0.0
S1-15 Slip Prevention Time 0.30 0.00 Initial value in Flux Vector Control = 0.00
S1-16 SE1 Detection Time 0.30 0.00
S1-17 SE2 Detection Time 1.00 0.00
S1-18 SE3 Detection Time 0.50 0.00
S1-19 SE4 Detection Time 0.50 0.00
NOTE: The Dwell Function in the standard model drive can be operated by using the start and stop times found in
parameters S1-03, -04, and S1-14, -15 respectively. Here,be sure tocheck that theBrakeRelease function has
not been set to one of the Multi-Function Inputs. The crane drive, however, differs from the standard model
drivewhenstopping inthatDwell operationswillbe activatedifthe outputfrequencyis below the value set in
S1-14.

5
4.2 Parameter Description
4.2.1 Parameter Table
Table4.2.1 Differences between the crane and standard drive.
Access Level
Note
Parameter
Group Group Name Function
No. Function Name Operator Display QA
Changes with
Standard Drive
A1 Environment Environment YY*3
AInitialization A2 User Parameter Setting User Parameter Setting Y
b1 Operation Mode Selection Operation Mode Selection YY*1
b2 DC Braking DC Braking Y*2
b3~b6 --Deleted
b7 Droop Control Droop Control Y
b8 --Deleted
bApplication
b9 Zero Servo Zero Servo Y
C1 Accel/Decel Time Accel/Decel YY
C2 S-Curve Characteristic S-curveAcc/Dec Y
C3 Slip Compensation Motor-Slip Comp Y
C4 Torque Compensation Torq Comp Y
C5 Speed Control (ASR) ASR Tuning Y
CTuning
C6 Carrier Frequency Carrier Freq YY
d1 Frequency Reference Preset Reference YY
d2 Frequency Limit Reference Limits Y
d3 Jump Frequency Jump Frequencies Y
d4 Sequence Sequence Y
dCommand
Related
d5, d6 --Deleted
E1 V/f Characteristic V/f Pattern YY
E2 Motor Parameter Motor Setup YY*4
E3 Motor 2Control Method Motor 2 Ctl Meth Y
EMotor Parameter
E4 Motor 2Parameter Motor “Setup Y
F1 PG Speed Control Card PG Option Setup YY
F2 Analog Command Card A1-14 Setup Y
F3 Digital Command Card DI-08, 16 Setup Y
F4 Analog Monitor Card AO-08, 12 Setup Y*3
F5 Digital Output Card DO-02 Setup Y
FOptions
F6 Communication Option Card DO-08 Setup Y
H1 Digital Input Digital Inputs Y
H2 Sequence Output Digital Output Y*2
H3 Analog Input Analog Inputs Y
H4 Analog Output Analog Outputs YY*3
H5 Memobus Comm. Serial Com Setup Y
HControl Circuit
Terminal
H6 Pulse Train Input/Output Pulse I/O Setup Y*3
L1 Motor Electronic Thermal
Overload Relay Motor Overload YY
L2 --Deleted
L3 Stall Prevention Stall Prevention YY*2 *4
L4 Frequency Detection Ref Detection Y
L5, L6 --Deleted
L7 Torque Limit Torque Limit Y
LProtection
L8 Hardware Protection Hdwe Protection Y*2
n1 Hunting Prevention Function Hunting Prev Y
n2 Speed Feedback Detection
(AFR) AFR Y
nSpecial Tuning
n3 --Deleted
o1 Display Setting / Selection Monitor Select Y*1 *3
o2 Multi-Function Selection Key Selections Y*1 *4oOperator o3 Copy Function COPY Function Y
S1 Brake Sequence Brake Sequence Y
S2 Run Command Tuning Sequence Timer Y
S3 Impact Stop Impact Stop Y
S4 Swift Lift Ultra Lift Y
S5 Overload Detection Over Weight Y
SCrane Sequence
S6 Overtorque Detection Over Torque Y
Added
Changes from Yaskawa’s Standard Drive:
*1: Deleted parameter.
*2: Parameter for which the initial value was changed.
*3: Change in the setting range.
*4: Added parameter.
Note:Regarding the Parameter Access Level:
Q : Quick-Start menu shows the parameter.
A : Advanced program menu shows the parameter

6
Table 4.2.2 Parameter Table (1)
Differences with Yaskawa's standard drives are marked with gray shading.
Parameter Access Level Note-2
Function
No. Parameter Name (Digital Operator
Display) Setting
Range Setting Units Factory Settings
Comments
Chan
ges
on
the
Fly V/f
V/f
w/P
GOLV
CLV
Memo
bus
Address
A1-00 Language Selection
(Select Language) 0,2~5 10,2~5 Note-1
0: English
2: German
3: French
4: Italian (some messages in English)
5: Spanish
YAAAA100H
A1-01 Access Level
(Access Level) 0~2 12
Selects which parameters are
accessible via the Digital Operator.
0: Operation Only
1: User Level (only available if A2
parameters have been set)
2: Advanced Level
YAAAA101H
A1-02 Control Method
Selection
(Control Method) 0~312
Note-1
Selects the Control Method of the
Drive.
0: V/fcontrol without PG
1: V/f control with PG
2: Open Loop Vector
3: Flux Vector (Closed Loop Vector)
NQQQQ102H
A1-03 Initialize Parameters
(Init Parameters) 0000~ 2220 10000
1110: User Initialize (The user must
first set their own parameter values
and then store them using parameter
o2-03.)
2220:2-Wire Initialization
NAAAA103H
A1-04 Password 1
(Enter Password) 0000~ 9999 10000 NAAAA104H
Initialization
A1-05 Password 2
(Select Password) 0000~ 9999 10000 NAAAA105H
User
Param.
A2-01
｜
A2-32
User Parameter 1
(thru 32)
(User Parameter 1 to
32) ---NAAAA106H
~125H
b1-01 Reference Selection
(Reference Source) 0~4 11
0: Digital Operator
1: Control Circuit Terminal
2: Memobus Communication
3: Option Card
4: Pulse Input
NQQQQ180H
b1-02 Operation Method
Selection
(Run Source) 0~3110: Digital Operator
1: Control Circuit Terminal
2: Memobus Communication
3: Option Card NQQQQ181H
b1-03 Stop Method Selection
(Stopping Method) 0~310
0: Ramp to Stop
1: Coast to Stop
2: DC Injection to Stop
3:Coast with Timer (A new run
command is ignored if received
before the timer expires).
NQQQQ182H
b1-04 Reverse Operation Selection
(Reverse Oper) 0~2 100: Reverse Enabled
1: Reverse Disabled
2: Exchange Phase -Change direction
of forward motor rotation. NAAAA183H
b1-05 Operation Selection
for Setting of E1-09or
less
(Zero-speed Oper) 0~310
Operation method when frequency
reference is less than minimum output
frequency set in E1-09.
0: Operates according to frequency
reference (E1-09 is disabled)
1: Output shuts off (coast to stop if less
than E1-09)
2: Operates according to E1-09
(frequency reference set to E1-09)
3: Zero speed (frequency reference of
zero is less than E1-09)
NNNNA184H
Mode of Operation
b1-06 Read Sequence Input
Twice
(Cntl Input Scans) 0,1 110: 2ms -2 scans (for quick response)
1: 5ms -2 scans (for noisy
environments) NAAAA185H
b2-01 Zero Speed Level (DC
Injection Braking
Staring Frequency)
(DC Inj Start Freq)
0.0~
10.0 0.1 Hz 0.5 NAAAA189H
b2-02 DC Injection Braking Current
(DC Inj Current) 0~100
1% 50 Sets the DC injection braking current as a percentage of the Drive rated
current. NAAAN18AH
b2-03 DC Injection Braking Time at Start
(DC Inj Time @Start)
0.00~
10.00 0.01 sec 0.00 NAAAA18BH
DC Injection Braking
Time at Stop
(DC Inj Time @Stop)
DC Injection Braking
b2-04 Stop Timer
(Stop Timer)
0.00~
10.00 0.01 sec 0.00
*
**
**Factory/default settings will vary
based on Control Mode (refer to
attached table).
**The lower frame will be displayed
when in Flux Vector Mode.
NAAAA18CH

7
b2-08 Magnetic Flux
Compensation Volume
(Field Comp) 0~
1000 1% 0Sets the magnetic flux compensation
as a percentage of the no-load current
value (E2-03). NNNAN190H
b7-01 Droop Control gain
(Droop Quantity) 0.0~ 100.0 0.1% 0.0 YNNAA1CAH
Droop Control
b7-02 Droop Control Delay Time
(Droop Delay Time) 0.03~
2.00 0.01 sec 0.05 YNNAA1CBH
Note-1: Not reset when the drive is initialized (models in Japan are set to A1-00 =1, while A1-02 =22 concerns the
Parameter Access
Level).
Note-2: Q: Quick-Start menu shows the parameters.
A:Advanced program menu shows the parameters.
N: Settings or changes are notpossible.
Table 4.2.2 Parameter Table (2)
Parameter Access Level Note-2
Function
No. Parameter Name (Digital Operator
Display) Setting
Range Setting Units Factory Settings
Comments
Chan
ges
on
the
Fly V/f
V/f
w/P
GOLV
CLV
Memo
busAddress
b9-01 Zero Servo Gain
(Zero Servo Gain) 0~100 15NNNNA1DAH
Zero Servo
b9-02 Zero Servo
Completion Width
(Zero Servo Count)
0~
16383 110 NNNNA1DBH
C1-01 Acceleration Time 1
(Accel Time 1) YQQQQ200H
C1-02 Deceleration Time 1
(Decel Time 1) YQQQQ201H
C1-03 Acceleration Time 2
(Accel Time 2) YAAAA202H
C1-04 Deceleration Time 2
(Decel TIme 2) YAAAA203H
C1-05 Acceleration Time 3
(Accel Time 3) NAAAA204H
C1-06 Deceleration Time 3
(Decel Time 3) NAAAA205H
C1-07 Acceleration Time 4
(Accel TIme 4) NAAAA206H
C1-08 Deceleration Time 4
(Decel Time 4) NAAAA207H
C1-09 Emergency Stop
Time
(Fast Stop Time)
0.0~
6000.0
*
0.1
sec 10.0
Setsthetimetoacceleratefromzero
to maximum frequency when
selectedviaaMulti-Function Input.
*The acceleration/deceleration
setting range will vary based on the
units selected in C1-10. If C1-10 is
set to zero, then the setting range for
theAccel/decel time will be 0.00 to
600.00sec.
NAAAA208H
C1-10 Accel/Decel Time
Setting Units
(Acc/Dec Units) 0, 1110: Units of 0.01sec.
1: Units of 0.1sec. NAAAA209H
Acceleration / Deceleration Time
C1-11 Accel/Decel Time
SwitchingFrequency
(Acc/Dec SW Freq) 0.0~
400.0 0.1 Hz 0.0 NAAAA20AH
C2-01 S-Curve
Characteristic Time
atAcceleration Start
(SCrv Acc@ Start)
0.00~
2.50 0.01 sec 0.20 NAAAA20BH
C2-02 S-Curve
Characteristic Time
atAcceleration End
(SCrv Acc @ End)
0.00~
2.50 0.01 sec 0.20 NAAAA20CH
C2-03 S-Curve
Characteristic Time
at Deceleration Start
(SCrv Dec @ Start)
0.00~
2.50 0.01 sec 0.20 NAAAA20DH
S-Curve Characteristics
C2-04 S-Curve
Characteristic Time
at Deceleration End
(SCrv Dec @ End)
0.00~
2.50 0.01 sec 0.00 NAAAA20EH
C3-01 Slip Compensation
Gain
(Slip Comp Gain) 0.0~
2.5 0.1 1.0 **Factory/default settings will vary
based on Control Mode (refer to
attached table). YANAA20FH
C3-02 Slip Compensation
Primary Delay Time
(Sllip Comp Time)
0~
10000 1 ms 200 **Factory/default settings will vary
based on Control Mode (refer to
attached table). NANAN210H
C3-03 Slip Compensation
Limit
(Slip Comp Limit)
0~
250 1% 200 NANAN211H
Slip Compensation
C3-04 Slip Compensation
Selection During
Regeneration
(Slip Comp Regen) 0,1 10Determines whether slip
compensation is enabled or disabled
during regeneration.
0: Disabled 1: Enabled NANAN212H