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  9. YASKAWA Varispeed G7 User manual

YASKAWA Varispeed G7 User manual

Electronic Lineshaft
with Alignment
G7 Drive Software
Technical Manual
Software Number: VSG13311X, Drive Models: CIMR-G7UXXXXXX-064, CIMR-G7UXXXXXX-065
Document Number: TM.G7SW.064, Date: 03/31/09, Rev: 09-03
Date: 03/31/09, Rev: 09-03 Page 2 of 30 TM.G7SW.064
This document is intended to provide proper installation and use of the Yaskawa drive with custom software. This
document is a supplement to the standard drive technical manual. It describes the effects on the drive parameters
and functions with the software installed. Read and understand this document and the standard drive technical
manuals before attempting to install, adjust, operate, inspect, or maintain the drive. Observe all cautions and
warnings in this document and the standard drive technical manuals. Custom software is written to add
functionality to a standard AC drive to enhance or enable use in a specific application. The software is loaded to
the flash ROM area of the control board, and replaces the standard drive software. Custom software can add new
functions, modify standard functions, or even inhibit standard functions. It can be used to modify display text or
parameter names. Custom software is usually loaded to the drive before delivery. The control board and drive
nameplate are assigned unique part numbers and the software is registered, archived, and retrievable.
When seeking support for a drive with custom software, it is imperative to provide the unique part number shown
on the drive nameplate. The software has been flashed to the control board memory and the operation of
parameters, functions, and monitors are different than the standard drive software, as described herein.
1.0 Overview
The Electronic Lineshaft (ELS) function allows a drive to precisely follow a master encoder (PG) signal in
speed, direction, and phase. The follower can match its position (phase angle) to the master within several
quadrature encoder counts. The function is used in applications where the machinery being driven requires
two mechanically isolated, moving parts to maintain a constant position relationship. The gear ratio between
the master and the follower is infinitely adjustable. In addition, a gear ratio adjustment (“draw”) can be added
to the speed reference via parameter, analog input, multi-function input, MOP, or network communication.
The drive can also be run in a pure speed follower mode for applications that do not require matched position,
only velocity following.
Both the master and follower encoder signals are fed into the follower drive’s dual encoder (PG) option card.
The master encoder speed is multiplied by the programmed gear ratio to determine the speed reference. The
error between the master and follower position is determined. This is fed into a PI controller, which is in turn
added to the previously calculated speed reference. When the drive is configured as a speed follower, the
position regulator is disabled.
A signed-run mode is also available in ELS. When P1-01 = 5 (Electronic Line Shaft - Sign Run), ELS
functions identically to standard ELS (P1-01 = 4), with the following difference:
•When a reverse run command is given through the terminal S2 digital input, the follower will match the
velocity and phase of the master, but in the opposite direction. If the master runs in the forward direction,
the follower will run in reverse direction. If the master runs in the reverse direction, the follower will run in
the forward direction.
•When a forward run command is present through terminal S1, the follower will run in the same direction is
the master.
The Alignment function allows the follower drive to maintain a phase angle with respect to 2 alignment inputs
(can be sensors or encoder marker pulses). The phase angle, quantified as the Displacement in follower
encoder counts, can be adjusted during run either through keypad, digital multi-function inputs, or network
communication. The phase angle is maintained by monitoring alignment inputs (pulses) from both the master
alignment input and follower alignment input and then measuring the follower encoder counts received
between the two alignment pulses.
The Alignment function is enabled through the Align by Pulse multi-function digital input. When enabled, the
drive will monitor the Z (marker) channel inputs on any of the dual channel encoder option cards.
Please note that the alignment inputs need not come directly from encoder marker pulse channels. However,
special external circuitry may be required to support other input types, such as proximity sensors. Also, the
inputs do not have to be of the same type. Refer to Section 3.0 (Limitations) for application details.
Figures 1 ~ 3 below give overview to the Electronic Lineshaft and Alignment functions.
Date: 03/31/09, Rev: 09-03 Page 3 of 30 TM.G7SW.064
Figure 1: Simplified Block Diagram of the Electronic Lineshaft Function
Figure 2: Typical Connection Diagram of the Alignment Function
Gear
Calculation
Gear
Calculation
Master Encoder
Speed
Master Encoder
Pulse Count
Follower Encoder
Pulse Count
+
-
+
+
PI
Controller
Frequency
Reference
ELS Mode Enabled OR
ELS – Sign Mode
Enabled
Position Error
Accumulator
Speed Calculation
Position Regulator
ELS – Sign Mode Enabled
AND Reverse Run Command
ELS – Sign Mode Enabled
AND Reverse Run Command
G7 w/ ELS
PG-W2
Ch 1
Gear Box
Motor
A
, B
Follower
Encoder
Feedback
Z
Alignment
Input
A
, B, Z
Ch 2
Proximity
Sensor for
Follower
Master
Encoder
Feedback
ith Marker
Pulse for
Master
Follower
Machine w
Alignment
Section Master
Machine
Input Section
Date: 03/31/09, Rev: 09-03 Page 4 of 30 TM.G7SW.064
Master Drive
G7
G7
G7
PG-X2
PG-W2
M
M
PG
M
PG
.
.
.
Follower Drive n
Input Channel
Pulse
Monitor Output
Channel 2 Input
Pulse
Monitor Output
Channel 1 Input
Channel 1 Input
Channel 2 Input
PG
PG-W2
Follower Drive 1
.
.
.
Figure 3: Typical Connection Diagram for Basic Electronic Lineshaft
Date: 03/31/09, Rev: 09-03 Page 5 of 30 TM.G7SW.064
2.0 Changes from Standard Product
a. The Motor 2 Selection (H1-0X = 16) multi-function digital input function is deleted (only Motor 1 can be
used).
b. The kWh monitors (U1-29 and U1-30) are deleted.
c. Parameter E2-04 (Motor Poles) is available in all control modes (Advanced access level only for V/f and
Open Loop Vector).
d. The “User” access level and all of the associated “A2” parameters are deleted.
e. The follower drive uses acceleration and deceleration times of zero during standard Electronic Line Shaft
(P1-01 = 4, 5) and the Alignment function.
3.0 Limitations
a. For ELS modes (P1-01 = 4, 5), Flux Vector control mode must be used (A1-02 = 3).
b. For ELS modes (P1-01 = 4, 5), the gear ratio must be exactly expressed, including remainder, to prevent
phase drift (error). See section 5.0.
c. The Alignment function is available in Flux Vector control mode only (A1-02 = 3) and when P1-01 = 4 or 5
(ELS modes).
d. The Alignment function is only available in the forward direction.
e. The Alignment function is disabled when the motor speed is less than the DC Injection
Frequency (B2-01).
f. The alignment pulse from the master and the alignment pulse from the slave must be at a 1:1 ratio (the
software requires one follower alignment pulse for every one master alignment pulse).
g. The master alignment pulse must occur exactly once per master encoder revolution.
h. The proper encoder (PG) option card must be used based on the control mode and follower mode
selection. The table below shows the supported option cards for each configuration.
Encoder (PG) Option Card Selection
Control Mode P1-01 = 1, 2, 3 (Speed Follower) P1-01 = 4, 5 (ELS)
V/f PG-B2, PG-T2, PG-X2, PG-W2, PG-Y2, PG-Z2
V/f w/ PG PG-W2, PG-Y2, PG-Z2
Open Loop Vector PG-B2, PG-T2, PG-X2, PG-W2, PG-Y2, PG-Z2
Flux Vector PG-W2, PG-Y2, PG-Z2
PG-W2, PG-Y2, PG-Z2
Note: If the PG-W2 option is used, jumper HDR1 must be set to the “top” position
(using the 2 pins closest to the 4CN connector).
Date: 03/31/09, Rev: 09-03 Page 6 of 30 TM.G7SW.064
4.0 Related Parameters and Functions
4.1 Parameters
Control Mode *1
Parameter
Number
Modbus
Address
Parameter Name
Digital Operator
Display
Description
Range
Default
Change During
Run
V/f
V/f w/ PG
Open Loop
Vector 1, 2
Flux Vector
P1-01 600H
Follower Mode
Selection
Follower Mode
Selects the follower mode.
0: Disabled
Follower mode is disabled
and the follower drive runs
from the normal frequency
reference (B1-01).
1: Speed – Both Dir
The follower drive follows
the master encoder speed
in both directions.
2: Speed – One Dir
The follower drive follows
the master encoder speed
in the direction of the run
command only.
3: Speed – Abs Val
The follower drive follows
the master encoder speed
but ignores the master
encoder direction (motion is
always in the direction of
the run command).
4: Elec Line Shaft
The follower drive follows
the master encoder speed
and position (both
directions). Terminals S1 or
S2 can be used to issue the
run command. There is no
directional effect.
5: ELS – Sign Run
The follower drive follows
the master encoder speed
and position (both
directions). When a forward
run command is present
(terminal S1), the drive
follows the master in the
same direction. When a
reverse run command is
present (terminal S2), the
drive follows in the opposite
direction of the master.
Note: Settings 4 and 5 are
available only in the Flux
Vector Mode (A1-02 = 3).
0 ~ 5 0 No Q Q Q Q
*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”, – = Not Available.
Date: 03/31/09, Rev: 09-03 Page 7 of 30 TM.G7SW.064
4.1 Parameters (continued)
Control Mode *1
Parameter
Number
Modbus
Address
Parameter Name
Digital Operator
Display
Description
Range
Default
Change During
Run
V/f
V/f w/ PG
Open Loop
Vector 1, 2
Flux Vector
P1-02 601H
Master Encoder
PPR
Master PG PPR
Sets the pulses per revolution
(PPR) of the master encoder
(PG).
20 ~
60,000
Pulses
1024 No Q Q Q Q
P1-03 602H
Ratio Numerator
(Upper 4 Digits)
Ratio Num High
Sets the upper 4 digits of the
primary gear ratio numerator.
See section 5.1.
0 ~
9999 1000 Yes Q Q Q Q
P1-04 603H
Ratio
Denominator
(Upper 4 Digits)
Ratio Den High
Sets the upper 4 digits of the
primary gear ratio
denominator. See section 5.1.
0 ~
9999 1000 Yes Q Q Q Q
P1-05 604H
Ratio Numerator
(Lower 4 Digits)
Ratio Num Low
Sets the lower 4 digits of the
primary gear ratio numerator.
See section 5.1.
0 ~
9999 0 Yes A A A A
P1-06 605H
Ratio
Denominator
(Lower 4 Digits)
Ratio Den Low
Sets the lower 4 digits of the
primary gear ratio
denominator. See section 5.1.
0 ~
9999 0 Yes A A A A
P1-07 606H
Ratio 2
Numerator
Ratio 2 Num
Sets the numerator of the
secondary gear ratio. Active
when a multi-function digital
input is set to 81 (Ratio 2
Select) and the input is closed.
1 ~
65,535 1 Yes A A A A
P1-08 607H
Ratio 2
Denominator
Ratio 2 Den
Sets the denominator of the
secondary gear ratio. Active
when a multi-function digital
input is set to 81 (Ratio 2
Select) and the input is closed.
1 ~
65,535 1 Yes A A A A
P1-09 608H
Position Error
Accumulation
Selection
Pos Accum
Select
Selects when the position error
accumulator is enabled in the
follower drive.
0: Only During Run
Position error is only
calculated when the
follower drive is running.
1: Always
Position error is calculated
whenever power is applied
to the follower drive.
Note: ELS modes only.
0 ~ 1 0 No – – – A
*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”, – = Not Available.
Date: 03/31/09, Rev: 09-03 Page 8 of 30 TM.G7SW.064
4.1 Parameters (continued)
Control Mode *1
Parameter
Number
Modbus
Address
Parameter Name
Digital Operator
Display
Description
Range
Default
Change During
Run
V/f
V/f w/ PG
Open Loop
Vector 1, 2
Flux Vector
P1-10 609H
Position Units
Selection
Position Units
Selects the units used for the
follower drive Position Error
Monitor (U1-96).
0: Encoder Counts
Position error is displayed in
quadrature follower encoder
counts (cts).
1: Motor Revs
Position error is displayed in
follower motor revolutions
(0.001rev).
2: Motor Degrees
Position error is displayed in
follower motor degrees
(0.1°).
3: Motor Radians
Position error is displayed in
follower motor radians
(0.001rad).
Note: ELS modes only.
0 ~ 3 0 Yes – – – A
P2-01 60AH
Digital Ratio
Adjustment
Digital RatioAdj
Sets the digital gear ratio
adjustment of the follower
drive. The gear ratio
adjustment is also influenced
by the analog, MOP and
communication gear ratio
adjustments.
-99.99
~
+99.99
%
0.00 Yes A A A A
P2-02 60BH
MOP Adjust Time
MOP Adjust
Time
Sets the time for the MOP ratio
adjustment to change by
100.00% when the MOP
Adjust Increase or MOP Adjust
Decrease multi-function input
is closed.
0.0 ~
6000.0
sec
50.0 Yes A A A A
P2-03 60CH
Gear Ratio
Adjustment Ramp
Time
Ratio Adj Ramp
Sets the time for the composite
gear ratio adjustment of the
follower drive to change by
100.00%.
0.0 ~
6000.0
sec
10.0 Yes A A A A
*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”, – = Not Available.
Date: 03/31/09, Rev: 09-03 Page 9 of 30 TM.G7SW.064
4.1 Parameters (continued)
Control Mode *1
Parameter
Number
Modbus
Address
Parameter Name
Digital Operator
Display
Description
Range
Default
Change During
Run
V/f
V/f w/ PG
Open Loop
Vector 1, 2
Flux Vector
P2-04
60DH
Advance/Retard
Mode Selection
Adv/Ret Mode
Sel
Selects the advance/retard
functionality of the follower
drive.
0: Continuous
The follower will advance or
retard continuously while
the Advance Follower or
Retard Follower multi-
function input is closed. P2-
05 sets amount of
advance/retard encoder
counts per second.
1: Step
The follower will advance or
retard by the amount set in
parameter P2-05 each time
the Advance Follower or
Retard Follower multi-
function input is closed.
Note: ELS modes only.
0 ~ 1 0 No – – – A
P2-05 60EH
Advance/Retard
Amount
Adv/Ret Amount
Sets the number of quadrature
follower encoder counts the
follower will advance/retard per
second when P2-04 = 0. Sets
the step amount of the
advance/retard function when
P2-04 = 1.
Note: ELS modes only.
0 ~
65,535
Counts
2048 Yes – – – A
P2-06 60FH
Follower
Deviation Level
Follower Dev Lvl
Sets the amount of position
error in quadrature follower
encoder counts that will
activate the follower deviation
detection. Also sets the
scaling for the Position Error
analog output selection (H3-
05, H3-09 = 94).
Note: ELS modes only.
0 ~
65,535
Counts
4096 No – – – A
*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”, – = Not Available.
Date: 03/31/09, Rev: 09-03 Page 10 of 30 TM.G7SW.064
4.1 Parameters (continued)
Control Mode *1
Parameter
Number
Modbus
Address
Parameter Name
Digital Operator
Display
Description
Range
Default
Change During
Run
V/f
V/f w/ PG
Open Loop
Vector 1, 2
Flux Vector
P2-07 610H
Follower
Deviation
Selection
Follower Dev Sel
Selects the follower drive
action when the position error
exceeds the P2-06 setting.
0: No Detection
The drive continues to run.
1: Alarm
The drive continues to run
and an FDEV alarm flashes
on the digital operator.
2: Fault (Coast to Stop)
The FDEV fault is
displayed, the drive fault
contact is activated, and the
motor coasts to a stop.
0 ~ 2 2 No – – – A
P2-08 611H
Encoder (PG)
Monitor Channel
Selection
PG Mon Ch
Select
Selects which input encoder
signal is sent to the PG
monitor output when using a
dual channel PG option card
(PG-W2, PG-Y2, or PG-Z2).
0: Channel 1
Encoder 1 is sent to the
monitor output.
1: Channel 2
Encoder 2 is sent to the
monitor output.
0 ~ 1 1 Yes A A A A
P2-09 612H
MOP Adjustment
Memorization at
Power Off
MOP Mem @
Pwr Off
Determines if the MOP gear
adjustment is memorized when
the follower drive loses power.
0: Disabled
MOP adjustment is not
memorized at power down.
1: Enabled
MOP adjustment is
memorized at power down.
0 ~ 1 0 No A A A A
P3-01 614H
Position P Gain
Position P Gain
Sets the proportional gain of
the position regulator PI loop.
Note: ELS modes only.
0.00 ~
100.00 5.00 Yes – – – A
P3-02 615H
Position I Time
Position I Time
Sets the integral time of the
position regulator PI loop.
Note: ELS modes only.
0.00 ~
50.00
sec
0.00 Yes – – – A
*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”, – = Not Available.
Date: 03/31/09, Rev: 09-03 Page 11 of 30 TM.G7SW.064
4.1 Parameters (continued)
Control Mode *1
Parameter
Number
Modbus
Address
Parameter Name
Digital Operator
Display
Description
Range
Default
Change During
Run
V/f
V/f w/ PG
Open Loop
Vector 1, 2
Flux Vector
P3-03 616H
Position
Regulator Filter
Time
Pos Filter Time
Sets the filter time of the
position regulator output. This
is a first order lag filter.
Note: ELS modes only.
0.00 ~
1.50
sec
0.00 Yes – – – A
P3-04 617H
Position PI Limit
Pos PI Limit
Sets the limit (+/-) of the
position regulator output. Set
as a percentage of the
maximum output frequency
E1-04.
Note: ELS modes only.
0.00 ~
10.00
%
8.00 Yes – – – A
P3-05 618H
Position
Regulator Trim
Mode
Pos Trim Mode
Selects how the position
regulator output is used to trim
the follower drive speed
reference (master encoder
frequency).
0: Constant
The position regulator
output is independent of the
master encoder speed
reference.
1: Speed Prop
The position regulator
output is proportional to the
master encoder speed
reference.
Note: ELS modes only.
0 ~ 1 0 Yes – – – A
P3-06 619H
Speed
Proportional
Position Trim
Lower Limit
SpdProp
LowerLim
Sets the lower limit of the
position regulator trim when
P3-05 = 1.
0.00 ~
100.00
%
10.00 Yes – – – A
P3-07 61AH
Ratio Change
Speed Agree
Width
RatioChg
SpdAgrF
Sets the frequency width used
to determine “Speed Agree”
when the drive is accelerating
or decelerating due to one of
the following:
Gear ratio change
Change in state of the
Follower Disable multi-
function input
Change in state of the run
command
0.0 ~
20.0
Hz
0.5 Yes – – – A
*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”, – = Not Available.
Date: 03/31/09, Rev: 09-03 Page 12 of 30 TM.G7SW.064
4.1 Parameters (continued)
Control Mode *1
Parameter
Number
Modbus
Address
Parameter Name
Digital Operator
Display
Description
Range
Default
Change During
Run
V/f
V/f w/ PG
Open Loop
Vector 1, 2
Flux Vector
P4-01 106H
Initial Alignment
Displacement
Init Align Displ
Sets the initial value that will
be loaded into the
Displacement Reference
Register.This is set in
quadrature follower encoder
counts. The value of this
parameter will be loaded into
the register on drive power up
and anytime this parameter is
changed. This value is ignored
when a non-zero value is
written to the Displacement
network communication
register. See section 4.6.
Note: ELS modes only.
1 ~
65,535
Counts
1 Yes – – – A
P4-02 107H
Alignment
Tolerance
Align Tolerance
Sets the amount the amount of
displacement error (U1-94
minus U1-95) and position
error (U1-96) that constitutes
being in alignment. This is set
in quadrature follower encoder
counts. The “In Alignment”
multi-function digital output
(H2-0X = 41) will close when
the displacement error and the
position error is less than P4-
02.
Note: ELS modes only.
0 ~
65,535
Counts
20 Yes – – – A
P4-03 108H
Max Corrections
per Revolution
Max
Correctn/Rev
Sets the maximum amount of
displacement error that can be
corrected by the follower drive
each time the master and
follower alignment pulses are
read. This is set in quadrature
follower encoder counts.
Note: ELS modes only.
Note: Setting this parameter to
a large value could result in
possible machine damage.
0 ~
65,535
Counts
40 Yes – – – A
*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”, – = Not Available.
Date: 03/31/09, Rev: 09-03 Page 13 of 30 TM.G7SW.064
4.2 Monitors (U1-XX)
Control Mode *1
Monitor Number
Modbus Address
Monitor Name
Digital Operator
Display
Description
Scaling for
Multi-
function
Analog
Output
Terminals
FM and AM
(H4-01, H4-
04)
Unit
V/f
V/f w/ PG
Open Loop
Vector 1, 2
Flux
Vector
U1-56 079H
Master Marker
Frequency
Master Marker Fq
Displays the frequency
of the master alignment
input pulse.
Note: This monitor
should be used for
testing and debugging
only, not for
measurement.
Note: ELS modes only.
N/A Hz – – – Q
U1-57 07AH
Slave Marker
Frequency
Slave Marker Fq
Displays the frequency
of the follower marker
alignment input pulse.
Note: This monitor
should be used for
testing and debugging
only, not for
measurement.
Note: ELS modes only.
N/A Hz – – – Q
U1-58 079H
Master
Counts/5ms
Master Cts/5ms
Displays the number of
quadrature encoder
counts per 5ms scan
from the master drive.
Note: ELS modes only.
Note: This monitor is
should be used only to
confirm that encoder
counts are being
received.
100% =
Counts/5ms
at Maximum
Output
Frequency
(E1-04)
Counts - - - Q
U1-59 07AH
Slave Counts/5ms
Slave Cts/5ms
Displays the number of
quadrature encoder
counts per 5ms scan
from the follower drive.
Note: ELS modes only.
Note: This monitor
should be used only to
confirm that encoder
counts are being
received.
100% =
Counts/5ms
at Maximum
Output
Frequency
(E1-04)
Counts - - - Q
Date: 03/31/09, Rev: 09-03 Page 14 of 30 TM.G7SW.064
Control Mode *1
Monitor Number
Modbus Address
Monitor Name
Digital Operator
Display
Description
Scaling for
Multi-
function
Analog
Output
Terminals
FM and AM
(H4-01, H4-
04)
Unit
V/f
V/f w/ PG
Open Loop
Vector 1, 2
Flux
Vector
U1-90 720H
Master Encoder
Reference
Master PG Fref
Displays the frequency
of the master encoder
before gear ratios and
MOP gains are applied.
100% =
Maximum
Output
Frequency
(E1-04)
0.1
Hz Q Q Q Q
U1-91 721H
Follower
Reference After
Gear Ratio
Fref After Gear
Displays the frequency
of the master encoder
after the active gear
ratio (P1-03 ~ P1-08) is
applied.
100% =
Maximum
Output
Frequency
(E1-04)
0.1
Hz Q Q Q Q
U1-92 722H
Gear Ratio
Adjustment
Gear Ratio Adj
Displays the total gear
ratio adjustment (sum of
digital, analog, MOP and
communication
adjustments).
100% =
100.00% 0.01% Q Q Q Q
U1-93 723H
Follower
Reference After
Gear Ratio
Adjustment
Fref After Adj
Displays the frequency
from the master encoder
after the digital, analog,
MOP and network
communication gear
ratio adjustments are
applied.
100% =
Maximum
Output
Frequency
(E1-04)
0.1
Hz Q Q Q Q
U1-94 724H
Displacement
Reference
Displacement
Ref
Displays the current
Displacement Reference
value in quadrature
follower encoder counts.
Note: ELS modes only.
N/A Counts – – – Q
U1-95 725H
Displacement
Feedback
Displacement Fb
Contains the last
displacement measured
between the master and
follower alignment
inputs in quadrature
follower encoder counts.
Updated once per
master alignment input
after the follower
alignment input has
been detected.
Note: ELS modes only.
N/A Counts – – – Q
*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”, – = Not Available.
Date: 03/31/09, Rev: 09-03 Page 15 of 30 TM.G7SW.064
4.2 Monitors (U1-XX) (continued)
Control Mode *1
Monitor Number
Modbus Address
Monitor Name
Digital Operator
Display
Description
Scaling for
Multi-
function
Analog
Output
Terminals
FM and AM
(H4-01, H4-
04)
Unit
V/f
V/f w/ PG
Open Loop
Vector 1, 2
Flux
Vector
U1-96 726H
Position Error
Position Error
Displays the position
error between the
master and follower
encoders in quadrature
follower encoder counts.
Note: ELS modes only.
100% =
Maximum
Output
Frequency
(E1-04)
1
Count
*2
– – – Q
*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”, – = Not Available.
*2: Unit is dependent on the setting of the Position Units Selection (P1-10). When the position error is greater
than the maximum value that can be displayed, the digital operator will flash “OVER” in place of the U1-96 data.
When reading by network communication (register 726H), the unit is fixed at quadrature encoder counts.
4.2 Monitors (U1-XX) (continued)
Control Mode *1
Monitor Number
Modbus Address
Monitor Name
Digital Operator
Display
Description
Scaling for
Multi-
function
Analog
Output
Terminals
FM and AM
(H4-01, H4-
04)
Unit
V/f
V/f w/ PG
Open Loop
Vector 1, 2
Flux
Vector
U1-97 727H
Position Regulator
P Output
Position P Out
Displays the
proportional gain
contribution of the
position PI regulator.
Note: ELS modes only.
100% =
Maximum
Output
Frequency
(E1-04)
0.01% – – – Q
U1-98 728H
Position Regulator
I Output
Position I Out
Displays the output of
the integrator of the
position PI regulator.
Note: ELS modes only.
100% =
Maximum
Output
Frequency
(E1-04)
0.01% – – – Q
U1-99 729H
Position Regulator
PI Output
Position PI Out
Displays the output of
the position PI regulator.
Note: ELS modes only.
100% =
Maximum
Output
Frequency
(E1-04)
0.01% – – – Q
*1: Access Level (A1-01): Q = “Quick Start”, A = “Advanced”, F = “Factory”, – = Not Available.
Date: 03/31/09, Rev: 09-03 Page 16 of 30 TM.G7SW.064
4.3 Multi-function Digital Input Settings (H1-XX)
Control Mode *1
Setting Name
Description
V/f
V/f w/ PG
Open Loop
Vector 1, 2
Flux Vector
80
Follower Disable
Closed: Follower mode (P1-01) is disabled and the follower drive will follow
the normal frequency reference (based on B1-01 setting) and use the
selected Accel/Decel times.
√√√√
81
Ratio 2 Select
Closed: Gear Ratio 2 (P1-07 and P1-08) is selected. When in either ELS
mode (P1-01 = 4 or 5), the follower drive will clear its position error and
follow the C1-03 and C1-04 Accel/Decel times to ramp to the new ratio.
Upon reaching speed agree, the position loop will re-enable.
√√√√
82
Advance Follower
Closed: Follower position is advanced relative to the master encoder. No
position error is accumulated. See P2-04 and P2-05.
Note: ELS modes only.
√√√√
83
Retard Follower
Closed: Follower position is retarded relative to the master encoder. No
position error is accumulated. See P2-04 and P2-05.
Note: ELS modes only.
√√√√
*1: √= Available, – = Not Available.
Date: 03/31/09, Rev: 09-03 Page 17 of 30 TM.G7SW.064
4.3 Multi-function Digital Input Settings (H1-XX) (continued)
Control Mode *1
Setting Name
Description
V/f
V/f w/ PG
Open Loop
Vector 1, 2
Flux Vector
84 MOP Adjust Increase
Closed: The MOP ratio adjustment is increased. See P2-02 and P2-09. √√√√
85 MOP Adjust Decrease
Closed: The MOP ratio adjustment is decreased. See P2-02 and P2-09. √√√√
86 MOP Adjust Reset
Closed: The MOP ratio adjustment is reset to zero. See P2-02 and P2-09. √√√√
87
Position Error Reset
Closed: Position regulator error is reset to zero.
Note: ELS modes only.
√√√√
88
Position Regulator Integral Reset
Closed: Position regulator integrator is reset to zero.
Note: ELS modes only.
√√√√
89
Align by Pulse (Alignment)
Closed: Alignment function is enabled and the drive will keep the number
of quadrature follower encoder counts (displacement) between the master
and follower alignment inputs equal to the displacement reference.
Note: ELS modes only.
– – – √
8A
Save Displacement
Closed: At the transition from open to closed, the current Displacement
Reference value (which can be seen in the Displacement Reference
monitor U1-94) will be saved to the Initial Alignment Displacement
Parameter (P4-01). The data will survive a power loss.
Note: ELS modes only.
Note: Since this command saves the data into non-volatile RAM, do not
continuously use this function. The drive’s storage RAM could fail causing
drive failure.
– – – √
8B
Disable Displacement Error
Closed: Displacement error will not be corrected. However, if the Align by
Pulse (Alignment) digital input (H1-XX = 89) is closed, the displacement
feedback will still be calculated and displayed (U1-95), but the follower
drive will not correct for any displacement error. This input is useful for
troubleshooting and testing.
Note: ELS modes only.
– – – √
*1: √= Available, – = Not Available.
Date: 03/31/09, Rev: 09-03 Page 18 of 30 TM.G7SW.064
4.4 Multi-function Digital Output Settings (H2-0X)
Control Mode *1
Setting Name
Description
V/f
V/f w/ PG
Open Loop
Vector 1, 2
Flux Vector
40
Follower Position Deviation
Closed: The position regulator error has exceeded the Follower Deviation
Level (P2-06).
Note: ELS modes only.
√√√√
41
In Alignment
Closed: The displacement (Alignment) error and the position regulator error
are within the Alignment Tolerance (P4-02).
Note: ELS modes only.
– – – √
*1: √= Available, – = Not Available.
4.5 Multi-function Analog Input Settings (H3-0X)
Control Mode *1
Setting Name
Description Scaling
V/f
V/f w/ PG
Open Loop
Vector 1, 2
Flux Vector
20
Analog Ratio Adjustment
Input value is added to the digital, MOP and
network communication ratio adjustment to form
the total gear ratio adjustment.
100% = 100.00% √√√√
*1: √= Available, – = Not Available.
Date: 03/31/09, Rev: 09-03 Page 19 of 30 TM.G7SW.064
4.6 Network Communication Functions
Modbus
Address
Name
Description Scaling
61CH
Network Communication Gear Ratio Adjustment
Allows gear ratio adjustment via network communication. The total gear
ratio adjustment is the sum of the analog, digital, MOP and network
communication ratio adjustments. Data is interpreted as signed, so the
adjustment can be set from –327.68% ~ 327.67%.
Note: The ENTER command is not required when writing to this register.
1 = 0.01%
61DH
Network Communication Advance/Retard Counts
Allows for advancement/retardment of the follower drive via network
communication. Data is interpreted as signed, so the advance/retard
counts can be set from –32768 ~ 32767. This is set in quadrature
follower encoder counts. After this register is set, its data returns to zero
automatically.
Note: ELS modes only.
Note: The ENTER command is not required when writing to this register.
1 = 1
quadrature
follower
encoder count
Hi-Speed
Communication
Option Card
Frequency
Reference
Register
Displacement Reference
Sets the number of quadrature follower encoder counts the follower
alignment sensor is expected to be behind the master alignment sensor.
This value can also be adjusted by the advance/retard follower digital
inputs. The value can be set from 0 ~ 65,535 counts. Setting to a value of
0 will give control of the Displacement Reference to the P4-01 parameter.
Note: ELS modes only.
Note: The ENTER command is not required when writing to this register.
1 = 1
quadrature
follower
encoder count
4.7 Faults
Fault Display Description Causes Countermeasures
OPE12
Follower Sel Err
There is a problem with the
configuration of the
Follower function.
P1-01 = 4, 5 (ELS
modes) and the PG-W2,
PG-Y2, or PG-Z2 is not
installed.
P1-01 = 1, 2, 3 (Speed
Follower modes), the
control mode is V/f w/
PG or Flux Vector and
the PG-W2, PG-Y2, or
PG-Z2 is not installed.
P1-01 = 1, 2, 3 (Speed
Follower modes), the
control mode is V/f or
Open Loop Vector and
one of the following
option cards is not
installed: PG-B2, PG-
T2, PG-X2, PG-W2, PG-
Y2, or PG-Z2.
P1-01 = 4, 5 (ELS
modes) and the control
mode is not Flux Vector.
Install the appropriate
encoder (PG) option card
for the control mode and
follower mode selection.
Date: 03/31/09, Rev: 09-03 Page 20 of 30 TM.G7SW.064
4.7 Faults (continued)
Fault Display Description Causes Countermeasures
FDEV
Follower Pos
Dev
The position error has
exceeded the Follower
Deviation Level (P2-06)
and the Follower Deviation
Selection (P2-07) is set to
2 (Coast to Stop).
Mechanical binding of
the follower motor.
The Follower Deviation
Level (P2-06) is too low.
The master encoder is
rotating, the follower is
stopped, and the
Position Error
Accumulation Selection
(P1-09) is set to 1 (error
is always accumulated).
The master input
frequency is greater than
the follower maximum
frequency (E1-04).
Confirm the machinery
is operating correctly
and the follower motor
is not binding.
Increase P2-06.
If the application
requires that the master
encoder rotate while the
follower is stopped, set
P1-09 = 0 (position
error only during run).
Set E1-04 to 10% faster
than the maximum
master input frequency.
PL
Loss of Position
The follower drive has lost
its position information.
This has occurred because
one of the following
conditions exist:
The position error has
exceeded 268,435,456
counts.
The pulse frequency
after the gear ratio is
so high that the
follower cannot run at
this speed without
exceeding the encoder
option card hardware
limitation (300kHz).
Mechanical binding of
the follower motor.
The master encoder is
rotating, the follower
drive is stopped, and the
Position Error
Accumulation Selection
(P1-09) is set to 1
(position error is always
accumulated).
The desired follower
speed is too high for the
PPR of the installed
encoder.
Confirm the machinery
is operating correctly
and the follower motor
is not binding.
If the application
requires that the master
encoder rotate while the
follower is stopped, set
P1-09 = 0 (position
error only during run).
Replace the follower
motor’s encoder with a
lower PPR model.
4.8 Alarms
Alarm Display Description Cause Countermeasures
FDEV
Follower Pos
Dev
The position error has
exceeded the Follower
Deviation Level (P2-06)
and the Follower Deviation
Selection (P2-07) is set to
1 (Alarm Only).
Mechanical binding of
the follower motor.
The Follower Deviation
Level (P2-06) is too low.
The master encoder is
rotating, the follower
drive is stopped, and the
Position Error
Accumulation Selection
(P1-09) is set to 1 (error
is always accumulated).
The master input
frequency is greater than
the follower maximum
frequency (E1-04).
Confirm the machinery
is operating correctly
and the follower motor
is not binding.
Increase P2-06.
If the application
requires that the master
encode rotate while the
follower is stopped, set
P1-09 = 0 (position
error only during run).
Set E1-04 to 10% faster
than the maximum
master input frequency.

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