A1000 Manual Trick

YASKAWA AC Drive A1000
High Performance Vector Control Drive

Quick Start Guide
Type: CIMR-AA , CIMR-AT
Models: 200 V Class: 0.4 to 55 kW
400 V Class: 0.4 to 90 kW
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
Receiving 1
Mechanical Installation 2
Electrical Installation 3
Start-Up Programming &
Operation 4
Troubleshooting 5
Periodic Inspection &
Maintenance 6
Specifications A
Parameter List B
Standards Compliance C
MANUAL NO. TOEP C710616 21A
This Page Intentionally Blank
◆ Quick Reference
Easily Set Parameters for Specific Applications
Preset parameter defaults are available for setting up applications. Refer to Application Selection on page 51.
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 59.
Drive a Synchronous PM Motor
A1000 can operate synchronous PM motors. Refer to Subchart A-3: Operation with Permanent Magnet Motors on page 50.
Perform Auto-Tuning
Automatic tuning sets motor parameters. Refer to Auto-Tuning on page 77.
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 101.
Fault Display and Troubleshooting

Refer to Drive Alarms, Faults, and Errors on page 84.
Standards Compliance
Refer to European Standards on page 144 and Refer to UL Standards on page 148.
YASKAWA ELECTRIC TOEP C710616 21A YASKAWA AC Drive - A1000 Quick Start Guide 3
4 YASKAWA ELECTRIC TOEP C710616 21A YASKAWA AC Drive - A1000 Quick Start Guide
Table of Contents
Quick Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Table of Contents ............................................................................................................ 5

i. Preface & General Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
General Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1. Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Model Number and Nameplate Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2. Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3. Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Standard Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Main Circuit Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Terminal Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Digital Operator and Front Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Control Circuit Terminal Block Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Control I/O Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Terminal A2 Analog Input Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Connect to a PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Wiring Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4. Start-Up Programming & Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Using the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
The Drive and Programming Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Start-Up Flowcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Powering Up the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Application Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Basic Drive Setup Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
No-Load Operation Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Test Run with Load Connected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Test Run Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
5. Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Drive Alarms, Faults, and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Alarm Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Operator Programming Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Auto-Tuning Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Copy Function Related Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Fault Reset Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
6. Periodic Inspection & Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99
Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99
Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101
A. Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104
Heavy Duty and Normal Duty Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104
Three-Phase 200 V Class Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104
Three-Phase 400 V Class Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .105
Drive Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .105
B. Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107
Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107
C. Standards Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144
European Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144
UL Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .148
Safe Disable Input Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .151
i Preface & General Safety

◆ 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, EXPRESSED
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 Variable A1000-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 A1000 series drives:
A1000 Series AC Drive Technical Manual

DIGITAL OPERATOR JVOP-182 ALM
REV DRV FOUT
LO
This manual describes installation, wiring, operation procedures, functions, troubleshooting, maintenance, and inspections to
perform before operation.
ESC
RE
RESET ENTER
RUN STOP
CIMR-AA2A0021FAA
200V 3Phase 5.5kW/3.7kW
S/N:
WARNING AVERTISSMENT NPJT31470-1
A1000 Series AC Drive Quick Start Guide

Risk of electric shock. Risque de décharge électrique.
● Read manual before installing. ● Lire le manuel avant l'installation.
● Wait 5 minutes for capacitor ● Attendre 5 minutes après la coupure
discharge after disconnecting de l'alimentation, pour permettre
power supply. la décharge des condensateurs.
● To conform to requirements, ● Pour répondre aux exigences , s
make sure to ground the supply assurer que le neutre soit relié
neutral for 400V class. à la terre, pour la série 400V.
● After opening the manual switch ● Après avoir déconnécte la protection
between the drive and motor, entre le driver et le moteur, veuillez
please wait 5 minutes before patienter 5 minutes avain d’effectuer
inspecting, performing une opération de montage ou de
maintenance or wiring the drive. câblage du variateur.
Hot surfaces Surfaces Chaudes
●
Top and Side surfaces may ● Dessus et cotés du boitier Peuvent
become hot. Do not touch. devenir chaud. Ne Pas toucher.
危険
けが．感電のおそれがあります。
● ● 据え付け、運転の前には必ず取扱説明書を読むこと。
●
● 通電中および電源遮断後5分以内はフロントカバー
を外さない事。
●
● 400V級インバータの場合は、電源の中性点が接地
されていることを確認すること。( 対応）
● 保守・点検、配線を行う場合は、出力側開閉器を
●
遮断後5分待って実施してください。
高温注意
Read this manual first. This guide is packaged together with the product. It contains basic information required to install and wire
● インバータ上部、両側面は高温になります。
● 触らないでください。
the drive. This guide provides basic programming and simple setup and adjustment.
◆ General Safety
■ Supplemental Safety Information
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.
WARNING! will also be indicated by a bold key word embedded in the text followed by an italicized safety message.
CAUTION
Indicates a hazardous situation, which, if not avoided, could result in minor or moderate injury.
CAUTION! will also be indicated by a bold key word embedded in the text followed by an italicized safety message.
NOTICE
Indicates a property damage message.
NOTICE: will also be indicated by a bold key word embedded in the text followed by an italicized safety message.
■ 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 internal capacitor 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.
WARNING
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.
Maintenance, inspection, and replacement of parts 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.
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.
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.
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.
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) and 480 Vac maximum (400 V Class).
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.
■ Drive Label Warnings

Always heed the warning information listed in Figure 1 in the position shown in Figure 2.
Figure 1
WARNING
Risk of electric shock.
●
Read manual before installing.
●
Wait 5 minutes for capacitor
discharge after disconnecting
power supply.
●
To conform to requirements,
make sure to ground the supply
neutral for 400V class.
● After opening the manual switch
between the drive and motor,
please wait 5 minutes before
inspecting, performing
maintenance or wiring the drive.
Hot surfaces
●
Top and Side surfaces may
become hot. Do not touch.
Figure 1 Warning Information

Figure 2
REV DRV FOUT
LO
ESC
RE
RESET ENTER
RUN STOP
CIMR-AA2A0021FAA
200V 3Phase 5.5kW/3.7kW
S/N:
WARNING AVERTISSMENT NPJT31470-1

Risk of electric shock. Risque de décharge électrique.
● Read manual before installing. ● Lire le manuel avant l'installation.
● Wait 5 minutes for capacitor ● Attendre 5 minutes après la coupure
discharge after disconnecting de l'alimentation, pour permettre
power supply. la décharge des condensateurs.
● To conform to requirements, ● Pour répondre aux exigences , s
make sure to ground the supply assurer que le neutre soit relié
neutral for 400V class. à la terre, pour la série 400V.
● After opening the manual switch ● Après avoir déconnécte la protection
between the drive and motor, entre le driver et le moteur, veuillez
please wait 5 minutes before patienter 5 minutes avain d’effectuer
inspecting, performing une opération de montage ou de
Warning Label
maintenance or wiring the drive. câblage du variateur.
Hot surfaces Surfaces Chaudes
●
Top and Side surfaces may ● Dessus et cotés du boitier Peuvent
become hot. Do not touch. devenir chaud. Ne Pas toucher.
危険
けが．感電のおそれがあります。
● ● 据え付け、運転の前には必ず取扱説明書を読むこと。
●
● 通電中および電源遮断後5分以内はフロントカバー
を外さない事。
●
● 400V級インバータの場合は、電源の中性点が接地
されていることを確認すること。( 対応）
● 保守・点検、配線を行う場合は、出力側開閉器を
遮断後5分待って実施してください。
高温注意
● インバータ上部、両側面は高温になります。
● 触らないでください。
Figure 2 Warning Information Position
■ Warranty Information
Warranty Period
This drive is warranted for 12 months from the date of delivery to the customer or 18 months from the date of shipment
from the Yaskawa factory, whichever comes first.
Scope of Warranty
Inspections
Customers are responsible for periodic inspections of the drive. Upon request, a Yaskawa representative will inspect the
drive for a fee. If the Yaskawa representative finds the drive to be defective due to Yaskawa workmanship or materials
and the defect occurs during the warranty period, this inspection fee will be waived and the problem remedied free of
charge.
Repairs
If a Yaskawa product is found to be defective due to Yaskawa workmanship or materials and the defect occurs during the
warranty period, Yaskawa will provide a replacement, repair the defective product, and provide shipping to and from the
site free of charge.
However, if the Yaskawa Authorized Service Center determines that the problem with the drive is not due to defective
workmanship or materials, the customer will be responsible for the cost of any necessary repairs. Some problems that are
outside the scope of this warranty are:
Problems due to improper maintenance or handling, carelessness, or other reasons where the customer is determined to
be responsible.
Problems due to additions or modifications made to a Yaskawa product without Yaskawa’s understanding.
Problems due to the use of a Yaskawa product under conditions that do not meet the recommended specifications.
Problems caused by natural disaster or fire.
After the free warranty period elapses.
Replenishment or replacement of consumables or expendables.
Defective products due to packaging or fumigation.
Malfunction or problems caused by program that has been made by customers using DriveWorksEZ.
Other problems not due to defects in Yaskawa workmanship or materials.
Warranty service is only applicable within Japan. However, after-sales service is available for customers outside of Japan
for a reasonable fee.
Contact your local Yaskawa representative for more information.
Exceptions
Any inconvenience to the customer or damage to non-Yaskawa products due to Yaskawa’s defective products whether
within or outside of the warranty period are NOT covered by warranty.
Restrictions
A1000 was not designed or manufactured for use in devices or systems that may directly affect or threaten human lives
or health.
Customers who intend to use the product described in this manual for devices or systems relating to transportation, health
care, space aviation, atomic power, electric power, or in underwater applications must first contact their Yaskawa
representatives or the nearest Yaskawa sales office.
This product has been manufactured under strict quality-control guidelines. However, if this product is to be installed in
any location where failure of this product could involve or result in a life-and-death situation or loss of human life or in a
facility where failure may cause a serious accident or physical injury, safety devices must be installed to minimize the
likelihood of any accident.
1 Receiving
1 Receiving
◆ Model Number and Nameplate Check
Please perform the following tasks after receiving the drive:
• Inspect the drive for damage.
If the drive appears damaged upon receipt, contact the shipper immediately.
• Verify receipt of the correct model by checking the information on the nameplate.
• If you have received the wrong model or the drive does not function properly, contact your supplier.
■ Nameplate
Figure 3
Normal Duty Amps / Heavy Duty Amps
AC drive model MODEL : CIMR-AA2A0021FAA

MAX APPLI. MOTOR : 5.5kW / 3.7kW REV : A
Input specifications INPUT : AC3PH 200-240V 50/60Hz 24A/18.9A
IND.CONT.EQ.
Output specifications OUTPUT : AC3PH 0-240V 0-400Hz 21A/17.5A 7J48 B
MASS : 3.5 kg PRG : 1010 Software version
Lot number O/N :
Serial number S/N :
FILE NO : E131457 IP20

TYPE 1 ENCLOSURE PASS
YASKAWA ELECTRIC CORPORATION MADE IN JAPAN
Enclosure type
Figure 3 Nameplate Information
1 Receiving
CIMR - A A 2 A 0001 F A A
Drive A1000 Customized Enclosure Design
No. No. Type
Series Specifications Revision
A Standard model A IP00 Order
No. Region
Code F NEMA 1
U USA
A Japan
Environmental
C Europe No.
Specification <1>
A Standard
No. Voltage Class K Gas-resistant
2 3-phase, 200-240 Vac M Humidity- and
4 3-phase, 380-480 Vac dust-resistant
N Oil-resistant
S Vibration-resistant
Three-Phase 200 V
Normal Duty Heavy Duty

Max. Motor Capacity Rated Output Max. Motor Capacity Rated Output
No. No.
kW Current A kW Current A
0004 0.75 3.5 0004 0.4 3.2
0006 1.1 6.0 0006 0.75 5
0008 1.5 8.0 0008 1.1 6.9
0010 2.2 9.6 0010 1.5 8
0012 3.0 12 0012 2.2 11
0018 3.7 17.5 0018 3.0 14.0
0021 5.5 21 0021 3.7 17.5
0030 7.5 30 0030 5.5 25
0040 11 40 0040 7.5 33
0056 15 56 0056 11 47
0069 18.5 69 0069 15 60
0081 22 81 0081 18.5 75
0110 30 110 0110 22 85
0138 37 138 0138 30 115
0169 45 169 0169 37 145
0211 55 211 0211 45 180
Three-Phase 400 V
Normal Duty Heavy Duty
No. Max. Motor Capacity Rated Output No. Max. Motor Capacity Rated Output
kW Current A kW Current A
0002 0.75 2.1 0002 0.4 1.8
0004 1.5 4.1 0004 0.75 3.4
Receiving
0005 2.2 5.4 0005 1.5 4.8
0007 3.0 6.9 0007 2.2 5.5
0009 3.7 8.8 0009 3.0 7.2
0011 5.5 11.1 0011 3.7 9.2
0018 7.5 17.5 0018 5.5 14.8 1
0023 11 23 0023 7.5 18
0031 15 31 0031 11 24
0038 18.5 38 0038 15 31
0044 22 44 0044 18.5 39
0058 30 58 0058 22 45
0072 37 72 0072 30 60
0088 45 88 0088 37 75
0103 55 103 0103 45 91
0139 75 139 0139 55 112
0165 90 165 0165 75 150
<1> Drives with these specifications do not guarantee complete protection for the environmental conditions indicated.
2 Mechanical Installation
◆ Mechanical Installation
This section outlines specifications, procedures, and the environment for proper mechanical installation of the drive.
■ Installation Environment
To help prolong the optimum performance life of the drive, install the drive in an environmental matching the
specifications below.
Table 1 Installation Environment
Environment Conditions
Installation Area Indoors
-10 °C to +40 °C (IP20/NEMA Type 1)
-10 °C to +50 °C (IP00/Open-Chassis)
Drive reliability improves in environments without wide temperature fluctuations.
Ambient Temperature
When using the drive in an enclosure panel, install a cooling fan or air conditioner in the area to ensure that the air temperature inside the enclosure
does not exceed the specified levels.
Do not allow ice to develop on the drive.
Humidity 95% RH or less and free of condensation
Storage Temperature -20 to +60 °C
• Install the drive in an area free from:
• oil mist and dust
• metal shavings, oil, water or other foreign materials
• radioactive materials
Surrounding Area • combustible materials (e.g., wood)
• harmful gases and liquids
• excessive vibration
• chlorides
• direct sunlight
Altitude 1000 m or lower
10 to 20 Hz at 9.8 m/s2
Vibration
20 to 55 Hz at 5.9 m/s2 (up to 200 V 45 kW or 400 V 75 kW) or 2.0 m/s2 (200 V 55 kW or 400 V 90 kW and above)
Orientation Install the drive vertically to maintain maximum cooling effects.
NOTICE: Avoid placing drive peripheral devices, transformers, or other electronics near the drive as the noise created can lead to
erroneous operation. If such devices must be used in close proximity to the drive, take proper steps to shield the drive from noise.
NOTICE: Prevent foreign matter such as metal shavings and wire clippings from falling into the drive during installation. Failure to
comply could result in damage to the drive. Place a temporary cover over the top of the drive during installation. Remove the
temporary cover before startup, as the cover will reduce ventilation and cause the drive to overheat.
■ Installation Orientation and Spacing

Install the drive upright as illustrated in Figure 4 to maintain proper cooling.
Figure 4
OK NG NG
Figure 4 Correct Installation Orientation
Single Drive Installation

Figure 5 shows the installation distance required to maintain sufficient space for airflow and wiring. Install the heatsink
against a closed surface to avoid diverting cooling air around the heatsink.
Figure 5
Side Clearance Top/Bottom Clearance
A C
B B D D
A C
A – 50 mm minimum C – 120 mm minimum

B – 30 mm minimum D – Airflow direction
Figure 5 Correct Installation Spacing
Note: IP20/NEMA Type 1 and IP00/Open-Chassis models require the same amount of space above and below the drive for installation.
Multiple Drive Installation (Side-by-Side Installation)
Models CIMR-A2A0004 through 0081 and 4A0002 through 0044 can take advantage of Side-by-Side installation.
When installing multiple drives into the same enclosure panel, mount the drives according to Figure 5.
When mounting drives with the minimum clearance of 2 mm according to Figure 6, derating must be considered and
parameter L8-35 must be set to 1. Refer to Parameter List on page 107
Figure 6
Line up the tops of the drives.

Side Clearance Top/Bottom Clearance
A C A D
Mechanical
Installation
B
B D
A A
A – 50 mm minimum C – 2 mm minimum 2
B – 30 mm minimum D – 120 mm minimum
Figure 6 Space Between Drives (Side-by-Side Mounting)
Note: When installing drives of different heights in the same enclosure panel, the tops of the drives should line up. Leave space
between the top and bottom of stacked drives for easy cooling fan replacement if required.
When drives with IP20/NEMA Type 1 enclosures are mounted side by side, the protective covers of all drives must be
removed as shown in Figure 7. Refer to Protective Cover on page 26 to remove and reattach the protective cover.
Figure 7
Figure 7 IP20/NEMA 1 Side-by-Side Mounting in Enclosure
IP20/NEMA Type 1 Drives

Figure 8
W1 4-d
1.5
H1
H
t1
H2
W D1
D
Figure 1
4-d
W1
1.5
H1
H0
H
t1
D1
H2
H3
W D
Figure 2
W1 4-d
t2
Mechanical
Installation
2
H0
H
H1
H2
H3
t1
D1
W D
Figure 3
Table 2 Dimensions for IP20/NEMA Type 1: 200 V Class

Dimensions (mm)
Drive Model
CIMR-A2A Figure W H D W1 H0 H1 H2 H3 D1 t1 t2 d Weight
(kg)
0004 140 260 147 122 – 248 6 – 38 5 – M5 3.1
0006 140 260 147 122 – 248 6 – 38 5 – M5 3.1
0008 140 260 147 122 – 248 6 – 38 5 – M5 3.2
0010 140 260 147 122 – 248 6 – 38 5 – M5 3.2
0012 140 260 147 122 – 248 6 – 38 5 – M5 3.2
1
0018 140 260 164 122 – 248 6 – 55 5 – M5 3.5
<1>
0021 140 260 164 122 – 248 6 – 55 5 – M5 3.5
0030 140 260 167 122 – 248 6 – 55 5 – M5 4.0
0040 140 260 167 122 – 248 6 – 55 5 – M5 4.0
0056 180 300 187 160 – 284 8 – 75 5 – M5 5.6
0069 220 350 197 192 – 335 8 – 78 5 – M6 8.7
2
0081 220 365 197 192 350 335 8 15 78 5 – M6 9.7
<1>
0110 254 534 258 195 400 385 7.5 134 100 2.3 2.3 M6 23
0138 3 279 614 258 220 450 435 7.5 164 100 2.3 2.3 M6 28
0169 <2> 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 41
0211 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 42
<1> Removing the top cover from a IP20/NEMA Type 1 drive voids NEMA Type 1 protection but still keeps IP20 conformity.
<2> Special order required. Contact your Yaskawa sales representative.
Table 3 Dimensions for IP20/NEMA Type 1: 400 V Class

Dimensions (mm)
Drive Model
CIMR-A4A Figure W H D W1 H0 H1 H2 H3 D1 t1 t2 d Weight
(kg)
0002 140 260 147 122 – 248 6 – 38 5 – M5 3.2
0004 140 260 147 122 – 248 6 – 38 5 – M5 3.2
0005 140 260 147 122 – 248 6 – 38 5 – M5 3.2
0007 140 260 164 122 – 248 6 – 55 5 – M5 3.4
0009 140 260 164 122 – 248 6 – 55 5 – M5 3.5
1
0011 140 260 164 122 – 248 6 – 55 5 – M5 3.5
<1>
0018 140 260 167 122 – 248 6 – 55 5 – M5 3.9
0023 140 260 167 122 – 248 6 – 55 5 – M5 3.9
0031 180 300 167 160 – 284 8 – 55 5 – M5 5.4
0038 180 300 187 160 – 284 8 – 75 5 – M5 5.7
0044 220 350 197 192 – 335 8 – 78 5 – M6 8.3
0058 254 465 258 195 400 385 7.5 65 100 2.3 2.3 M6 23
0072 279 515 258 220 450 435 7.5 65 100 2.3 2.3 M6 27
0088 3 329 630 258 260 510 495 7.5 120 105 2.3 3.2 M6 39
0103 <2> 329 630 258 260 510 495 7.5 120 105 2.3 3.2 M6 39
0139 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 45
0165 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 46
<1> Removing the top cover from a IP20/NEMA Type 1 drive voids NEMA Type 1 protection but still keeps IP20 conformity.
<2> Special order required. Contact your Yaskawa sales representative.
IP00/Open-Chassis Drives
Figure 9
W1 4-d
t2
H1
H
D1 t1
t1
D1
H2
Max 8 W D
Figure 1
Table 4 Dimensions for IP00/Open-Chassis: 200 V Class

Dimensions (mm)
Drive Model
CIMR-A2A Weight
Figure W H D W1 H1 H2 D1 t1 t2 d
(kg)
0110 250 400 258 195 385 7.5 100 2.3 2.3 M6 21
0138 275 450 258 220 435 7.5 100 2.3 2.3 M6 25
1
0169 325 550 283 260 535 7.5 110 2.3 2.3 M6 37
0211 325 550 283 260 535 7.5 110 2.3 2.3 M6 38
Table 5 Dimensions for IP00/Open-Chassis: 400 V Class

Dimensions (mm)
Drive Model
CIMR-A4A Weight
Figure W H D W1 H1 H2 D1 t1 t2 d
(kg)
0058 250 400 258 195 385 7.5 100 2.3 2.3 M6 21
0072 275 450 258 220 435 7.5 100 2.3 2.3 M6 25
0088 325 510 258 260 495 7.5 105 2.3 3.2 M6 36
1
0103 325 510 258 260 495 7.5 105 2.3 3.2 M6 36
0139 325 550 283 260 535 7.5 110 2.3 2.3 M6 41
0165 325 550 283 260 535 7.5 110 2.3 2.3 M6 42
Mechanical
Installation
3 Electrical Installation
◆ Standard Connection Diagram
Connect the drive and peripheral devices as shown in Figure 10. It is possible to set and run the drive via the digital
operator without connecting digital I/O wiring. This section does not discuss drive operation; Refer to Start-Up
Programming & Operation on page 42 for instructions on operating the drive.
NOTICE: Inadequate wiring could result in damage to the drive. Install adequate branch circuit short circuit protection per applicable
codes. The drive is suitable for circuits capable of delivering not more than 18,000 RMS symmetrical amperes, 240 Vac maximum (200
V Class) and 480 Vac maximum (400 V Class).
NOTICE: When the input voltage is 440 V or higher or the wiring distance is greater than 100 meters, pay special attention to the
motor insulation voltage or use a drive duty motor. Failure to comply could lead to motor insulation breakdown.
NOTICE: Do not connect AC control circuit ground to drive enclosure. Improper drive grounding can cause control circuit malfunction.
NOTICE: The minimum load for the multi-function relay output MA-MB-MC is 10 mA. If a circuit requires less than 10 mA (reference
value), connect it to a photocoupler output (P1, P2, PC). Improper application of peripheral devices could result in damage to the
photocoupler output of the drive.
Figure 10
Figure 11
<4>
Terminals -, +1, +2, B1, B2 are FU
for connection options. Never DC reactor <1> r1
(option) Thermal relay
connect power supply lines to (option) <2> FV
these terminals U X s1 M
Jumper Braking resistor FW
(option) <3> t1 Cooling fan
+2 +1 − B1 B2
U
Main Circuit U/T1
V/T2 V
MCCB Fuse M
MC
Three-phase
power supply
R
S
R/L1
S/L2 Drive W/T3
W
200 to 400 V
T T/L3
50/60 Hz
Control Circuit <5> Ground
THRX OFF ON MC
Forward Run / Stop S1 PGB3 TB1
Braking resistor unit
SA <6> A+
Thermal relay trip contact THRX Reverse Run / Stop S2 A
1 2 B+ PG
SA B
External fault S3
MC TRX
Z+
SA Fault reset S4 Z
FLT-A FLT-B
TRX
SD
Multi-speed step 1 S5 FE
Fault relay Multi-function
contact digtial inputs
(default setting) Multi-speed step 2 S6 TB2
IP
Jog speed S7 IG
AO
External Baseblock A track monitor
S8 IG
BO
B track monitor
Sink / Source mode IG
selection jumper S3 ZO
SC (default: Sink) <7>
IG
CN5-C
Option board
+24 V connectors CN5-B
MA Fault relay output
CN5-A 250 Vac, max. 1 A
Shield ground terminal MB
30 Vdc, max 1 A
RP Pulse Train Input (max 32 kHz) MC (min. 5 Vdc, 10 mA)
<8>
+V Power supply +10.5 Vdc, max. 20 mA
M1 Multi-function relay output
2 kΩ (During Run)
A1 Analog Input 1 DIP Switch S1 M2 250 Vac, max. 1 A
(Frequency Reference Bias) 30 Vdc, max 1 A
Multi-function 0 to +10 Vdc (20 kΩ) V I (min. 5 Vdc, 10 mA)
analog/ pulse
train inputs
A2 Analog Input 2
(Frequency Reference Bias)
0 to +10 Vdc (20 kΩ) P1 Multi-function photo coupler output 1
4 to 20 mA / 0 to 20 mA (250 Ω) <9> (Zero Speed)
A3 Analog Input 3 48 Vdc, max 50 mA
(Aux. frequency reference)
AC 0 to +10 Vdc (20 kΩ) P2 Multi-function photo coupler output 2
(Speed Agree 1)
0V PC 48 Vdc, max 50 mA
<8> −V Power supply, -10.5 Vdc, max. 20 mA
Termination resistor MP Multi-function pulse train output
(120 Ω, 1/2 W) (Output frequency)
AC 0 to 32 kHz (2.2 kΩ)
DIP
Switch S2 0V
R+
FM
R <10> Multi-function analog output 1
− +
MEMOBUS/Modbus S+ FM (Output frequency)
comm. RS485/422 -10 to +10 Vdc (2mA)
Safety
max. 115.2 kBps S <13>
switch IG
S2 AM Multi-function analog output 2
Safe Disable inputs H1 AC − + (Output current)
<11> AM -10 to +10 Vdc (2mA)
S1 H2 0V <13>
E (G)
Open Wire
jumper
Safety relay / DM+ EDM (Safety Electronic Device Monitor) shielded line
<12>
Electrical Installation
controller
HC twisted-pair shielded line
DM−
control circuit terminal
main circuit terminal
<1> Remove the jumper when installing a DC reactor. Models CIMR-A2A0110 through 0211 and 4A0058 through 0165 come with a built-in
DC reactor.
<2> When installing a braking resistor option, a thermal relay sequence should also be set up to shut off power to the drive in case overheat occurs.
<3> The drive’s protection function for the internal braking transistor needs to be disabled (L8-55 = 0) if using a regen unit such as a regen
converter or some type of braking option unit (and therefore not the internal braking transistor). If left enabled, a braking resistor fault (rF)
may result.
Make sure Stall Prevention is disabled (L3-04 = 0) whenever using a regenerative converter, a regenerative unit, a braking resistor or the
Braking Resistor Unit. If left enabled, the drive may not stop within the specified deceleration time. 3
<4> Self-cooling motors do not require wiring that would be necessary with motors using a cooling fan.
<5> Supplying power to the control circuit separately from the main circuit requires 24 V power supply (option).
<6> For control modes that do not use a motor speed feedback signal, PG option card wiring is not necessary.
<7> This figure shows an example of a sequence input to S1 through S8 using a non-powered relay or an NPN transistor. Use jumper S3 to select
sink or source, and an internal or external power supply.
<8> The maximum output current capacity for the +V and -V terminals on the control circuit is 20 mA. Never short terminals +V, -V, and AC, as
this can cause erroneous operation or damage the drive.
<9> Set DIP switch S1 to select between a voltage or current input signal to terminal A2. The default setting is for current input.
<10> Enable the termination resistor in the last drive in a MEMOBUS network by setting DIP switch S2 to the ON position.
<11> The sink/source setting for the Safe Disable input is the same as with the sequence input. Jumper S3 has the drive set for an external power
supply. When not using the Safe Disable input feature, remove the jumper shorting the input and connect an external power supply. Refer to
Figure 39 for instructions.
<12> Disconnect the wire jumper between H1 - HC and H2 - HC when utilizing the Safe Disable input.
<13> Monitor outputs work with devices such as analog frequency meters, ammeters, voltmeters, and wattmeters. They are not intended for use as
a feedback-type of signal.
Figure 8 Drive Standard Connection Diagram (example: CIMR-A2A0040)
WARNING! Sudden Movement Hazard. Do not close the wiring for the control circuit unless the multifunction input terminal
parameters are properly set. Improper sequencing of run/stop circuitry could result in death or serious injury from moving equipment.
WARNING! Sudden Movement Hazard. Ensure start/stop and safety circuits are wired properly and in the correct state before
energizing the drive. Failure to comply could result in death or serious injury from moving equipment. When programmed for 3-Wire
control, a momentary closure on terminal S1 may cause the drive to start.
WARNING! When 3-Wire sequence is used, set the drive to 3-Wire sequence before wiring the control terminals and ensure
parameter b1-17 is set to 0 (drive does not accept a run command at power up (default). If the drive is wired for 3-Wire sequence but
set up for 2-Wire sequence (default) and if parameter b1-17 is set to 1 (drive accepts a Run command at power up), the motor will
rotate in reverse direction at power up of the drive and may cause injury.
WARNING! When the application preset function is executed (or A1-06 is set to any value other than 0) the drive I/O terminal functions
change. This may cause unexpected operation and potential damage to equipment or injury.
◆ Main Circuit Connection Diagram

Refer to diagrams in this section when wiring the drive’s main circuit. Connections may vary based on drive capacity.
The DC power supply for the main circuit also provides power to the control circuit.
NOTICE: Do not use the negative DC bus terminal “-” as a ground terminal. This terminal is at high DC voltage potential. Improper
wiring connections could damage the drive.
■ Three-Phase 200 V Class (CIMR-A 2A0004 to 0081)

Three-Phase 400 V Class (CIMR-A 4A0002 to 0044)
Figure 12
Braking Resistor Unit

DC reactor (option)
(option)
+1 B1 B2
+2
Jumper
− Drive
3 Phase power supply R/L1 U/T1

200 to 240 Vac, 50 to 60 Hz S/L2 V/T2 Motor
380 to 480 Vac, 50 to 60 Hz
T/L3 W/T3
Figure 9 Connecting Main Circuit Terminals
■ Three-Phase 200 V Class (CIMR-A 2A0110, 0138)

Three-Phase 400 V Class (CIMR-A 4A0058, 0072)
Figure 13

(option)
+1 B1 B2
Use terminals +1 and −
for DC power supply
−
Drive
3 Phase power supply R/L1 U/T1

380 to 480 Vac, 50 to 60 Hz
T/L3 W/T3
■ Three-Phase 200 V Class (CIMR-A 2A0169, 0211)

Three-Phase 400 V Class (CIMR-A 4A0088 to 0165)
Figure 14

(option)
Use terminals +1 and − Braking Unit
for DC power supply (option)
+1 +3 −
−
Drive
R/L1 U/T1
3 Phase power supply
380 to 480 Vac, 50 to 60 Hz T/L3 W/T3
◆ Terminal Cover
Follow the procedure below to remove the terminal cover for wiring and to reattach the terminal cover after wiring is
complete.
■ CIMR-A 2A0004 to 0081, 4A0002 to 0044 (IP20/NEMA Type 1)
Removing the Terminal Cover
1. Loosen the terminal cover screw.
Figure 15
Figure 12 Removing the Terminal Cover on an IP20/NEMA Type 1 Drive

2. Push in on the tab located on the bottom of the terminal cover, and gently pull forward. This should remove the
terminal cover.
Figure 16
Figure 13 Removing the Terminal Cover on an IP20/NEMA Type 1 Drive 3
Reattaching the Terminal Cover

Power lines and signal wiring should pass through the opening provided. Refer to Wiring the Main Circuit Terminal on
page 31 and Wiring the Control Circuit Terminal on page 35 for details on wiring.
After all wiring to the drive and other devices is complete, reattach the terminal cover.
Figure 17
Connect ground wiring first,

followed by the main circuit,
and then wire the control circuit.
Power lines and signal wiring
exit through the opening provided.
Figure 14 Reattaching the Terminal Cover on an IP20/NEMA Type 1 Drive
■ CIMR-A 2A0110 to 0211, 4A0058 to 0165 (IP00/Open-Chassis)

Removing the Terminal Cover
1. Loosen the four screws on the terminal cover, then pull down on the cover.
Note: Do not completely remove the cover screws, just loosen them. If the cover screws are removed completely, the
terminal cover may fall off causing an injury.
Figure 18
Figure 15 Removing the Terminal Cover on an IP00/Open-Chassis Drive

2. Pull forward on the terminal cover to free it from the drive.
Figure 19
Figure 16 Removing the Terminal Cover on an IP00/Open-Chassis Drive
Reattaching the Terminal Cover

Once wiring to the terminal board and other devices is complete, double check all connections and finally reattach the
terminal cover. Refer to Wiring the Main Circuit Terminal on page 31 and Wiring the Control Circuit Terminal on
page 35 for details on wiring.
Figure 20
Connect ground wiring first,

followed by the main circuit,
and then wire the control circuit.
Figure 17 Reattaching the Terminal Cover on an IP00/Open-Chassis Drive
◆ Digital Operator and Front Cover

The digital operator can be detached from the drive for remote operation, or when the front cover has to be opened to
install an option card.
Be sure the digital operator has been removed prior to opening the front cover or reattaching it. Leaving the digital
operator plugged into the drive when removing the front cover can result in erroneous operation caused by a poor
connection. Before reattaching the operator make sure the front cover has been firmly fastened back into place.
■ Removing/Reattaching the Digital Operator
Removing the Digital Operator
While pinching inwards on the tab located on the right side of the digital operator, pull forward and remove the operator
from the drive.
Figure 21
Figure 18 Removing the Digital Operator
Reattaching the Digital Operator
Insert the digital operator into the opening in the top cover while aligning it with the notches on the left side of the
opening. Next press gently on the right side of the operator until it clicks into place.
Figure 22
Figure 19 Reattaching the Digital Operator
■ Removing/Reattaching the Front Cover

Removing the Front Cover
After removing the terminal cover and the digital operator, loosen the screw that affixes the front cover (model CIMR-
A 2A0081 does not use a screw to affix the front cover). Pinch inwards on tabs found on each side of the front cover,
then pull forward to remove it from the drive.
Figure 23
Figure 20 Remove the Front Cover

Reattaching the Front Cover
Reverse the instructions given above to reattach the front cover. Pinch inwards on the tabs found on each side of the front
cover while guiding it back into the drive. Make sure it clicks firmly into place.
◆ Protective Cover
Drive models CIMR-A 2A0004 to 0081 and 4A0002 to 0058 are designed with NEMA Type 1 specifications, and have
a protective cover on the top. Removing this top cover voids the NEMA Type 1 conformance but still keeps a protection
degree in accordance with IP20.
■ Removing the Protective Cover
Insert the tip of a straight-edge screwdriver into the small openings located on the front edge of the protective cover.
Gently apply pressure as shown in the figure below to free the cover from the drive.
Note: Removing the top cover from a IP20/NEMA Type 1 drive voids the NEMA Type 1 protection but still keeps IP20 conformity.
Figure 24
Figure 21 Removing the Protective Cover
■ Reattaching the Protective Cover

Align the small protruding hooks on the sides of the protective cover with the corresponding mounting holes on the top
of the drive. Pinch the hooks inward so that the they connect with the mounting holes and fasten the protective cover
back into place.
Figure 25
Protective Cover
Mounting Holes
Figure 22 Reattaching the Protective Cover
◆ Main Circuit Wiring

This section describes the functions, specifications, and procedures required to safely and properly wire the main circuit
in the drive.
NOTICE: Do not solder the ends of wire connections to the drive. Soldered wiring connections can loosen over time. Improper wiring
practices could result in drive malfunction due to loose terminal connections.
NOTICE: Do not switch the drive input to start or stop the motor. Frequently switching the drive on and off shortens the lifetime of the
DC bus charge circuit and the DC bus capacitors, and can cause premature drive failures. For the full performance life, refrain from
switching the drive on and off more than once every 30 minutes.
■ Main Circuit Terminal Functions

Table 6 Main Circuit Terminal Functions
Terminal Type
200 V
2A0004 to 2A0081 2A0110 to 2A0138 2A0169 to 2A0211
Class Model Function Page
400 V CIMR-A
4A0002 to 4A0044 4A0058 to 4A0072 4A0088 to 4A0165
Class
R/L1
S/L2 Main circuit power supply input Connects line power to the drive 21
T/L3
U/T1
V/T2 Drive output Connects to the motor 21
W/T3
B1 Available for connecting a braking resistor or a
Braking resistor not available –
B2 braking resistor unit option
+2 • DC reactor connection (+1, not available

+2) (remove the shorting bar For connection
+1 between +1 and +2) • DC power supply input • of the drive to a DC power supply (terminals +1
• DC power supply input
• DC power supply input (+1, (+1, −) and – are not EU or UL approved) –
– (+1, −)
−) • Braking transistor • of braking options
connection (+3, −) • connection of a DC reactor
+3 not available
For 200 V class: 100 Ω or less
Grounding terminal 31
For 400 V class: 10 Ω or less
■ Wire Gauges and Tightening Torque

Select the appropriate wires and crimp terminals from Table 7 through Table 9.
Note: 1. Wire gauge recommendations based on drive continuous current ratings (ND) using 75°C 600 Vac vinyl-sheathed wire assuming
ambient temperature within 40°C and wiring distance less than 100 m.
2. Terminals +1, +2, +3, –, B1 and B2 are for connecting optional devices such as a DC reactor or braking resistor. Do not connect other
non-specified devices to these terminals.
• Consider the amount of voltage drop when selecting wire gauges. Increase the wire gauge when the voltage drop is
greater than 2% of motor rated voltage. Ensure the wire gauge is suitable for the terminal block. Use the following
formula to calculate the amount of voltage drop:
Line drop voltage (V) = 3 × wire resistance (Ω/km) × wire length (m) × current (A) × 10-3
• Use terminal +1 and the negative terminal when connecting a braking resistor, regenerative converter, or a regen unit.
• Refer to instruction manual TOBPC72060000 for braking unit or braking resistor unit wire gauges.
• Refer to UL Standards Compliance on page 148 for information on UL compliance.
Three-Phase 200 V Class

Table 7 Wire Gauge and Torque Specifications (Three-Phase 200 V Class)
For Asia <1> For U.S.A <2> For Europe <3>
Tightening
Model Recommended Applicable Recommended Applicable Recommended Applicable Screw
Terminal Torque
CIMR-A Gauge Gauge Gauge Gauge Gauge Gauge Size Nxm (lb.in.)
mm2 mm2 AWG, kcmil AWG, kcmil mm2 mm2
R/L1, S/L2, T/L3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
2A0004 U/T1, V/T2, W/T3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
2A0006 –, +1, +2 2 2 to 5.5 – 14 to 10 – 2.5 to 6 1.2 to 1.5
M4
2A0008 (10.6 to 13.3)
2A0010 B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6
2 2 to 5.5 10 14 to 10 2.5 2.5 to 6
R/L1, S/L2, T/L3 2 2 to 5.5 12 14 to 10 2.5 2.5 to 6
U/T1, V/T2, W/T3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
–, +1, +2 2 2 to 5.5 – 14 to 10 – 2.5 to 6 1.2 to 1.5
2A0012 M4
(10.6 to 13.3)
B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6
3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6
R/L1, S/L2, T/L3 3.5 2 to 5.5 10 12 to 10 2.5 2.5 to 6
U/T1, V/T2, W/T3 3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6
–, +1, +2 3.5 2 to 5.5 – 14 to 10 – 2.5 to 6 1.2 to 1.5
2A0018 M4
(10.6 to 13.3)
B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6
3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6
R/L1, S/L2, T/L3 5.5 3.5 to 5.5 10 12 to 10 4 2.5 to 6
U/T1, V/T2, W/T3 3.5 3.5 to 5.5 10 12 to 10 2.5 2.5 to 6
–, +1, +2 5.5 3.5 to 5.5 – 12 to 10 – 4 to 6 1.2 to 1.5
2A0021 M4
(10.6 to 13.3)
B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6
3.5 3.5 to 5.5 10 12 to 10 4 4 to 6
R/L1, S/L2, T/L3 14 5.5 to 14 8 10 to 6 6 4 to 16
U/T1, V/T2, W/T3 8 5.5 to 14 8 10 to 6 6 4 to 16 1.2 to 1.5
M4
–, +1, +2 14 5.5 to 14 – 10 to 6 – 6 to 16 (10.6 to 13.3)
2A0030
B1, B2 3.5 2 to 5.5 – 14 to 10 – 4 to 6
2 to 2.5
5.5 5.5 to 8 8 10 to 8 6 6 to 10 M5
(17.7 to 22.1)
R/L1, S/L2, T/L3 14 14 6 8 to 6 10 6 to 16
U/T1, V/T2, W/T3 14 8 to 14 8 8 to 6 10 6 to 16 1.2 to 1.5
M4
–, +1, +2 14 14 – 6 – 16 (10.6 to 13.3)
2A0040
B1, B2 5.5 3.5 to 5.5 – 12 to 10 – 4 to 6
2 to 2.5
5.5 5.5 to 8 8 10 to 8 10 6 to 10 M5
(17.7 to 22.1)
R/L1, S/L2, T/L3 22 14 to 22 4 6 to 4 16 16 to 25
4 to 6
U/T1, V/T2, W/T3 14 14 to 22 4 6 to 4 16 16 to 25 M6
(35.4 to 53.1)
–, +1, +2 22 14 to 22 – 6 to 4 – 16 to 25
2A0056 2 to 2.5
B1, B2 14 5.5 to 14 – 10 to 6 – 6 to 10 M5
(17.7 to 22.1)
4 to 6
8 8 to 14 6 8 to 6 16 10 to 16 M6
(35.4 to 53.1)
R/L1, S/L2, T/L3 30 22 to 30 3 4 to 3 25 16 to 25
9 to11
U/T1, V/T2, W/T3 22 14 to 30 3 4 to 3 16 16 to 25 M8
(79.7 to 97.4)
–, +1, +2 30 22 to 30 – 4 to 3 – 25
2A0069 2 to 2.5
B1, B2 14 8 to 14 – 8 to 6 – 10 to 16 M5
(17.7 to 22.1)
4 to 6
8 8 to 22 6 6 to 4 16 16 to 25 M6
(35.4 to 53.1)
R/L1, S/L2, T/L3 38 30 to 38 2 3 to 2 35 25 to 35
9 to11
U/T1, V/T2, W/T3 30 22 to 38 2 3 to 2 25 25 to 35 M8
(79.7 to 97.4)
–, +1, +2 38 30 to 38 – 3 to 2 – 25 to 35
2A0081 2 to 2.5
B1, B2 14 14 – 6 – 16 M5
(17.7 to 22.1)
4 to 6
14 14 to 22 6 6 to 4 16 16 to 25 M6
(35.4 to 53.1)
R/L1, S/L2, T/L3 38 30 to 50 1/0 3 to 1/0 35 25 to 50
U/T1, V/T2, W/T3 38 30 to 50 1/0 3 to 1/0 35 25 to 50
–, +1 60 38 to 60 – 2 to 1/0 – 35 to 50 9 to 11
2A0110 M8
(79.7 to 97.4)
B1, B2 22 14 to 50 – 6 to 1/0 – 16 to 50
14 14 to 38 6 6 to 4 16 16 to 25

Tightening
Model Recommended Applicable Recommended Applicable Recommended Applicable Screw
Terminal Torque
R/L1, S/L2, T/L3 60 50 to 80 2/0 1 to 3/0 50 35 to 70
U/T1, V/T2, W/T3 60 50 to 80 2/0 1 to 3/0 50 35 to 70 18 to 23
M10
–, +1 80 60 to 80 – 1/0 to 3/0 – 50 to 70 (159 to 204)
2A0138
B1, B2 30 22 to 80 – 4 to 3/0 – 25 to 70
9 to 11
22 22 to 38 4 4 25 25 M8
(79.7 to 97.4)
R/L1, S/L2, T/L3 80 60 to 100 4/0 2/0 to 4/0 70 50 to 95
U/T1, V/T2, W/T3 80 60 to 100 4/0 3/0 to 4/0 70 50 to 95 18 to 23
M10
–, +1 50 × 2P 50 to 100 – 1 to 4/0 – 35 to 95 (159 to 204)
2A0169
+3 60 50 to 100 – 1/0 to 4/0 – 50 to 95
9 to 11
22 22 to 60 4 4 to 2 35 25 to 35 M8
(79.7 to 97.4)
R/L1, S/L2, T/L3 100 80 to 100 1/0 × 2P 1/0 to 4/0 95 70 to 95
U/T1, V/T2, W/T3 50 × 2P 50 to 100 1/0 × 2P 1/0 to 4/0 95 70 to 95 18 to 23
M10
–, +1 50 × 2P 50 to 100 – 1 to 4/0 – 35 to 95 (159 to 204)
2A0211
+3 80 60 to 100 – 1/0 to 4/0 – 50 to 95
9 to 11
22 22 to 60 4 4 to 1/0 50 25 to 50 M8
(79.7 to 97.4)
<1> Gauges listed here are for use in Japan.
<2> Gauges listed here are for use in the United States.
<3> Gauges listed here are for use in Europe.
Table 8 Wire Gauge and Torque Specifications (Three-Phase 400 V Class)
Tightening
Model Terminal Recommended Applicable Recommended Applicable Recommended Applicable Screw Torque
R/L1, S/L2, T/L3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
U/T1, V/T2, W/T3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
4A0002 –, +1, +2 2 2 to 5.5 – 14 to 10 – 2.5 to 6 1.2 to 1.5
M4
4A0004 (10.6 to 13.3)
B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6
2 2 to 5.5 12 14 to 12 2.5 2.5 to 4
R/L1, S/L2, T/L3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
U/T1, V/T2, W/T3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
4A0005
–, +1, +2 2 2 to 5.5 – 14 to 10 – 2.5 to 6 1.2 to 1.5
4A0007 M4
(10.6 to 13.3)
4A0009 B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6
3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6
R/L1, S/L2, T/L3 2 2 to 5.5 12 14 to 10 2.5 2.5 to 6
U/T1, V/T2, W/T3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
–, +1, +2 2 2 to 5.5 – 14 to 10 – 2.5 to 6 1.2 to 1.5
4A0011 M4
(10.6 to 13.3)
B1, B2 2 2 to 5.5 – 14 to 10 – 2.5 to 6
3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6
R/L1, S/L2, T/L3 3.5 2 to 14 10 12 to 6 2.5 2.5 to 16
U/T1, V/T2, W/T3 3.5 2 to 14 10 12 to 6 2.5 2.5 to 16 1.2 to 1.5
M4
–, +1, +2 3.5 2 to 14 – 12 to 6 – 4 to 16 (10.6 to 13.3)
4A0018
B1, B2 2 2 to 5.5 – 12 to 10 – 4 to 6
2 to 2.5
3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6 M5
(17.7 to 22.1)
R/L1, S/L2, T/L3 5.5 3.5 to 14 10 10 to 6 4 2.5 to 16
U/T1, V/T2, W/T3 5.5 3.5 to 14 10 10 to 6 4 2.5 to 16
M4
1.2 to 1.5
(10.6 to 13.3)
3
–, +1, +2 5.5 3.5 to 14 – 12 to 6 – 4 to 16
4A0023
B1, B2 2 2 to 5.5 – 12 to 10 – 4 to 6
2 to 2.5
3.5 3.5 to 5.5 10 12 to 10 4 4 to 6 M5
(17.7 to 22.1)
R/L1, S/L2, T/L3 14 5.5 to 14 8 8 to 6 6 6 to 16
2 to 2.5
U/T1, V/T2, W/T3 8 5.5 to 8 8 10 to 6 6 6 to 16 M5
(17.7 to 22.1)
–, +1, +2 14 5.5 to 14 – 10 to 6 – 6 to 16
4A0031 2 to 2.5
B1, B2 3.5 2 to 8 – 10 to 8 – 6 to 10 M5
(17.7 to 22.1)
4 to 6
5.5 5.5 to 8 8 10 to 8 6 6 to 10 M6
(35.4 to 53.1)

Tightening
Model Terminal Recommended Applicable Recommended Applicable Recommended Applicable Screw
CIMR-A Size Torque
Gauge Gauge Gauge Gauge Gauge Gauge Nxm (lb.in.)
R/L1, S/L2, T/L3 14 14 6 8 to 6 10 10 to 16
2 to 2.5
U/T1, V/T2, W/T3 14 8 to 14 8 8 to 6 6 6 to 16 M5
(17.7 to 22.1)
–, +1, +2 14 14 – 6 – 6 to 16
4A0038 2 to 2.5
B1, B2 5.5 3.5 to 8 – 10 to 8 – 6 to 10 M5
(17.7 to 22.1)
4 to 6
8 5.5 to 14 6 10 to 6 10 6 to 16 M6
(35.4 to 53.1)
R/L1, S/L2, T/L3 14 14 to 22 6 6 to 4 16 16 to 25
4 to 6
U/T1, V/T2, W/T3 14 14 to 22 6 6 to 4 16 16 to 25 M6
(35.4 to 53.1)
–, +1, +2 14 14 to 22 – 6 to 4 – 16 to 25
4A0044 2 to 2.5
B1, B2 8 5.5 to 8 – 10 to 8 – 6 to 10 M5
(17.7 to 22.1)
4 to 6
8 8 to 14 6 8 to 6 16 10 to 16 M6
(35.4 to 53.1)
R/L1, S/L2, T/L3 14 14 to 50 4 6 to 1/0 16 10 to 50
U/T1, V/T2, W/T3 14 14 to 50 4 6 to 1/0 16 10 to 50
–, +1 22 14 to 50 – 6 to 1/0 – 16 to 50 9 to 11
4A0058 M8
(79.7 to 97.4)
B1, B2 14 8 to 50 – 8 to 1/0 – 10 to 50
8 8 to 14 6 8 to 6 16 10 to 16
R/L1, S/L2, T/L3 22 14 to 50 3 4 to 1/0 16 16 to 50
U/T1, V/T2, W/T3 22 14 to 50 3 4 to 1/0 25 16 to 50
–, +1 30 22 to 50 – 4 to 1/0 – 25 to 50 9 to 11
4A0072 M8
(79.7 to 97.4)
B1, B2 14 14 to 50 – 6 to 1/0 – 16 to 50
14 14 to 22 6 6 to 4 16 16 to 25
R/L1, S/L2, T/L3 30 22 to 60 2 3 to 3/0 25 16 to 70
U/T1, V/T2, W/T3 30 22 to 60 2 3 to 3/0 25 25 to 70
–, +1 38 30 to 60 – 3 to 2/0 – 25 to 70 9 to 11
4A0088 M8
(79.7 to 97.4)
+3 22 14 to 60 – 6 to 3/0 – 16 to 70
22 14 to 22 4 6 to 4 16 16 to 25
R/L1, S/L2, T/L3 38 30 to 60 1/0 2 to 3/0 35 25 to 70
U/T1, V/T2, W/T3 38 30 to 60 1 2 to 3/0 35 25 to 70
–, +1 60 30 to 60 – 3 to 2/0 – 25 to 70 9 to 11
4A0103 M8
(79.7 to 97.4)
+3 30 22 to 60 – 4 to 3/0 – 25 to 70
22 14 to 22 4 6 to 4 16 16 to 25
R/L1, S/L2, T/L3 60 38 to 100 3/0 1/0 to 4/0 50 35 to 95
U/T1, V/T2, W/T3 60 50 to 100 2/0 1/0 to 4/0 50 35 to 95
–, +1 100 60 to 100 – 1/0 to 4/0 – 50 to 95 18 to 23
4A0139 M10
(159 to 204)
+3 50 30 to 100 – 3 to 4/0 – 25 to 95
22 22 4 4 25 25
R/L1, S/L2, T/L3 80 60 to 100 4/0 3/0 to 4/0 70 50 to 95
U/T1, V/T2, W/T3 80 80 to 100 4/0 3/0 to 4/0 70 70 to 95
18 to 23
4A0165 –,+1 50 Å~ 2P 50 to 100 – 1 to 4/0 – 35 to 95 M10
(159 to 204)
+3 60 50 to 100 – 1/0 to 4/0 – 50 to 95
22 22 to 30 4 4 to 2 35 25 to 35
<1> Gauges listed here are for use in Japan.

<2> Gauges listed here are for use in the United States.
<3> Gauges listed here are for use in Europe.
■ Main Circuit Terminal and Motor Wiring

This section outlines the various steps, precautions, and checkpoints for wiring the main circuit terminals and motor
terminals.
NOTICE: When connecting the motor to the drive output terminals U/T1, V/T2, and W/T3, the phase order for the drive and motor
should match. Failure to comply with proper wiring practices may cause the motor to run in reverse if the phase order is backward.
NOTICE: Do not connect phase-advancing capacitors or LC/RC noise filters to the output circuits. Failure to comply could result in
damage to the drive, phase-advancing capacitors, LC/RC noise filters or ground fault circuit interrupters.
NOTICE: Do not connect the AC power line to the output motor terminals of the drive. Failure to comply could result in death or serious
injury by fire as a result of drive damage from line voltage application to output terminals.
Cable Length Between Drive and Motor

Voltage drop along the motor cable may cause reduced motor torque when the wiring between the drive and the motor is
too long, especially at low frequency output. This can also be a problem when motors are connected in parallel with a
fairly long motor cable. Drive output current will increase as the leakage current from the cable increases. An increase in
leakage current may trigger an overcurrent situation and weaken the accuracy of the current detection.
Adjust the drive carrier frequency according to Table 9. If the motor wiring distance exceeds 100 m because of the
system configuration, reduce the ground currents. Refer to C6-02: Carrier Frequency Selection on page 60.
Table 9 Cable Length Between Drive and Motor
Cable Length 50 m or less 100 m or less Greater than 100 m
Carrier Frequency 15 kHz or less 5 kHz or less 2 kHz or less
Note: When setting carrier frequency in a drive running multiple motors, calculate the cable length as the total distance of wiring to all
motors that are connected.
Ground Wiring
Follow the precautions to wire the ground for one drive or a series of drives.
WARNING! Electrical Shock Hazard. Always use a ground wire that complies with technical standards on electrical equipment and
minimize the length of the ground wire. Improper equipment grounding may cause dangerous electrical potentials on equipment
chassis, which could result in death or serious injury.
WARNING! Electrical Shock Hazard. Be sure to ground the drive ground terminal. (200 V Class: Ground to 100 Ω or less, 400 V
Class: Ground to 10 Ω or less). Improper equipment grounding could result in death or serious injury by contacting ungrounded
electrical equipment.
NOTICE: Do not share the ground wire with other devices such as welding machines or large-current electrical equipment. Improper
equipment grounding could result in drive or equipment malfunction due to electrical interference.
NOTICE: When using more than one drive, ground multiple drives according to instructions. Improper equipment grounding could
result in abnormal operation of drive or equipment.
Refer to Figure 26 when using multiple drives. Do not loop the ground wire.
Figure 26
OK OK NG
Figure 23 Multiple Drive Wiring

Wiring the Main Circuit Terminal
WARNING! Electrical Shock Hazard. Shut off the power supply to the drive before wiring the main circuit terminals. Failure to comply
may result in death or serious injury.
Wire the main circuit terminals after the terminal board has been properly grounded.
Models CIMR-A2A0004 through 0081 and 4A0002 through 0044 have a cover placed over the DC bus and braking
circuit terminals prior to shipment to help prevent miswiring. Cut away covers as needed for terminals using wire cutters.
Figure 27
A
3
A – Protective Cover
Figure 24 Protecting Cover to Prevent Miswiring (CIMR-A2A0056)
Main Circuit Connection Diagram
Refer to Main Circuit Connection Diagram on page 22 when wiring terminals on the drive’s main power circuit.
WARNING! Fire Hazard. The braking resistor connection terminals are B1 and B2. Do not connect braking resistors to any other
terminals. Improper wiring connections could cause the braking resistor to overheat and cause death or serious injury by fire. Failure to
comply may result in damage to the braking circuit or drive.
◆ Control Circuit Terminal Block Functions

Drive parameters determine which functions apply to the multi-function digital inputs (S1 to S8), multi-function digital
outputs (M1, M2), multi-function photocoupler outputs (P1, P2), multi-function analog inputs (A1 to A3), and multi-
function analog monitor output (FM, AM). The default setting is listed next to each terminal in Figure 12.
WARNING! Sudden Movement Hazard. Always check the operation and wiring of control circuits after being wired. Operating a drive
with untested control circuits could result in death or serious injury.
WARNING! Confirm the drive I/O signals and external sequence before starting test run. Setting parameter A1-06 may change the I/O
terminal function automatically from the factory setting. Refer to Application Selection on page 51. Failure to comply may result in
death or serious injury.
Input Terminals
Table 10 lists the input terminals on the drive. Text in parenthesis indicates the default setting for each multi-function
input.
Table 10 Control Circuit Input Terminals
Type No. Terminal Name (Function) Function (Signal Level) Default Setting Page
S1 Multi-function input 1 (Closed: Forward run, Open: Stop)
S2 Multi-function input 2 (Closed: Reverse run, Open: Stop)
S3 Multi-function input 3 (External fault, N.O.)
Photocoupler
S4 Multi-function input 4 (Fault reset) 24 Vdc, 8 mA
Multi-Function Set the S3 jumper to select between sinking, sourcing mode, and the power supply.
S5 Multi-function input 5 (Multi-step speed reference 1) 124
Digital Inputs Refer to Sinking/Sourcing Mode Switch for Digital Inputs on page 37.
S6 Multi-function input 6 (Multi-step speed reference 2)
S7 Multi-function input 7 (Jog reference)
S8 Multi-function input 8 (External baseblock)
SC Multi-function input common Multi-function input common
H1 Safe Disable input 1 24 Vdc, 8 mA
One or both open: Output disabled
Both closed: Normal operation
Internal impedance: 3.3 kΩ
Safe Disable Off time of at least 1 ms
H2 Safe Disable input 2 Disconnect the wire jumpers shorting terminals H1, H2, and HC to use the Safe 151
Inputs
Disable inputs. Set the S3 jumper to select between sinking, sourcing mode, and the
power supply as explained for multi-function input terminals in Sinking/Sourcing
Mode Switch for Digital Inputs on page 37. <1>
HC Safe Disable function common Safe disable function common
Input frequency range: 0 to 32 kHz
Signal Duty Cycle: 30 to 70% 129
RP Multi-function pulse train input (Frequency reference)
High level: 3.5 to 13.2 Vdc, low level: 0.0 to 0.8 Vdc 150
Input impedance: 3 kΩ
+V Power supply for analog inputs 10.5 Vdc (max allowable current 20 mA) 150
-V Power supply for analog inputs -10.5 Vdc (max allowable current 20 mA) –
Analog Inputs / A1 Multi-function analog input 1 (Frequency reference bias) -10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 kΩ) 53
Pulse Train Input -10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 kΩ)
39
A2 Multi-function analog input 2 (Frequency reference bias) 4 to 20 mA, 0 to 20 mA (input impedance: 250 Ω)
53
Voltage or current input must be selected by DIP switch S1 and H3-09
Multi-function analog input 3 (auxiliary frequency
A3 -10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 kΩ) 53
reference)
AC Frequency reference common 0V 53
E (G) Ground for shielded lines and option cards – –
<1> Setting jumper S3 for an external power supply makes the wire link between terminals H1, H2, and H2 ineffective. Remove the wire link and
connect an external power supply that can supply terminals H1, H2, and HC continuously.
Output Terminals
Table 11 lists the output terminals on the drive. Text in parenthesis indicates the default setting for each multi-function
output.
Table 11 Control Circuit Output Terminals
Type No. Terminal Name (Function) Function (Signal Level) Default Setting Page
MA N.O.
30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A
Fault Relay MB N.C. output
Minimum load: 5 Vdc, 10 mA
MC Fault output common
Multi-Function M1 30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A
Multi-function digital output (During run) 126
Digital Output <1> M2 Minimum load: 5 Vdc, 10 mA
P1 Photocoupler output 1 (Zero speed)

Multi-Function
Photocoupler P2 Photocoupler output 2 (Speed agree 1) 48 Vdc, 2 to 50 mA <2>
Output
PC Photocoupler output common
MP Pulse train output (Output frequency) 32 kHz (max) 129
FM Analog monitor output 1 (Output frequency)
Monitor Output -10 to +10 Vdc or 0 to +10 Vdc 128
AM Analog monitor output 2 (Output current)
AC Monitor common 0V –
Safety Monitor DM+ Safety monitor output Outputs status of Safe Disable function. Closed when both Safe Disable
151
Output DM- Safety monitor output common channels are closed. Up to +48 Vdc 50 mA
<1> Refrain from assigning functions to terminals M1 and M2 that involve frequent switching, as doing so may shorten relay performance life.
Switching life is estimated at 200,000 times (assumes 1 A, resistive load).
<2> Connect a flywheel diode as shown in the Figure 28 when driving a reactive load such as a relay coil. Make sure the diode rating is greater than
the circuit voltage.
Figure 28
C
A D
A – External power, 48 V max. C – Coil

B – Suppression diode D – 50 mA or less
Figure 25 Connecting a Suppression Diode
Serial Communication Terminals
Table 12 Control Circuit Terminals: Serial Communications
Type No. Signal Name Function (Signal Level)
R+ Communications input (+)
RS-485/422
MEMOBUS/Modbus R- Communications input (-) MEMOBUS/Modbus communication: Use a RS-485 or MEMOBUS/Modbus
Communication S+ Communications output (+) RS-422 cable to connect the drive. communication protocol
<1> 115.2 kbps (max.)
S- Communications output (-)
IG Shield ground 0V
<1> Enable the termination resistor in the last drive in a MEMOBUS network by setting DIP switch S2 to the ON position. For more information on
the termination resistor, see Control I/O Connections on page 37.
■ Terminal Configuration
Control circuit terminals should be wired as shown in Figure 29.
Figure 29
A B C
DM− S−
DM+ S+
H2 R−
H1 R+ MP
HC IG RP E
E(G) FM AC AM P1 P2 PC SC MA MB MC
SC A1 A2 A3 +V AC -V M1 M2 E(G)
S1 S2 S3 S4 S5 S6 S7 S8
A – Terminal Block (TB 6) D – Terminal Block (TB 1)

B – Terminal Block (TB 5) E – Terminal Block (TB 2)
C – Terminal Block (TB 4) F –
Figure 26 Control Circuit Terminal Arrangement
(CIMR-AA)
Terminal board arrangement appears below. The exact location of the labeling may vary by model.
Figure 30
Inside of the Terminal Cover Under the Terminal Board

(CIMR-A2A0004 to 2A0081, 4A0002 to 4A0044) (CIMR-A2A0110 to 2A0211, 4A0072 to 4A0165)
Figure 27 Control Circuit Terminal Arrangement
Wire Size and Torque Specifications

Select appropriate wire type and gauges from Table 13. For simpler and more reliable wiring, use crimp ferrules on the
wire ends. Refer to Table 14 for ferrule terminal types and sizes.
Table 13 Wire Gauges and Torque Specifications
Bare Wire Terminal Ferrule-Type Terminal
Tightening
Terminal Screw Torque Applicable wire Applicable wire
Terminal size Recomm. mm2 size Recomm. mm2
Block Size N•m Wire Type
(lb.in.) mm2 (AWG) mm2 (AWG)
(AWG) (AWG)
FM, AC, AM, P1, P2,
PC, SC, A1, A2, A3, 0.8 to 1.0 0.5 to 2 0.75
M3.5
+V, -V, S1-S8, MA, (7.1 to 8.6) (20 to 14) (18)
TB1, TB2 MB, MC, M1, M2 – –
0.8 to 1.0 0.5 to 2 1.25
E (G) M3.5 Shielded line, etc.
(7.1 to 8.6) (20 to 14) (12)
Standard 0.25 to 1.0
HC, H1, H2, DM+,
0.22 to 0.25 (24 to 17) 0.75 0.25 to 0.5 0.5
TB4, TB5, TB6 DM-, IG, R+, R-, S+, S-, M2
(1.9 to 2.2) Single 0.25 to 1.5 (18) (24 to 20) (20)
RP, MP
(24 to 16)
Ferrule-Type Wire Terminals

Prepare wire ends with insulated sleeves before connecting to the drive. See Table 14 for dimensions. Yaskawa
recommends CRIMPFOX ZA-3, a crimping tool manufactured by PHOENIX CONTACT.
Figure 31
d1
6 mm
d2
Figure 28 Ferrule Dimensions

Table 14 Ferrule Terminal Types and Sizes
Size mm2 (AWG) Type L (mm) d1 (mm) d2 (mm) Manufacturer
0.25 (24) AI 0.25-6YE 10.5 0.8 2
0.34 (22) AI 0.34-6TQ 10.5 0.8 2 PHOENIX CONTACT
0.5 (20) AI 0.5-6WH 14 1.1 2.5
■ Wiring the Control Circuit Terminal

This section describes the proper procedures and preparations for wiring the control terminals.
WARNING! Electrical Shock Hazard. Do not remove covers or touch the circuit boards while the power is on. Failure to comply could
result in death or serious injury.
NOTICE: Separate control circuit wiring from main circuit wiring (terminals R/L1, S/L2, T/L3, B1, B2, U/T1, V/T2, W/T3, -, +1, +2) and
other high-power lines. Improper wiring practices could result in drive malfunction due to electrical interference.
NOTICE: Separate wiring for digital output terminals MA, MB and MC from wiring to other control circuit lines. Improper wiring
practices could result in drive or equipment malfunction or nuisance trips.
NOTICE: Use a class 2 power supply (UL standard) when connecting to the control terminals. Improper application of peripheral
devices could result in drive performance degradation due to improper power supply.
3
NOTICE: Insulate shields with tape or shrink tubing to prevent contact with other signal lines and equipment. Improper wiring practices
could result in drive or equipment malfunction due to short circuit.
NOTICE: Connect the shield of shielded cable to the appropriate ground terminal. Improper equipment grounding could result in drive
or equipment malfunction or nuisance trips.
Wire the control circuit only after terminals have been properly grounded and main circuit wiring is complete. Refer to
Figure 32 for details. Prepare the ends of the control circuit wiring as shown in Figure 34. Refer to Wire Size and
Torque Specifications on page 35.
NOTICE: Do not tighten screws beyond the specified tightening torque. Failure to comply may result in erroneous operation, damage
the terminal block, or cause a fire.
NOTICE: Use shielded twisted-pair cables as indicated to prevent operating faults. Improper wiring practices could result in drive or
equipment malfunction due to electrical interference.
Connect control wires as shown in the following figure:

Figure 32
B
A
Preparing wire D
terminal ends
C
TB6 TB5 TB4
A – Loosen screw to insert wire. C – Avoid fraying wire strands when stripping
Wire in the following order: insulation from wire. Strip length 5.5 mm.
TB4, TB5, TB6
B – Single wire or stranded wire D – Blade depth of 0.4 mm or less
Blade width of 2.5 mm or less
Figure 29 Terminal Board Wiring Guide
Use the space above TB2 to wire TB4 through TB6 as illustrated in Figure 33.
Figure 33
Figure 30 Terminal Board Wiring

When setting the frequency by analog reference from an external potentiometer, use shielded twisted-pair wires (treating
wire ends as shown in Figure 34) and connect the shield to the ground terminal of the drive.
Figure 34
F C
A D
B E
A – Drive side D – Control device side

B – Connect shield to ground terminal of E – Shield sheath (insulate with tape)
drive.
C – Insulation F – Shield
Figure 31 Preparing the Ends of Shielded Cables
NOTICE: The analog signal lines between the drive and the operator station or peripheral equipment should not exceed 50 meters
when using an analog signal from a remote source to supply the frequency reference. Failure to comply could result in poor system
performance.
◆ Control I/O Connections

■ Sinking/Sourcing Mode Switch for Digital Inputs
Set jumper S3 to select between sinking/sourcing mode, and internal or external power supply. Signal levels are the same
for terminals S1 through S8 and the safety inputs. The drive is preset to sinking mode.
Figure 35
Figure 32 Jumper S3
Sink Mode (0 V Common), Internal Power Supply
When controlling the digital inputs by NPN transistors (0 V common/sinking mode) or contacts using the drive internal
power supply, position the jumper S3 for sinking as shown in Figure 36.
Figure 36
S7
S8
IP24 V
SC (24 V)
Figure 33 Sinking Mode (0 V Common), Internal Power Supply

Source Mode (+24 V Common), Internal Power Supply
When controlling digital inputs by PNP transistors (+24 V common/sourcing mode) or contact inputs using the drive
internal power supply, set jumper S3 for sourcing as shown in Figure 37.
Figure 37
S7
S8 3
IP24 V
SC (24 V)
Figure 34 Source Mode (+24 V Common), Internal Power Supply
Sink/Source Mode, External Power Supply

When using an external voltage source for controlling the digital inputs, set jumper S3 as shown in Figure 38. Here, the
inputs can be used for either sinking or sourcing.
Figure 38
S7 S7
S8 S8
IP24 V IP24 V
SC (24 V) SC (24 V)
+24 V +24 V
Source Mode (+24 V Common) External Power Supply Sink Mode (0 V Common) External Power Supply
Figure 35 Sink/Source Mode, External Power Supply

Power Supply Inputs Instead of the Safe Disable Feature
Refer to Figure 39 to wire the input terminals for an external power supply instead of the Safe Disable feature.
Figure 39
S8 S8
IP24 V IP24 V
SC (24 V) SC (24 V)
+24 V +24 V
H1 H1
H2 H2
HC HC
Source Mode Sink Mode

Figure 36 Power Supply Inputs Instead of the Safe Disable Feature
■ Using the Pulse Train Output

The pulse train output terminal MP can either supply power but can also be used with external power supply. Peripheral
devices should be connected in accordance with the specifications listed below. Failure to do so can cause unexpected
drive operation, and can damage the drive or connected circuits.
Using Power from the Pulse Output Terminal (Source Mode)
The high voltage level of the pulse output terminal depends on the load impedance.
Load Impedance RL (kΩ) Output Voltage VMP (V) (insulated)

1.5 kΩ 5V
4 kΩ 8V
10 kΩ 10 V
Note: The load resistance needed in order to get a certain high level voltage VMP can be calculated by: RL = VMP 2 / (12 - VMP)
Figure 40
Load Impedance
MP
VMP RL
AC
Figure 37 Pulse Output Connection Using Internal Voltage Supply

Using External Power Supply (Sink Mode)
The high voltage level of the pulse output signal depends on the external voltage applied. The voltage must be between
12 and 15 Vdc. The load resistance must be adjusted so that the current is lower than 16 mA.
External Power Supply (V) Load Impedance (kΩ)

12 to 15 Vdc ±10% 1.0 kΩ or higher
Figure 41
External Power Supply
Load Impedance
MP
Sink Current
AC
Figure 38 Pulse Output Connection Using External Voltage Supply
◆ Terminal A2 Analog Input Signal Selection
Terminal A2 can be used to input either a voltage or a current signal.
When using input A2 as a voltage input, set DIP switch S1 to “V” (left position) and set parameter H3-09 to 0 (0 to 10
Vdc) or to 1 (-10 to 10 Vdc).
To use current input at terminal A2, set the DIP switch S1 to “I” (default setting) and H3-09 = 2 or 3 (4 to 20 mA or 0 to
20 mA).
3
To set the DIP switch on the terminal board, use an appropriate sized tool with a tip of approximately 8 mm in width.
Figure 42
Dip Switch S1
V I
Figure 39 DIP Switch S1

Note: If terminals A1 and A2 are both set for frequency bias (H3-02 = 0 and H3-10 = 0), both input values will be combined to create
the frequency reference.
Table 15 DIP Switch S1 Settings
Setting Value Description
V (left position) Voltage input (-10 to +10 V)
I (right position) Current input (4 to 20 mA or 0 to 20 mA): default setting
Table 16 Parameter H3-09 Details
No. Parameter Name Description Setting Default

Range Setting
Selects the signal level for terminal A2.
0: 0 to 10 Vdc
H3-09 Terminal A2 signal level selection 1: -10 to 10 Vdc 0 to 3 2
2: 4 to 20 mA
3: 0 to 20 mA
◆ Connect to a PC
This drive is equipped with a USB port (type-B).
The drive can connect to the USB port of a PC using a USB 2.0, AB type cable (sold separately). DriveWizard Plus can
then be used to monitor drive performance and manage parameter settings. Contact Yaskawa for more information on
DriveWizard Plus.
Figure 43
USB Cable
(Type-AB)
(Type-B) (Type-A)
PC
Figure 40 Connecting to a PC (USB)
◆ Wiring Checklist
No. Item Page
Drive, peripherals, option cards

1 Check drive model number to ensure receipt of correct model. 12
2 Make sure you have the correct braking resistors, DC reactors, noise filters, and other peripheral devices. –
3 Check the option card model number. –

Installation area and physical setup
4 Ensure that the area surrounding the drive complies with specifications. 14
Power supply voltage, output voltage
5 The voltage from the power supply should be within the input voltage specification range of the drive. 62
12
6 The voltage rating for the motor should match the drive output specifications.
137
12
7 Verify that the drive is properly sized to run the motor.
137
Main circuit wiring
8 Confirm proper branch circuit protection as specified by national and local codes. 20
9 Properly wire the power supply to drive terminals R/L1, S/L2, and T/L3. 22
Properly wire the drive and motor together.
10 The motor lines and drive output terminals R/T1, V/T2, and W/T3 should match in order to produce the desired phase order. If the phase order 30
is incorrect, the drive will rotate in the opposite direction.
11 Use 600 Vac vinyl-sheathed wire for the power supply and motor lines. 27
Use the correct wire gauges for the main circuit. Refer to Wire Gauges and Tightening Torque on page 27. 27
• When using comparatively long motor cable, calculate the amount of voltage drop.
12 Motor rated voltage (V) x 0.02 ≥ 27

3 x voltage resistance (Ω/km) x cable length (m) x motor rated current (A) x 10-3
• If the cable between the drive and motor exceeds 50 m, adjust the carrier frequency set to C6-02 accordingly. 31
13 Properly ground the drive. Review page 31. 31
Tightly fasten all terminal screws (control circuit terminals, grounding terminals).
14 27
Refer to Wire Gauges and Tightening Torque on page 27.
Set up overload protection circuits when running multiple motors from a single drive.
Power supply Drive MC1 OL1

M1
MC2 OL2
15 MC1 - MCn ... magnetic contactor –
M2 OL 1 - OL n ... thermal relay
MCn OLn
Mn
Note: Close MC1 through MCn before operating the drive.
If using a braking resistor or dynamic braking resistor unit, install a magnetic contactor. Properly install the resistor, and ensure that overload
16 –
protection shuts off the power supply.
17 Verify phase advancing capacitors, input noise filters, or ground fault circuit interrupters are NOT installed on the output side of the drive. –
Control circuit wiring
18 Use twisted-pair line for all drive control circuit wiring. 35
19 Ground the shields of shielded wiring to the GND terminal. 35
20
If using a 3-wire sequence, properly set parameters for multi-function contact input terminals S1 through S8, and properly wire control
circuits.
– 3
21 Properly wire any option cards. 35
Check for any other wiring mistakes.
22 –
Only use a multimeter to check wiring.
Properly fasten the control circuit terminal screws in the drive.
23 27
Refer to Wire Gauges and Tightening Torque on page 27.
24 Pick up all wire clippings. –
25 Ensure that no frayed wires on the terminal block are touching other terminals or connections. –
26 Properly separate control circuit wiring and main circuit wiring. –
27 Analog signal line wiring should not exceed 50 m. –
28 Safe Disable input wiring should not exceed 30 m. –
4 Start-Up Programming & Operation

◆ Using the Digital Operator
Use the digital operator to enter run and stop commands, display data, edit parameters, as well as display fault and alarm
information.
■ Keys and Displays
Figure 44
Figure 45
14 13 12
DIGITAL OPERATOR JVOP-182 ALM 11

REV DRV FOUT
10
LO
ESC
1 RE 8
2 RESET ENTER 7
9
RUN STOP
3 4 5 6
Figure 41 Keys and Displays on the Digital Operator
No. Display Name Function

• Returns to the previous menu.
1 ESC Key • Moves the cursor to the left when selecting a parameter number.
• When pressed and held, returns to the frequency reference display from any display screen or menu item.
• Moves the cursor to the right.
2 RESET Key
• Resets the drive to clear a fault situation.
3 RUN RUN Key Starts the drive.
• Scrolls up the display screen.

4 Up Arrow Key
• Scrolls up to select parameter numbers, setting values, etc.
• Scrolls down the display screen.

5 Down Arrow Key
• Scrolls down to select parameter numbers, setting values, etc.
6 STOP STOP Key <1> Stops the operation.
• Selects all modes, parameters, settings, etc.

7 ENTER Key
• Selects a menu item to move from one display screen to the next.
Switches drive control between the operator (LOCAL) and an external source (REMOTE) for the Run
8 LO/RE Selection Key <2>
command and frequency reference.
9 RUN Light Lit while the drive is operating the motor. Refer to page 43 for details.
10 LO LO/RE Light Lit while the operator is selected to run the drive (LOCAL mode). Refer to page 43 for details.
RE
11 ALM LED Light
12 FOUT LED Light

Refer to LED Screen Displays on page 43.
13 DRV LED Light
14 REV LED Light
<1> The STOP key has highest priority. Pressing the STOP key will always cause the drive to stop the motor, even if a Run command is active at
any external Run command source. To disable the STOP key priority, set parameter o2-06 to 0.
<2> The LO/RE key can only switch between LOCAL and REMOTE when the drive is stopped. To disable the LO/RE key to prohibit switching
between LOCAL and REMOTE, set parameter o2-01 to 0.
■ LED Screen Displays

Table 17 LED Screen Displays
Display Lit Flashing Off
• When an alarm occurs

The drive has detected an alarm or error • oPE detected Normal state (no fault or alarm)
• When a fault or error occurs during Auto-Tuning
Motor is rotating in reverse — Motor is rotating forward
• The drive is in the Drive Mode • The drive is in the Programming Mode
When DriveWorksEZ is used <1>
• During Auto-Tuning • The drive will not accept a Run command
When a display other than the output frequency

When the display shows the output frequency —
monitor is shown.
DIGITAL OPERATOR JVOP-182 ALM DIGITAL OPERATOR JVOP-182

ALM
ALM DIGITAL OPERATOR JVOP-182 ALM
As illustrated in this REV DRV

DRV FOUT REV DRV FOUT REV DRV FOUT
manual
<1> Refer to the DriveWorksEZ instruction manual for further information.
■ LO/RE LED and RUN LED Indications

Table 18 LO/RE LED and RUN LED Indications
LED Lit Flashing Flashing Quickly Off
When source of the Run command

Run command to be given from a device other
is assigned to the digital operator — —
than the digital operator (REMOTE)
(LOCAL)
• While the drive is set for LOCAL, a

Run command was entered to the
input terminals after which the drive
was then switched to REMOTE.
• A Run command was entered via
the input terminals while not in the
Drive Mode.
• During deceleration to stop • During deceleration when a Fast
During run • When a Run command is input and Stop command was entered. During stop
frequency reference is 0 Hz • The drive output is shut off by the
Safe Disable function.
• While the drive was running in the
REMOTE mode, the STOP key was
pushed.
• The drive was powered up with b1-
17 = 0 (default) while the Run
command is active.
Examples
Start-Up Programming
& Operation
■ Menu Structure for Digital Operator

Figure 46
Figure 47
REV
DRV
DRV FOUT
Description of Key Operations
Turn the power on
Pressing RUN will start the motor. <1>
Forward Selection Reverse Selection

DRIVE MODE
DRV light is on.
Output Frequency
Output Current
Note: “XX” characters are shown in this manual.

Output Voltage The drive will display the actual setting values.
XX
Monitor Display
X XX XX
XX XX XX
Verify Menu
PROGRAMMING MODE
XX XX XX
Drive cannot operate the motor.
X
DRV light is on.
Set Up Mode
XX XX XX
XX
Parameter Setting Mode
XX XX XX
X XX XX
Auto-Tuning
X XX XX XX
<1> Reverse can only be selected when the drive is set for LOCAL.
Figure 42 Digital Operator Menu and Screen Structure
◆ The Drive and Programming Modes

The drive has a Programming Mode to program the drive for operation, and a Drive Mode used to actually run the motor.
Drive Mode: In the Drive Mode, the user can start the motor and observe operation status with the monitors that are
available. Parameter settings cannot be edited or changed when in the Drive Mode.
Programming Mode: The Programming Mode allows access to edit, adjust, and verify parameters, as well as perform
Auto-Tuning. Unless set to allow a Run command, the drive will not accept a Run command when the digital operator is
in the Programming Mode.
■ Changing Parameter Settings or Values

This example explains changing C1-02 (Deceleration Time 1) from 10.0 seconds (default) to 20.0 seconds.
Step Display/Result
1. Turn on the power to the drive. The initial display appears. REV DRV
DRV FOUT
2.
Press the or key until the Parameter Setting Mode screen appears.
3.
Press the key to enter the parameter menu tree.
4.
Press or key to select the C parameter group.
5.
Press two times.
6.
Press or key to select the parameter C1-02.
7.
Press to view the current setting value (10.0 s). Left digit flashes.
8.
Press until the desired number is selected. “1” flashes.
9.
Press the key and enter 0020.0.
10.
Press and the drive will confirm the change.
11. The display automatically returns to the screen shown in Step 4.
DRV
12.
REV DRV FOUT
Press the key until back at the initial display.
■ Setup Group Parameters

Table 19 lists parameters available by default in the Setup Group. When an Application Preset has been selected in
parameter A1-06 or the APPL display of the Setup Group, the parameters selected for the Setup Group will change
automatically. Refer to Application Selection on page 51.
If the desired parameter is not listed in the Setup Group, go to the Programming Mode.
Table 19 Setup Group Parameters
Parameter Name Parameter Name
A1-02 Control Method Selection E1-01 Input Voltage Reference
b1-01 Frequency Reference Selection 1 E1-03 V/f Pattern Selection
& Operation
b1-02 Run Command Selection 1 E1-04 Maximum Output Frequency

b1-03 Stop Method Selection E1-05 Maximum Voltage
C1-01 Acceleration Time 1 E1-06 Base Frequency
C1-02 Deceleration Time 1 E1-09 Minimum Output Frequency
C6-01 Duty Selection E1-13 Base Voltage
C6-02 Carrier Frequency Selection E2-01 Motor Rated Current 4
d1-01 Frequency Reference 1 E2-04 Number of Motor Poles
d1-02 Frequency Reference 2 E2-11 Motor Rate Capacity
d1-03 Frequency Reference 3 H4-02 Terminal AM Gain Setting
d1-04 Frequency Reference 4 L1-01 Motor Protection Function Selection
d1-17 Jog Frequency Reference L3-04 Stall Prevention Selection during Deceleration
Note: Parameter availability depends on the control mode set in A1-02 that is used to run the drive and motor. Consequently, some of
the parameters listed above may not be accessible in certain control modes.
■ Switching Between LOCAL and REMOTE

When the drive is set to accept the Run command from the digital operator RUN key, this is referred to as LOCAL mode.
When the drive is set to accept the Run command from an external device (via the input terminals, serial
communications, etc.) this is referred to as REMOTE mode.
WARNING! Sudden Movement Hazard. The drive may start unexpectedly if the Run command is already applied when switching from
LOCAL mode to REMOTE mode when b1-07 = 1, resulting in death or serious injury. Be sure all personnel are clear of rotating
machinery.
The operation can be switched between LOCAL and REMOTE either by using the LO/RE key on the digital operator or
a digital input.
Note: 1. After selecting LOCAL, the LO/RE light will remain lit.
2. The drive will not allow the user to switch between LOCAL and REMOTE during run.
Using the LO/RE Key on the Digital Operator
Step Display/Result
1. Turn on the power to the drive. The initial display appears. DRV
REV DRV FOUT
REV DRV
DRV FOUT
Press . The LO/RE light will light up. The drive is now in LOCAL.
2. ESC
LO
RE
RESET ENTER
To set the drive for REMOTE operation, press the key again. RUN STOP
Using Input Terminals S1 through S8 to Switch between LO/RE

The user can also switch between LOCAL and REMOTE modes using one of the digital input terminals S1 through S8
(set the corresponding parameter H1- to “1”).
When setting the multi-function input terminals,
Note: 1. Refer to Parameter List on page 107 for a list of digital input selections.
2. Setting H1- to 1 disables the LO/RE key on the digital operator.
◆ Start-Up Flowcharts
The flowcharts in this section summarize basic steps required to start the drive. Use the flowcharts to determine the most
appropriate start-up method for a given application. The charts are intended as a quick reference to help familiarize the
user with start-up procedures.
Flowchart Subchart Objective Page

A – Basic startup procedure and motor tuning 47
A-1 Simple motor setup using V/f mode 48
– A-2 High-performance operation using Open Loop Vector (OLV) or Closed Loop Vector (CLV) motor control 49
A-3 Setting up the drive to run a permanent magnet (PM) motor 50
Note: To set up the drive using one of the Application Presets, refer to Application Selection on page 51.
■ Flowchart A: Basic Start-up and Motor Tuning

Flowchart A in Figure 48 describes a basic start-up sequence. This sequence varies slightly depending on the
application. Use drive default parameter settings in simple applications that do not require high precision.
Figure 48
START
Install and wire the drive as explained in Chapters 1, 2, and 3
Apply main power on to the drive

Adhere to safety messages concerning application of power
Application Presets YES

A1-06 used ?
NO
Set the control mode in parameter A1-02. Refer to
Application
Selection section
Set the basic parameters
C6-01 for heavy/normal duty mode selection
b1-01/02 for frequency reference and run command source selection
H1-,H2-,H3-,H4-,H6-for I/O terminal setting
d1-for multi-speed references if used
C1- and C2-for accel./decel. and S-curve time settings
L3-04 if braking options are used
L8-55 = 0 if a regen converter is used.
Control Mode
A1-02 =
0: V/f 2: OLV 5: OLV/PM

1: V/f w/PG 3: CLV 6: AOLV/PM
7: CLV/PM
To To To
Flowchart A-1 Flowchart A-2 Flowchart A-3
From Flowchart A-1, A-2, or A-3
Fine tune parameters. Adjust application settings (PID, ...) if necessary.
Check the machine operation and verify parameter settings.
Drive is ready to run the application.
Figure 43 Basic Start-up

Note: When the motor cable length has changed for more than 50 m after Auto-Tuning has been performed (e.g., after the drive has
been set up and then later installed in a different location), execute Stationary Auto-Tuning for resistance between motor lines
once the drive is installed in its final installation location.
Note: Auto-Tuning should be performed again after installing an AC reactor or other such components to the output side of the drive.
& Operation
■ Subchart A-1: Simple Motor Setup Using V/f Control

Flowchart A1 in Figure 49 describes simple motor setup for V/f Control, with or without PG feedback. V/f Control is
suited for more basic applications such as fans and pumps. This procedure illustrates Energy Savings and Speed
Estimation Speed Search.
Figure 49
From
Flowchart
A
Is there a YES
PG encoder
on the motor?
NO
࡮Set or verify the V/f pattern settings E1-.

Set or verify the V/f pattern
࡮Enter the number of motor poles to E2-04 (or E4-04 for motor 2).
settings E1-.
࡮Set the PG speed feedback parameters (F1-).
Energy Savings
(b8-01 = 1) or
Speed Estimation Speed Search NO
(b3-24 = 1) enabled
when b3-01 = 1
or L2-01 = 1,2 ?
YES
Perform Rotational YES
Auto-Tuning for V/f Control Is the motor cable longer than
(T1-01 = 3) 50 meters?
NO Perform Stationary Auto-Tuning for

Stator Resistance (T1-01 = 2)
Run the motor without load; check the rotation direction and operation.
Verify external signal commands to the drive work as desired.
Couple the load or machine to the motor.

Run the machine and check for desired operation.
Return to
Flowchart
A
Figure 44 Simple Motor Setup with Energy Savings or Speed Search
■ Subchart A-2: High Performance Operation Using OLV or CLV

Flowchart A2 in Figure 50 describes the setup procedure for high-performance with Open Loop Vector Control or
Closed Loop Vector Control. Appropriate for applications requiring high starting torque and torque limits.
Note: Although the drive sets parameters for the PG encoder during Auto-Tuning, sometimes the direction of the motor and direction
of the PG get reversed. Use parameter F1-05 to switch the direction of the PG so that it matches the motor direction.
Figure 50
Figure 51
From
Flowchart
A
Possible for motor to YES

rotate during tuning? <1>
NO YES
NO Is the load less than
30% of the rated load
for the motor?
<2>
Motor test report/ YES Perform Stationary Perform Rotating

data sheet available? Auto-Tuning 2 (T1-01 = 4) Auto-Tuning (T1-01 = 0)
NO
Perform Stationary
Auto-Tuning 1 (T1-01 = 1)
Run the motor without load; check the rotation direction and operation.
Verify external signal commands to the drive work as desired.
Connect the load to the motor.
Is there a PG NO
encoder on the
motor?
YES
Should the YES

drive set ASR gain
automatically?
NO
Does the application require YES

any of the following drive functions?
Feed Forward
KEB 2
Perform Inertia Tuning Perform ASR gain tuning.

NO
(T1-01 = 8) <3> (T1-01 = 9) <4>
Run the machine and check for desired
operation.
& Operation
Return to
Flowchart
A
<1> The load must be decoupled from the motor to properly perform Rotational Auto-Tuning. 4
<2> Rotational Auto-Tuning can still be performed if the load is 30% or less, though Stationary Auto-Tuning will probably yield better control
performance.
<3> Make sure the motor and load can run freely, i.e., if a brake is mounted, make sure it is released.
<4> ASR Gain Tuning automatically performs Inertia Tuning and sets parameters related to Feed Forward and the KEB Ride-Thru function.
Figure 45 Flowchart A2: High Performance Operation Using OLV or CLV
■ Subchart A-3: Operation with Permanent Magnet Motors

Flowchart A3 in Figure 52 describes the set-up procedure for running a PM motor in Open Loop Vector Control. PM
motors can be used for more energy-efficient operation in reduced or variable torque applications.
Note: Although the drive sets parameters for the PG encoder during Auto-Tuning, sometimes the direction of the motor and direction
of the PG get reversed. Use parameter F1-05 to switch the direction of the PG so that it matches the motor direction.
Note: The Z pulse must be realigned if the PG encoder is replaced. Set T2-01 to 3 to recalibrate the drive for the new encoder.
Figure 52
Figure 53
From
Flowchart
A
Motor test report/ data YES

sheet available?
NO
Perform PM Stationary <1> Input the motor data. <1>

Auto-Tuning (T2-01 = 1) (T2-01 = 0)
Is the motor cable longer YES

than 50 meters?
Perform PM Stationary
Auto-Tuning for Stator
NO Resistance (T2-01 = 2)
Run the motor without load; check the rotation direction and
operation.Verify external signal commands to the drive work as desired.
Connect the load to the motor.
Is there a PG NO
encoder on the
motor?
YES
YES
Should the drive set ASR gain
automatically?
NO
Does the application require YES

any of the following drive functions?
Feed Forward
KEB 2
Perform PM Inertia Tuning Perform ASR gain tuning.

NO (T2-01 = 8) <2> (T2-01 = 9). <3>
Run the machine and check for desired

operation.
Return to
Flowchart
A
<1> Enter the motor code to E5-01 when using a Yaskawa PM motor (SMRA Series, SSR1 Series, and SST4 Series). If using a motor from another
manufacturer, enter FFFF.
<2> Make sure the motor and load can run freely, i.e., if a brake is mounted, make sure it is released.
<3> ASR Gain Tuning automatically performs Inertia Tuning and sets parameters related to Feed Forward and the KEB Ride-Thru function.
Figure 46 Operation with Permanent Magnet Motors
◆ Powering Up the Drive

■ Powering Up the Drive and Operation Status Display
Powering Up the Drive
Review the following checklist before turning the power on.
Item to Check Description

Ensure the power supply voltage is correct:
200 V class: 3-phase 200 to 240 Vac 50/60 Hz
Power supply voltage 400 V class: 3-phase 380 to 480 Vac 50/60 Hz
Properly wire the power supply input terminals (R/L1, S/L2, T/L3).
Check for proper grounding of drive and motor.
Drive output terminals and motor
Properly wire drive output terminals U/T1, V/T2, and W/T3 with motor terminals U, V, and W.
terminals
Control circuit terminals Check control circuit terminal connections.
Drive control terminal status Open all control circuit terminals (off).
Status of the load and connected
Decouple the motor from the load.
machinery
Status Display
When the power supply to the drive is turned on, the digital operator lights will appear as follows:
No. Name Description

DRV
Normal Operation The data display area displays the frequency reference. is lit.
REV DRV FOUT

ALM
REV DRV
DRV FOUT
Data displayed varies by the type of fault. Refer to Fault Displays, Causes, and Possible Solutions on page 84
Fault
for more information and possible solution. and are lit.
External fault (example)
◆ Application Selection
Several Application Presets are available to facilitate drive setup for commonly used applications. Selecting one of these
Application Presets automatically assigns functions to the input and output terminals, and sets certain parameters to
values appropriate for the application that was selected. In addition, the parameters most likely to be changed are
assigned to the group of User Parameters, A2-01 through A2-16. User Parameters are part of the Setup Group, and
provide quicker access to by eliminating the need to scroll through multiple menus.
An Application Preset can either be selected from the APPL display in the Setup Group or in parameter A1-06. The
following presets can be selected:
Note: An Application Preset can only be selected if all drive parameters are on at their original default settings. It may be necessary to
initialize the drive by setting A1-03 to “2220” or “3330” prior to selecting an Application Preset.
WARNING! Confirm the drive I/O signals and external sequence before performing a test run. Setting parameter A1-06 may change
the I/O terminal function automatically from the default setting. Failure to comply may result in death or serious injury.
& Operation
No. Parameter Name Setting Range Default

0: Disabled
1: Water supply pump
2: Conveyor
A1-06 Application Presets
3: Exhaust fan
0
4
4: HVAC
5: Compressor
6: Hoist
7: Crane
◆ Basic Drive Setup Adjustments

This section explains the basic settings required for initial drive operation. Checking these basic parameter settings
during start-up will help to ensure a successful drive start-up.
If more information is required for parameters not listed in this section, Refer to Refer to Parameter List on page 107 as
required for a complete listing of drive parameters.
■ A1-02: Control Method Selection
Selects the Control Method (also referred to as the “control mode”) the drive uses to operate the motor. If the drive is set
up to run two motors, then A1-02 determines the control mode for motor 1.

A1-02 Control Method Selection 0, 1, 2, 3, 5, 6, 7 2
Control Modes for Induction Motors (IM)

Setting 0: V/f Control for Induction Motors
V/f Control is for simple speed control and multiple motor applications with low demands to dynamic response or speed
accuracy. This control mode should be used when the motor parameters are unknown and Auto-Tuning cannot be
performed. The speed control range is 1:40.
Setting 1:V/f Control with PG Speed Feedback
For general-purpose applications that do not require high dynamic response but high speed accuracy. This mode should
be used if the motor parameters are unknown and Auto-Tuning cannot be performed. The speed control range is 1:40.
Setting 2: Open Loop Vector Control
For general, variable-speed applications with a speed control range of 1:120 that require precise speed control, quick
torque response, and high torque at low speed without using a speed feedback signal from the motor
Setting 3: Closed Loop Vector Control
For general, variable-speed applications that requiring precise speed control down to zero speed, fast torque response, or
precise torque control. A speed feedback signal from the motor is required. The speed control range is up to 1:1500.
Control Modes for Permanent Magnet Motors (SPM or IPM)
Setting 5: Open Loop Vector Control for PM
Use this mode for variable torque applications and take advantage of the energy saving capabilities of a PM motor. Using
this mode, the drive can control an SPM or IPM motor with a speed range of 1:20.
Setting 6: Advanced Open Loop Vector Control for PM
This control mode can be used to operate an IPM motor for constant torque applications. Using High Frequency
Injection, a speed control range as high as 1:100 is possible.
Setting 7: Closed Loop Vector Control for PM
This mode can be used for high precision control of a PM motor in constant torque or variable torque applications. The
speed control range reaches 1:1500. A speed feedback signal is required.
■ A1-03: Initialize Parameters
Resets parameters back to the original default values. After initialization, the setting for A1-03 automatically returns to 0.

A1-03 Initialize Parameters 0, 1110, 2220, 3330, 5550 0
Setting 1110: User Initialize

Drive parameters are reset to values selected by the user as User Settings. User Settings are stored when parameter o2-03
is set to “1: Set defaults”.
Note: A “user-initialization” resets all parameters to a user-defined set of default values that were previously saved to the drive. To
clear the user-defined default values, set parameter o2-03 to 2.
Setting 2220: 2-Wire Initialization
Resets all parameters back to their original default settings with digital inputs S1 and S2 configured as Forward run and
Reverse run, respectively.
Setting 3330: 3-Wire Initialization

The drive parameters are returned to factory default values with digital inputs S1, S2, and S5 configured as Run, Stop,
and Forward/Reverse respectively. Also refer to digital input functions, Setting 0: 3-Wire Sequence on page 67.
Setting 5550: oPE04 Reset
If parameters on a certain drive have been edited and then a different terminal block is installed with different settings
saved in its built-in memory, an oPE04 error will appear on the display. To use the parameter settings saved to the
terminal block memory, set A1-02 to 5550.
Notes on Parameter Initialization
The parameters shown in Table 20 will not be reset when the drive is initialized by setting A1-03 = 2220 or 3330.
Although the control mode in A1-02 is not reset when A1-03 is set to 2220 or 3330, it may change when an application
preset is selected.
Table 20 Parameters not Changed by Drive Initialization
No. Parameter Name
A1-00 Language Selection
A1-02 Control Method Selection
C6-01 Duty Selection
E1-03 V/f Pattern Selection
E5-01 Motor Code Selection (for PM motors)
F6-08 Comm. Parameter Reset
L8-35 Installation Selection
o2-04 Drive/kVA Selection
■ b1-01: Frequency Reference Selection 1

Use parameter b1-01 to select the frequency reference source 1 for the REMOTE mode.
Note: 1. If a Run command is input to the drive but the frequency reference entered is 0 or below the minimum frequency, the RUN indicator
LED on the digital operator will light and the STOP indicator will flash.
2. Press the LO/RE key to set the drive to LOCAL and use the operator keypad to enter the frequency reference.

b1-01 Frequency Reference Selection 1 0 to 4 1
Setting 0: Operator keypad

Using this setting, the frequency reference can be input by:
• switching between the multi-speed references in the d1- parameters.
• entering the frequency reference on the operator keypad.
Setting 1: Terminals (analog input terminals)
Using this setting, an analog frequency reference can be entered as a voltage or current signal from terminals A1, A2, or
A3.
Voltage Input Start-Up Programming
Voltage input can be used at any of the three analog input terminals. Make the settings as described in Table 21 for the
input used.
& Operation
Table 21 Analog Input Settings for Frequency Reference Using Voltage Signals
Parameter Settings
Terminal Signal Level Notes
Signal Level Selection Function Selection Gain Bias
0 to 10 Vd H3-01 = 0 H3-02 = 0
4
A1 H3-03 H3-04 -
-10 to +10 Vdc H3-01 = 1 (Master Speed Reference)
0 to 10 Vd H3-09 = 0 H3-10 = 0 Make sure to set DIP switch S1 on the
A2 H3-11 H3-12
-10 to +10 Vdc H3-09 = 1 (Master Speed Reference) terminal board to “V” for voltage input.
0 to 10 Vd H3-05 = 0 H3-06 = 0
A3 H3-07 H3-08 -
-10 to +10 Vdc H3-05 = 1 (Master Speed Reference)
Figure 54
Drive Drive
＋V 10.5 V, 20 mA power supply ＋V 10.5 V, 20 mA power supply
0 to 10 V -10 to 10 V
2 kΩ A1 Analog Input 1 4 kΩ A1 Analog Input 1
A2 Analog Input 2 A2 Analog Input 2
A3 Analog Input 3 A3 Analog Input 3
AC Analog input common AC Analog input common
-V -10.5 V, 20 mA power supply -V -10.5 V, 20 mA power supply
Figure 47 Setting the Frequency Reference as a Voltage Signal at Terminal A1

Use the wiring example shown in Figure 54 for any other analog input terminals. When using input A2 make sure DIP
switch S1 is set for voltage input.
Current Input
Input terminal A2 can accept a current input signal. Refer to Table 22 to set terminal A2 for current input.
Table 22 Analog Input Settings for Frequency Reference Using a Current Signal
Parameter Settings
Terminal Signal Level Notes
Signal Level Selection Function Selection Gain Bias
4 to 20 mA H3-09 = 2 H3-10 = 0 Make sure to set DIP switch S1 on the
A2 H3-11 H3-12
0 to 20 mA H3-09 = 3 (Frequency Bias) terminal board to “I” for current input.
Figure 55
DIP switch S1
V I Drive
+V 10.5 V, 20 mA power supply
A1 Analog Input 1
0 or 4 to 20 mA
A2 Analog Input 2
A3 Analog Input 3
AC Analog input common
-V -10.5 V, 20 mA power supply
Figure 48 Setting the Frequency Reference as a Current Signal to Terminal A2

DIP switch S1 must first be set for current input.
Switching between Main/Auxiliary Frequency References
The frequency reference input can be switched between the analog terminals A1, A2, and A3 using multi-speed inputs.
Refer to Multi-Step Speed Selection on page 61 for details on using this function.
Setting 2: MEMOBUS/Modbus Communications
This setting requires that the frequency reference is entered via the RS-485/422 serial communications port (control
terminals R+, R-, S+, S-).
Setting 3: Option card
This setting requires that the frequency reference is entered via an option board plugged into connector CN5-A on the
drives control board. Consult the manual supplied with the option board for instructions on integrating the drive with the
communication system.
Note: If the frequency reference source is set for an option PCB (b1-01 = 3), but an option board is not installed, an OPE05 Operator
Programming Error will be displayed on the digital operator and the drive will not run.
Setting 4: Pulse Train Input
If b1-01 is set to 4, the frequency reference must be provided by a pulse train signal to terminal RP. Follow the directions
below to make sure the pulse signal is working properly.
Verifying Pulse Train is Working Properly

• Make sure that b1-04 is set to 4 and H6-01 is set to 0.
• Set the pulse input scaling H6-02 to the pulse train frequency value that equals 100% of the frequency reference.
• Enter a pulse train signal to terminal RP and check if the correct frequency reference is displayed.
■ b1-02: Run Command Selection 1
Parameter b1-02 determines the Run command source 1 in the REMOTE mode.

b1-02 Run Command Selection 1 0 to 3 1
Setting 0: Operator
When the b1-02 = 0, the LO/RE light will switch on and the RUN key will enter a Run command to start the drive.
Setting 1: Control Circuit Terminal
This setting requires that the Run and Stop commands are entered from the digital input terminals. The following
sequences can be used:
• 2-wire sequence 1:
Two inputs (FWD/Stop-REV/Stop). Initializing the drive by setting A1-01 = 2220, presets the terminals S1 and S2 to
these functions. This is the default setting of the drive.
• 2-wire sequence 2:
Two inputs (Start/Stop-FWD/REV).
• 3-wire sequence:
Three inputs (Start-Stop-FWD/REV). Initialize the drive by setting A1-01 = 3330 presets the terminals S1, S2, and S5
to these functions. Also refer to Setting 0: 3-Wire Sequence on page 67.
Setting 2: MEMOBUS/Modbus Communications
To issue a Run command via serial communications, set b1-02 to 2 and connect the RS-485/422 serial communication
cable to control terminals R+, R-, S+, and S- on the removable terminal block.
Setting 3: Option Card
To issue the Run command via the communication option board, set b1-02 to 3 and plug a communication option board
into the CN5-A port on the control PCB. Refer to the manual supplied with the option board for instructions on
integrating the drive into the communication system.
Note: If b1-02 is set to 3, but an option board is not installed in CN5-A, an oPE05 operator programming error will be displayed on the
digital operator and the drive will not run.
■ b1-03: Stopping Method Selection

Select how the drive stops the motor when the Run command is removed or when a Stop command is entered.
b1-03 Stopping Method Selection 0 to 3 0
Setting 0: Ramp to stop

& Operation
When the Run command is removed, the drive will decelerate the motor to stop. The deceleration rate is determined by
the active deceleration time. The default deceleration time is set to parameter C1-02.
When the output frequency falls below the level set in parameter b2-01, the drive will start DC injection, Zero Speed
Control or Short Circuit Braking, depending on the selected control mode. Refer to b2-01: DC Injection Braking Start 4
Frequency on page 57 for details.
Setting 1: Coast to stop
When the Run command is removed, the drive will shut off its output and the motor will coast (uncontrolled
deceleration) to stop. The stopping time is determined by the inertia and the friction in the driven system.
Figure 56
Run
command ON OFF
Output
frequency
Drive output is shut off
Motor speed
Figure 49 Coast to Stop

Note: After a stop is initiated, any subsequent Run command entered will be ignored until the minimum baseblock time (L2-03) has
expired. Do not enter Run command until it has come to a complete stop. To start the motor back up before it has stopped
completely, use DC Injection at start (refer to Refer to b2-03 on page 108) or Speed Search (refer to Refer to b3: Speed Search
on page 109).
Setting 2: DC Injection Braking to stop
When the Run command is removed, the drive will enter baseblock (turn off its output) for the minimum baseblock time
(L2-03). Once the minimum baseblock time has expired, the drive will brake the motor by injecting DC current into the
motor windings. The stopping time is significantly faster than when compared with simply coasting to stop. The level of
current used for DC Injection Braking is set by parameter b2-02 (default = 50%).
Note: This function is not available in the control modes for PM motors (A1-02 = 5, 6, 7).
Figure 57
Run
command ON OFF
DC Injection Braking
Output with the current set in
frequency b2-02
Motor speed
Motor coasts
Minimum Baseblock
Time (L2-03)
Figure 50 DC Injection Braking to Stop
The time for DC Injection Braking is determined by the value set to b2-04 and by the output frequency at the time the
Run command is removed. It can be calculated by:
(b2-04) × 10 × Output frequency

DC Injection brake time = Max. output frequency (E1-04)
Figure 58
DC Injection braking time
b2-0410
b2-04
Output frequency when 100%

10%
Stop command was entered (Maximum output
frequency)
Figure 51 DC Injection Braking Time Depending on Output Frequency
Note: If an overcurrent (oC) fault occurs during DC Injection Braking to stop, lengthen the minimum baseblock time (L2-03) until the
fault no longer occurs.
Setting 3: Coast to Stop with Timer
When the Run command is removed, the drive will turn off its output and the motor will coast to stop. If a Run command
is input before the time t (value of C1-02) has expired, the drive will not start. A Run command activated during time t
must be cycled after t has expired in order to start the drive.
Figure 59
Run command ON OFF ON OFF ON
Output Drive output shut off

frequency
Run wait time t

Figure 52 Coast to Stop with Timer
The wait time t is determined by the output frequency when the Run command is removed and by the active deceleration
time.
Figure 60
Run wait time t
Active deceleration time
Min Baseblock Time (L2-03)
Min output Output frequency 100%

frequency when Stop command (Max output
was entered frequency)
Figure 53 Run Wait Time Depending on Output Frequency
■ b2-01: DC Injection Braking Start Frequency

Parameter b2-01 is active when “Ramp to stop” is selected as the stopping method (b1-03 = 0).
No. Name Setting Range Default

b2-01 DC Injection Braking Start Frequency 0.0 to 10.0 Hz Determined by A1-02
The function triggered by parameter b2-01 depends on the control mode that has been selected.
V/f, V/f w/PG and OLV (A1-02 = 0, 1, 2)
For these control modes, parameter b2-01 sets the starting frequency for DC Injection Braking at stop. Once the output
frequency falls below the setting of b2-01, DC Injection Braking is enabled for the time set in parameter b2-04.
Figure 61
DC Injection
Braking
E1-09 Min. Frequency
b2-01 Zero Speed Level
Output Time
frequency
b2-04
Figure 54 DC Injection Braking at Stop for V/f, V/f w/PG and OLV
Note: If b2-01 is set to a smaller value than parameter E1-09 (minimum frequency), then DC Injection Braking will begin as soon as
the frequency falls to the value set to E1-09.
OLV/PM and AOLV/PM (A1-02 = 5, 6)
& Operation
For these control modes, parameter b2-01 sets the starting frequency for Short-Circuit Braking at stop. Once the output
frequency falls below the setting of b2-01, Short-Circuit Braking is enabled for the time set in parameter b2-13. If DC
Injection Braking time is enabled at stop, then DC Injection Braking is performed for the time set in b2-04 after Short-
Circuit Braking is complete. 4
Figure 62
Short Circuit DC Injection

E1-09 Min. Frequency Braking Braking
Output Time
frequency
b2-13 b2-04
Figure 55 Short-Circuit Braking at Stop in OLV/PM and AOLV/PM
Note: If b2-01 is set to a smaller value than parameter E1-09 (minimum frequency), then DC Injection Braking will begin as soon as
the frequency falls to the value set to E1-09.
CLV and CLV/PM (A1-02 = 3, 7)

For these control modes, parameter b2-01 sets the starting frequency for Zero Speed Control (not position lock) at stop.
Once the output frequency falls below the setting of b2-01, Zero Speed Control is enabled for the time set in parameter
b2-04 if b1-05 = 0.
Figure 63
Zero Speed
E1-09 Min. Frequency Control
Output Time
frequency
b2-04
Figure 56 Zero Speed Control at Stop in CLV and CLV/PM
Note: If b2-01 is set to lower than the minimum frequency (E1-09), then Zero Speed Control begins at the frequency set to E1-09.
■ b3-01: Speed Search Selection at Start

Determines if Speed Search is automatically performed when a Run command is issued or not.

b3-01 Speed Search Selection at Start 0 or 1 Determined by A1-02
Setting 0: Disabled
When the Run command is entered, the drive starts operating at the minimum output frequency. If external Speed Search
1 or 2 is already enabled by a digital input, the drive will start operating with Speed Search.
Setting 1: Enabled
Speed Search is performed whenever the Run command is entered. The drive begins running the motor once Speed
Search is complete.
■ C1-01 to C1-08: Accel, Decel Times 1 to 4
Four different sets of acceleration and deceleration times can be set in the drive. They can be selected by digital inputs,
by the motor selection, or can be switched automatically. Acceleration time parameters always set the time to accelerate
from 0 Hz to the maximum output frequency (E1-04). Deceleration time parameters always set the time to decelerate
from maximum output frequency to 0 Hz. C1-01 and C1-02 are the default active accel/decel settings.

C1-01 Acceleration Time 1
C1-02 Deceleration Time 1
C1-03 Acceleration Time 2
C1-04 Deceleration Time 2
0.0 to 6000.0 s <1> 10.0 s
C1-05 Acceleration Time 3 (Motor 2 Accel Time 1)
C1-06 Deceleration Time 3 (Motor 2 Decel Time 1)
C1-07 Acceleration Time 4 (Motor 2 Accel Time 2)
C1-08 Deceleration Time 4 (Motor 2 Accel Time 2)
<1> The setting range for the acceleration and deceleration times is determined by the accel/decel time setting units in C1-10. For example, if the
time is set in units of 0.01 s (C1-10 = 0), the setting range becomes 0.00 to 600.00 s.
Switching Acceleration Times by Digital Input

Accel/decel times 1 are active by default if no input is set. The accel/decel times 2, 3, and 4 can be activated by digital
inputs (H1- = 7 and 1A) as explained in Table 23.
Table 23 Accel/Decel Time Selection by Digital Input
Accel/Decel Time Sel. 1 Accel/Decel Time Sel. 2 Active Times
H1- = 7 H1- = 1A Acceleration Deceleration
0 0 C1-01 C1-02
1 0 C1-03 C1-04
0 1 C1-05 C1-06
1 1 C1-07 C1-08
Figure 64 shows an operation example for changing accel/decel. times. The example below requires that the stopping
method be set for “Ramp to stop” (b1-03 = 0).
Figure 64
Decel Time 1 Decel Time 3

(C1-02) Decel Time 2 Decel Time 4
Accel Time 3 (C1-06)
Accel Time 1 Accel Time 2 (C1-04) (C1-05) (C1-08)
Output (C1-01) (C1-03) Accel Time 4 Decel Time 1
frequency (C1-07)
Decel Time 1 (C1-02)
(C1-02)
Time
ON OFF ON ON OFF ON
FWD (REV)
Run command
ON OFF ON
Accel/Decel Time Selection 1
(Terminals S1 to S8, H1- = “7”)
ON
Accel/Decel Time Selection 2
(Terminals S1 to S8, H1- = “1A”)
Figure 57 Timing Diagram of Accel/Decel Time Change

Switching Acceleration and Deceleration Times by Motor Selection
When switching between motor 1 and 2 using a digital input (H1-= 16), parameters C1-01 to C1-04 become accel/
decel time 1 and 2 for motor 1, while C1-05 to C1-08 become accel/decel time 1 and 2 for motor 2. Accel/decel times 1
and 2 can be switched for each motor using a digital inputs set to H1- = 7 like shown in Table 24.
Note: The digital input setting “Accel/Decel time 2 selection” (H1- = 1A) cannot be used together with motor 1/2 switching.
Trying to do so triggers an oPE03 error, indicating a contradictory multifunction input settings.
Table 24 Motor Switching and Accel/Decel Time Combinations
Motor 1 Selected (Terminal set to H1-=16 OFF) Motor 2 Selected (Terminal set to H1-=16 ON)
Accel/Decel Time 1 (H1- = 7)
Accel Decel Accel Decel
Open C1-01 C1-02 C1-05 C1-06
Closed C1-03 C1-04 C1-07 C1-08
Switching Accel/Decel Times by a Frequency Level

The drive can switch between different acceleration and deceleration times automatically. The drive will switch from
accel/decel time 4 in C1-07 and C1-08 to the default accel/decel time in C1-01 and C1-02 (C1-05 and C1-06 for motor 2)
when the output frequency exceeds the frequency level set in parameter C1-11. When it falls below this level, the accel/
decel times are switched back. Figure 65 shows an operation example.
Note: Acceleration and deceleration times selected by digital inputs have priority over the automatic switching by the frequency level
set to C1-11. For example, if accel/decel time 2 is selected, the drive will use this time only and not switch from accel/decel time
4 to the selected one.
Figure 65
Output Frequency
C1-11
Accel/Decel Time
Switch Frequency
C1-07 C1-01 C1-02 C1-08
setting setting setting setting
When the output frequency ? C1-11, drive uses Accel/Decel Time 1 (C1-01, -02)
& Operation
When the output frequency < C1-11, drive uses Accel/Decel Time 2 (C1-07, -08)
Figure 58 Accel/Decel Time Switching Frequency
■ C6-01: Drive Duty Mode Selection

The drive has two different “duty modes” to select from based on the load characteristics. The drive rated current, 4
overload capacity, and maximum output frequency will change depending upon the duty mode selection. Use parameter
C6-01 to select Heavy Duty (HD) or Normal Duty (ND) for the application. The default setting is ND. Refer to Three-
Phase 200 V Class Drives on page 104, Three-Phase 400 V Class Drives on page 105

C6-01 Duty Mode Selection 0 or 1 0 (HD)
Table 25 Differences between Heavy and Normal Duty

Characteristics Heavy Duty Rating (HD) Normal Duty Rating (ND)
C6-01 0 1
Overload
150 %
120 % Overload
Rated Load
Rated Load 100 %
100 %
Performance
0 Motor Speed 100 % 0 Motor Speed 100 %
Use Heavy Duty Rating for applications requiring a high overload Use Normal Duty Rating for applications in which the torque requirements
Application tolerance with constant load torque. Such applications include extruders drop along with the speed. Examples include fans and pumps where a high
and conveyors. overload tolerance is not required.
Over load capability (oL2) 150% of drive rated Heavy Duty current for 60 s 120% of drive rated Normal Duty current for 60 s
Stall Prevention during
150% 120%
Acceleration (L3-02)
Stall Prevention during Run (L3-
150% 120%
06)
Default Carrier Frequency 2 kHz 2 kHz Swing PWM
Note: By changing the Duty Mode selection, the maximum size motor the drive can run changes, and the E2- parameters are
automatically set to appropriate values (E4- for motor 2). Parameters settings determined by motor capacity are recalculated
automatically when the Duty Mode selection is changed. This includes b8-04, L2-03, n5-02, L3-24, C5-17, and C5-37.
■ C6-02: Carrier Frequency Selection

Parameter C6-02 sets the switching frequency of the drive’s output transistors. Changes to the switching frequency helps
lower audible noise and also reduces leakage current.
Note: Increasing the carrier frequency above the default value automatically lowers the drive’s current rating.

Determined by A1-02, o2-04.
C6-02 Carrier Frequency Selection 1 to F
Reset when C6-01 is changed.
Note: The default setting for the carrier frequency differs based on the type of motor and the Duty Mode selection. The default is 2 kHz
when the drive is set for Heavy Duty performance, and defaulted to “Swing PWM1” when set for Normal Duty performance.
When using a PM motor, the default carrier frequency is 5.0 Hz.
Settings:
C6-02 Carrier Frequency C6-02 Carrier Frequency C6-02 Carrier Frequency

1 2.0 kHz 5 12.5 kHz (10.0 kHz) 9 Swing PWM 3
2 5.0 kHz (4.0 kHz) 6 15.0 kHz (12.0 kHz) A Swing PWM 4
3 8.0 kHz (6.0 kHz) 7 Swing PWM 1
F User defined (C6-03 to C6-05)
4 10.0 kHz (8.0 kHz) 8 Swing PWM 2
Note: 1. Swing PWM uses a carrier frequency of 2.0 kHz as a base, then applies a special PWM pattern to reduce the audible noise.
2. The value in parenthesis indicates the carrier frequency for AOLV/PM.
Guidelines for Carrier Frequency Parameter Setup
Symptom Remedy
Speed and torque are unstable at low speeds
Noise from the drive affects peripheral devices
Lower the carrier frequency.
Excessive leakage current from the drive
Wiring between the drive and motor is too long <1>
Audible motor noise is too loud Increase the carrier frequency or use Swing PWM. <2>
<1> The carrier frequency may need to be lowered if the motor cable is too long. Refer to the table below.
<2> In Normal Duty, the carrier frequency default is for Swing PWM (C6-02 = 7), the same as setting 2 kHz. Increasing the carrier frequency is fine
when the drive is set for Normal Duty, but remember that the drive rated current falls when the carrier frequency is increased.
Wiring Distance Up to 50 m Up to 100 m Greater than 100 m

Recommended setting value for C6-02 1 to F (up to 15 kHz) 1 to 2 (up to 5 kHz), 7 (Swing PWM) 1 (up to 2 kHz), 7 (Swing PWM)
■ d1-01 to d1-17: Frequency Reference 1 to 16 and Jog Frequency Reference

Up to 17 preset frequency references (including the Jog reference) can be programmed in the drive. The drive lets the
user switch between these frequency references during run by using the digital input terminals. The drive uses the
acceleration and deceleration times that have been selected when switching between each frequency reference.
The Jog frequency must be selected by a separate digital input and overrides all other frequency references.
The multi-speed references 1, 2, and 3 can be provided by analog inputs.

d1-01 to d1-16 Frequency Reference 1 to 16 0.00 to 400.00 Hz <1> <2> 0.00 Hz <2>
d1-17 Jog Frequency Reference 0.00 to 400.00 Hz <1> <2> 6.00 Hz <2>
<1> The upper limit is determined by the maximum output frequency (E1-04) and upper limit for the frequency reference (d2-01).
<2> Setting units are determined by parameter o1-03. The default is “Hz” (o1-03 = 0) in V/f, V/f w/PG, OLV, CLV, and OLV/PM control modes.
The default for AOLV/PM and CLV/PM control modes expresses the frequency reference as a percentage (o1-03 = 1).
Multi-Step Speed Selection

To use several speed references for a multi-step speed sequence, set the H1- parameters to 3, 4, 5, and 32. To assign
the Jog reference to a digital input, set H1- to 6.
Notes on using analog inputs as Multi-Speed 1, 2, and 3:
• The first frequency reference (Multi-Speed 1) comes from the source specified in b1-01. When using an analog input
terminal to supply the frequency reference, the frequency reference source must be assigned to the control terminals
(b1-01 = 1).
• When an analog input is set to “Auxiliary frequency 1” (H3-02, H2-06, or H2-10 = 2), then the value set to this input
will be used as the Multi-Step Speed 2 instead of the value set to parameter d1-02. If no analog inputs are set for
“Auxiliary frequency 1”, then d1-02 becomes the reference for Multi-Step Speed 2.
• When the an analog input is set to “Auxiliary frequency 2” (H3-02, H2-06, or H2-10 = 3), then the value set to this
input will be used as the Multi-Step Speed 3 instead of the value set to parameter d1-03. If no analog inputs are set for
“Auxiliary frequency 2”, then d1-03 becomes the reference for Multi-Step Speed 3.
The different speed references can be selected as shown in Table 26. Figure 66 illustrates the multi-step speed selection.
Table 26 Multi-Step Speed Reference and Terminal Switch Combinations
Multi-Step Multi-Step Multi-Step Multi-Step
Jog Reference
Reference Speed Speed 2 Speed 3 Speed 4
H1-=3 H1-=4 H1-=5 H1-=32 H1-=6
Frequency Reference 1 (set in b1-01) OFF OFF OFF OFF OFF

Frequency Reference 2 (d1-02 or input terminal A1, A2, A3) ON OFF OFF OFF OFF
Frequency Reference 3 (d1-03 or input terminal A1, A2, A3) OFF ON OFF OFF OFF
Frequency Reference 4 (d1-04) ON ON OFF OFF OFF
Frequency Reference 5 (d1-05) OFF OFF ON OFF OFF
Frequency Reference 6 (d1-06) ON OFF ON OFF OFF
Frequency Reference 7 (d1-07) OFF ON ON OFF OFF
Frequency Reference 8 (d1-08) ON ON ON OFF OFF
Frequency Reference 9 (d1-09) OFF OFF OFF ON OFF
Frequency Reference 10 (d1-10) ON OFF OFF ON OFF
& Operation
Frequency Reference 11 (d1-11) OFF ON OFF ON OFF

Frequency Reference 12 (d1-12) ON ON OFF ON OFF
Frequency Reference 13 (d1-13) OFF OFF ON ON OFF
Frequency Reference 14 (d1-14) ON OFF ON ON OFF
Frequency Reference 15 (d1-15) OFF ON ON ON OFF
Frequency Reference 16 (d1-16) ON ON ON ON OFF 4
Jog Frequency Reference (d1-17) <1> − − − − ON
<1> The Jog frequency overrides whatever frequency reference is being used.
Figure 66
d1-16
Frequency d1-15
reference
d1-14
d1-13
d1-12
d1-07
d1-06
d1-05
d1-04
d1-01
(A3)
d1-02
(A2)
d1-01
(A1)
d1-17
Time
FWD (REV) Run/Stop
ON
Multi-step Speed Ref. 1 ON ON ON ON ON ON
Multi-step Speed Ref. 2 ON ON ON ON
Multi-step Speed Ref. 3 ON ON
Multi-step Speed Ref. 4 ON
Jog Reference ON
Figure 59 Preset Reference Timing Diagram
■ E1-01: Input Voltage Setting

Set the input voltage parameter to the nominal voltage of the AC power supply. This parameter adjusts the levels of some
protective features of the drive (overvoltage, Stall Prevention, etc.).
NOTICE: Set parameter E1-01 to match the input voltage of the drive. Drive input voltage (not motor voltage) must be set in E1-01 for
the protective features to function properly. Failure to set the correct drive input voltage will result in improper drive operation.

E1-01 <1> Input Voltage Setting 155 to 255 V 200 V
<1> The setting range and default value shown here are for 200 V class drives. Double this for 400 V class units.
E1-01 Related Values

The input voltage setting determines the overvoltage and undervoltage detection levels as well as the operation levels of
the braking transistor as well as the KEB function and the overvoltage suppression function.
(Approximate Values)
Setting Value of ov Suppression /
Voltage ov BTR Operation Uv Detection Level Desired DC Bus Voltage
E1-01 Stall Prevention Level
Detection Level Level (L2-05) during KEB (L2-11)
(L3-17)
200 V Class All settings 410 V 394 V 190 V 240 V 370 V
setting ≥ 400 V 820 V 788 V 380 V 480 V 740 V
400 V Class
setting < 400 V 820 V 788 V 350 V 440 V 740 V
Note: The braking transistor operation levels are valid for the drive internal braking transistor. If an external CDBR braking chopper is
used, refer to the instruction manual of that unit.
■ V/f Pattern Settings (E1-03)

The drive uses the V/f pattern that has been set to adjust the output voltage relative to the frequency reference. There are
15 different preset V/f patterns (setting 0 to E) to select from, each with varying voltage profiles, saturation levels
(frequency at which maximum voltage is reached), and maximum frequencies. Additionally, one custom V/f pattern is
available (setting F). The custom V/f pattern requires the user to create the pattern using parameters E1-04 through E1-
10.
■ E1-03: V/f Pattern Selection

The user can select the V/f pattern for the drive and motor from 15 predefined patterns, or create a custom V/f pattern.

E1-03 V/f Pattern Selection 0 to F <1> F <2>
<1> Parameter setting value is not reset to the default value during drive initialization (A1-03).
<2> In OLV, only setting F is available.
Setting a Predefined V/f Pattern (Setting 0 to E)

Choose the V/f pattern that best meets the application demands from the table below. These settings are available only in
V/f Control modes. Set the correct value to E1-03. Parameters E1-04 to E1-13 can only be monitored, not changed.
Note: 1. Setting an improper V/f pattern may result in low motor torque or increased current due to overexcitation.
2. Parameter E1-03 is not reset when the drive is initialized.
Table 27 Predefined V/f Patterns
Setting Specification Characteristic Application
0 50 Hz
1 60 Hz (default setting) For general purpose applications. Torque remains constant regardless of
Constant torque
2 60 Hz (with 50 Hz base) changes to speed.
3 72 Hz (with 60 Hz base)
4 50 Hz, Heavy Duty 2
5 50 Hz, Heavy Duty 1 For fans, pumps, and other applications that require torque derating
Derated torque
6 50 Hz, Heavy Duty 1 relative to the load.
7 50 Hz, Heavy Duty 2
8 50 Hz, mid starting torque
Select high starting torque when:
9 50 Hz, high starting torque • Wiring between the drive and motor exceeds 150 m
High starting torque
A 60 Hz, mid starting torque • A large amount of starting torque is required
• An AC reactor is installed
B 60 Hz, high starting torque
C 90 Hz (with 60 Hz base)
D 120 Hz (with 60 Hz base) Constant output Output voltage is constant when operating at greater than 60 Hz.
E 180 Hz (with 60 Hz base)
The following tables show details on predefined V/f patterns.

The following graphs are for 200 V class drives. Double the values when using a 400 V class drive.
Predefined V/f Patterns for models CIMR-A2A0004 to 0021 and CIMR-A4A0002 to 0011
Table 28 Constant Torque Characteristics, Settings 0 to 3
60 Hz
Setting = 0 50 Hz Setting = 1 Setting = 2 60 Hz Setting = 3 72 Hz
(default)
200 200 200 200

Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
15 15 15 15
9 9 9 9
0 1.3 2.5 50 0 1.5 3 60 0 1.5 3 50 60 0 1.5 3 60 72
Frequency (Hz) Frequency (Hz) Frequency (Hz) Frequency (Hz)
& Operation
Table 29 Derated Torque Characteristics, Settings 4 to 7

Setting = 4 50 Hz Setting = 5 50 Hz Setting = 6 60 Hz Setting = 7 60 Hz
200 200 200 200

4
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
50 50
35 35
9 9
8 8
0 1.3 25 50 0 1.3 25 50 0 1.5 30 60 0 1.5 30 60
Table 30 High Starting Torque, Settings 8 to B

Setting = 8 50 Hz Setting = 9 50 Hz Setting = A 60 Hz Setting = B 60 Hz
200 200 200 200
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
24 24
19 19
13 15
11 11
0 1.3 2.5 50 0 1.3 2.5 50 0 1.5 3 60 0 1.5 3 60
Table 31 Rated Output Operation, Settings C to F

Setting = C 90 Hz Setting = D 120 Hz Setting = E 180 Hz Setting = F 60 Hz
200 200 200 200

Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
15 15 15 15
9 9 9 9
0 1.5 3 60 90 0 1.5 3 60 120 0 1.5 3 60 180 0 1.5 3 60
Predefined V/f Patterns for Models CIMR-A2A0030 to 0211 and CIMR-A4A0018 to 0103
The following graphs are for 200 V class drives. Double values when using a 400 V class drive.
Table 32 Rated Torque Characteristics, Settings 0 to 3
200 200 200 200

Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
14 14 14 14
7 7 7 7
0 1.3 2.5 50 0 1.5 3 60 0 1.5 3 50 60 0 1.5 3 60 72

200 200 200 200

Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
50 50
35 35
7 7
6 6
0 1.3 25 50 0 1.3 25 50 0 1.5 30 60 0 1.5 30 60

200 200 200 200

Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
23 23
18 18
11 13
9 9
0 1.3 2.5 50 0 1.3 2.5 50 0 1.5 3 60 0 1.5 3 60
Table 35 Constant Output, Settings C to F
200 200 200 200
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
14 14 14 14
7 7 7 7
0 1.5 3 60 90 0 1.5 3 60 120 0 1.5 3 60 180 0 1.5 3 60
Predefined V/f Patterns for Models CIMR-A2A0250 to 0312 and CIMR-A4A0139 to 0165
The following graphs are for 200 V class drives. Double values when using a 400 V class drive.
Table 36 Rated Torque Characteristics, Settings 0 to 3
200 200 200 200
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
12 12 12 12
6 6 6 6
0 1.3 2.5 50 0 1.5 3 60 0 1.5 3 50 60 0 1.5 3 60 72

200 200 200 200
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
50 50
35 35
6 6
5 5
0 1.3 25 50 0 1.3 25 50 0 1.5 30 60 0 1.5 30 60

200 200 200 200
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
20 20
15 15
9 11
7 7
0 1.3 2.5 50 0 1.3 2.5 50 0 1.5 3 60 0 1.5 3 60
Table 39 Constant Output, Settings C to F

& Operation

200 200 200 200
Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
4
12 12 12 12
6 6 6 6
0 1.5 3 60 90 0 1.5 3 60 120 0 1.5 3 60 180 0 1.5 3 60
Setting a Custom V/f Pattern (Setting F: Default)

Setting parameter E1-03 to F allows to set up a custom V/f pattern by changing parameters E1-04 to E1-13.
When initialized, the default values for parameters E1-04 to E1-13 will be equal to V/f pattern 1 of the predefined
patterns.
■ V/f Pattern Settings E1-04 to E1-13

If E1-03 is set to a preset V/f pattern (i.e., set to any value besides F), then the user can refer to parameters E1-04 through
E1-13 to monitor the V/f pattern. To create a new V/f pattern, set E1-03 to F. Refer to Figure 67 for an example custom
V/f pattern.
Note: Certain E1- parameters might not be visible depending on the selected control mode.

E1-04 Maximum Output Frequency 40.0 to 400.0 Hz <1> <2>
E1-05 Maximum Voltage 0.0 to 255.0 V <3> <1> <3>
E1-06 Base Frequency 0.0 to [E1-04] <1> <2>
E1-07 Middle Output Frequency 0.0 to [E1-04] <1>
E1-08 Middle Output Frequency Voltage 0.0 to 255.0 V <3> <1> <3>
E1-09 Minimum Output Frequency 0.0 to [E1-04] <1> <2>
E1-10 Minimum Output Frequency Voltage 0.0 to 255.0 V <3> <1> <3>
E1-11 Middle Output Frequency 2 0.0 to [E1-04] 0.0 Hz <5>
E1-12 Middle Output Frequency Voltage 2 0.0 to 255.0 V <3> 0.0 V <3> <4> <5>
E1-13 Base Voltage 0.0 to 255.0 V <3> 0.0 V <3> <4>
<1> Default setting is determined by the control mode.

<2> When using PM motors, the default setting is determined by the motor code set to E5-01.
<3> Values shown here are for 200 V class drives. Double values when using a 400 V class unit.
<4> The drive changes these settings when Auto-Tuning is performed (Rotational Auto-Tuning, Stationary Auto-Tuning 1, 2).
<5> Parameter ignored when E1-11 and E1-12 are set to 0.0.
Figure 67
Output Voltage (V)
Frequency (Hz)
Figure 60 V/f Pattern
Note: 1. The following condition must be true when setting up the V/f pattern: E1-09 ≤ E1-07 < E1-06 ≤ E1-11 ≤ E1-04
2. To make the V/f pattern a straight line below E1-06, set E1-09 = E1-07. In this case the E1-08 setting is disregarded.
3. E1-03 is unaffected when the parameters are initialized using parameter A1-03, but the settings for E1-04 through E1-13 are returned
to their default values.
4. Parameters E1-11, E1-12, and E1-13 should only be used to fine-tune the V/f pattern in the constant output range. These parameters
rarely need to be changed.
■ E2-01: Motor Rated Current

Set E2-01 to the full load amps (FLA) stamped on the motor nameplate. This value is used for motor protection and to
calculate torque limits. If Auto-Tuning completes successfully, the value entered to T1-04 will automatically be saved to
E2-01.
E2-01 Motor Rated Current

10% to 200% of the drive rated Determined by C6-01 and
current. o2-04
Note: 1. The resolution of E2-01 depends on the rated output power of the drive. If a drive is set up for 11 kW rated output power (ND or HD
rating), then the value will have two decimal places. It will have one decimal place if a drive is set up for 11 kW and higher.
2. If the motor rated current in E2-01 is set lower than the motor no-load current in E2-03, than a parameter setting error will occur
(oPE02). E2-03 must be set correctly to prevent this error.
■ H1-01 to H1-08: Functions for Terminals S1 to S8

These parameters assign functions to the multi-function digital inputs. The various functions and their settings are listed
below in Table 40.
Setting
No. Parameter Name Default
Range
H1-01 Multi-Function Digital Input Terminal S1 Function Selection 1 to 9F 40 (F) <1>: Forward Run Command (2-wire sequence)
Setting
No. Parameter Name Default
Range
H1-02 Multi-Function Digital Input Terminal S2 Function Selection 1 to 9F 41 (F) <1>: Reverse Run Command (2-wire sequence)
H1-03 Multi-Function Digital Input Terminal S3 Function Selection 0 to 9F 24: External Fault
H1-04 Multi-Function Digital Input Terminal S4 Function Selection 0 to 9F 14: Fault Reset
H1-05 Multi-Function Digital Input Terminal S5 Function Selection 0 to 9F 3 (0) <1>: Multi-Step Speed Reference 1
H1-06 Multi-Function Digital Input Terminal S6 Function Selection 0 to 9F 4 (3) <1>: Multi-Step Speed Reference 2
H1-07 Multi-Function Digital Input Terminal S7 Function Selection 0 to 9F 6 (4) <1>: Jog Reference Selection
H1-08 Multi-Function Digital Input Terminal S8 Function Selection 0 to 9F 8: External Baseblock Command
<1> Number appearing in parenthesis is the default value after performing a 3-Wire initialization.
Table 40 Multi-Function Digital Input Terminal Settings

Setting Function Setting Function
0 3-wire sequence 32 Multi-step speed reference 4
1 Local/remote selection 34 PID soft starter cancel
2 External reference 1/2 selection 35 PID input level selection
3 Multi-Step Speed Reference 1 40 Forward run command (2-wire sequence)
4 Multi-Step Speed Reference 2 41 Reverse run command (2-wire sequence)
5 Multi-Step Speed Reference 3 42 Run command (2-wire sequence 2)
6 Jog reference selection 43 FWD/REV command (2-wire sequence 2)
7 Accel/decel time selection 1 44 Offset frequency 1
8 Baseblock command (N.O.) 45 Offset frequency 2
9 Baseblock Command (N.C.) 46 Offset frequency 3
A Accel/decel ramp hold 60 DC Injection Braking command
B Drive overheat alarm (OH2) 61 External Speed Search command 1
C Analog terminal input selection 62 External Speed Search command 2
D PG encoder disable 63 Field Weakening
E ASR integral reset 65 KEB Ride-Thru 1 (N.C.)
F Through mode 66 KEB Ride-Thru 1 (N.O.)
10 Up command 67 Communications test mode
11 Down command 68 High Slip Braking
12 Forward jog 6A Drive enabled
13 Reverse jog 71 Speed/Torque Control switch
14 Fault reset 72 Zero Servo
15 Fast Stop (N.O.) 75 Up 2 command
16 Motor 2 selection 76 Down 2 command
17 Fast Stop (N.C.) 77 ASR gain switch
18 Timer function input 78 External torque reference polarity inversion
19 PID disable 7A KEB Ride-Thru 2 (N.C.)
1A Accel/decel time selection 2 7B KEB Ride-Thru 2 (N.O.)
1B Program lockout 7C Short Circuit Braking (N.O.)
1E Reference sample hold 7D Short Circuit Braking (N.C.)
20 to 2F External fault 7E Forward/reverse detection (V/f control with simple PG)
30 PID integral reset 90 to 97 DriveWorksEZ Digital input 1 to 8
31 PID integral hold 9F DriveWorksEZ disabled
Setting 0: 3-Wire Sequence

When one of the digital inputs is programmed for 3-wire control, that input becomes a forward/reverse directional input, Start-Up Programming
S1 becomes the Run command input, and S2 becomes the Stop command input.
& Operation
The drive will start the motor when the input S1 set for the Run command is closed for longer than 2 ms. The drive will
stop the operation when the Stop input S2 is released for a brief moment. Whenever the input programmed for 3 wire
sequence is open, the drive will be set for forward direction. If the input is closed, the drive is set for reverse direction.
Figure 68
Note: When 3-wire sequence is selected, the Run and Stop commands must be input via S1 and S2.
4
Stop Switch Run Switch DRIVE
(N.C.) (N.O.)
S1
Run Command (Runs when Closed)
S2
Stop Command (Stops when Open)
S5
FWD/REV (Multi-Function Input)
(H1-05 = 0)
SC
Sequence Input Common
Figure 61 3-Wire Sequence Wiring Diagram
Figure 69
2 ms min.
Can be either ON or OFF

Run command
Stop command OFF (stopped)
Forward/reverse OFF (forward) ON (reverse)

command
Motor speed
TIME
Stop Forward Reverse Stop Foward
Figure 62 3-Wire Sequence

Note: 1. The Run command must be closed for more than 2 ms.
2. If the Run command is active at power up and b1-17 = 0 (Run command at power up not accepted), the Run LED will flash to
indicate that protective functions are operating. If required by the application, set b1-17 to 1 to have the Run command issued
automatically as soon as the drive is powered up.
WARNING! Sudden Movement Hazard. Ensure start/stop and safety circuits are wired properly and in the correct state before
energizing the drive. Failure to comply could result in death or serious injury from moving equipment.
WARNING! The drive may start unexpectedly in reverse direction after power up if it is wired for 3-wire sequence but set up for 2-wire
sequence (default). Make sure b1-17 is set to “0” (drive does not accept a Run command active at power up). When initializing the
drive use 3-wire initialization. Failure to comply could result in death or serious injury from moving equipment.
■ H2-01 to H2-03: Terminal M1-M2, P1-PC, and P2-PC Function Selection

The drive has three multi-function output terminals. Table 41 lists the functions available for theses terminals using H2-
01, H2-02, and H2-03.

H2-01 Terminal M1-M2 Function Selection (relay) 0 to 192 0: During run
H2-02 Terminal P1-PC Function Selection (open-collector) 0 to 192 1: Zero Speed
H2-03 Terminal P2-PC Function Selection (open-collector) 0 to 192 2: Speed agree 1
Table 41 Multi-Function Digital Output Terminal Settings

0 During run 1D During regeneration
1 Zero Speed 1E Restart enabled
2 Speed agree 1 1F Motor overload alarm (oL1)
3 User-set speed agree 1 20 Drive overheat pre-alarm (oH)
4 Frequency detection 1 22 Mechanical Weakening detection
5 Frequency detection 2 2F Maintenance period
6 Drive ready 30 During torque limit
7 DC bus undervoltage 31 During speed limit
8 During baseblock (N.O.) 32 During speed limit in Torque Control
9 Frequency reference source 33 Zero Servo complete
A Run command source 37 During frequency output
B Torque detection 1 (N.O.) 38 Drive enabled
C Frequency reference loss 39 Watt hour pulse output
D Braking resistor fault 3C LOCAL/REMOTE Status
E Fault 3D During Speed Search
F Through mode 3E PID feedback low
10 Minor fault 3F PID feedback high
11 Fault reset command active 4A During KEB operation
12 Timer output 4B During Short Circuit Braking
13 Speed agree 2 4C During Fast Stop
14 User-set speed agree 2 4D oH pre-alarm time limit
15 Frequency detection 3 4E Braking transistor fault (rr)
16 Frequency detection 4 4F Braking resistor overheat (rH)
17 Torque detection 1 (N.C.) 60 Internal cooling fan alarm
18 Torque detection 2 (N.O.) 61 Rotor Position Detection Completed
19 Torque detection 2 (N.C.) 90 DriveWorksEZ digital output 1
1A During reverse 91 DriveWorksEZ digital output 2

1B During baseblock (N.C.) 92 DriveWorksEZ digital output 3
1C Motor 2 selection 100 to 192 Functions 0 to 92 with inverse output
Setting 2: Speed agree 1 (fref/fout Agree 1)

Closes whenever the actual output frequency or motor speed (CLV, CLV/PM) is within the Speed Agree Width (L4-02)
of the current frequency reference regardless of the direction.
Status Description
Open Output frequency or motor speed does not match the frequency reference while the drive is running.
Closed Output frequency or motor speed is within the range of frequency reference ±L4-02.
Note: Detection works in both directions, forward and reverse.

Figure 70
Frequency
reference
Output Frequency L4-02

or Motor Speed
L4-02
Speed agree 1 OFF ON
Figure 63 Speed Agree 1 Time Chart
Setting 3: User-set speed agree 1 (fref/fset Agree 1)
Closes whenever the actual output frequency or motor speed (CLV, CLV/PM) and the frequency reference are within the
speed agree width (L4-02) of the programmed speed agree level (L4-01).
Status Description
Open Output frequency or motor speed and frequency reference are not both within the range of L4-01 ±L4-02.
Closed Output frequency or motor speed and the frequency reference are both within the range of L4-01 ±L4-02.
Note: Frequency detection works in both forward and reverse. The value of L4-01 is used as the detection level for both directions.
Figure 71
Output Frequency
or Motor Speed
Frequency L4-01 Output

reference frequency
+/- L4-02
L4-01
Frequency
reference +/- L4-02
User Set
OFF ON OFF ON Start-Up Programming
Speed Agree 1
Figure 64 User Set Speed Agree 1 Time Chart

& Operation
■ H3-01: Terminal A1 Signal Level Selection

Selects the input signal level for analog input A1.
4
H3-01 Terminal A1 Signal Level Selection 0 to 1 0
Setting 0: 0 to 10 Vdc
The input level is 0 to 10 Vdc. The minimum input level is limited to 0%, so that a negative input signal due to gain and
bias settings will be simply read as 0%.
Setting 1: –10 to 10 Vdc
The input level is –10 to 10 Vdc. If the resulting voltage is negative after being adjusted by gain and bias settings, then
the motor will rotate in reverse.
■ H3-02: Terminal A1 Function Selection

Selects the input signal level for analog input A3.

H3-02 Terminal A1 Function Selection 0 to 31 0
■ H3-03, H3-04: Terminal A1 Gain and Bias Settings

Parameter H3-03 sets the level of the selected input value that is equal to 10 Vdc input at terminal A1 (gain).
Parameter H3-04 sets the level of the selected input value that is equal to 0 V input at terminal A1 (bias).
Both can be used to adjust the characteristics of the analog input signal to terminal A1.

H3-03 Terminal A1 Gain Setting -999.9 to 999.9% 100.0%
H3-04 Terminal A1 Bias Setting -999.9 to 999.9% 0.0%
Setting Examples
• Gain H3-03 = 200%, bias H3-04 = 0, terminal A1 as frequency reference input (H3-02 = 0):
An input 10 Vdc will be equivalent to a 200% frequency reference and 5 Vdc will be equivalent to a 100% frequency
reference. Since the drive output is limited by the maximum frequency parameter (E1-04), the frequency reference will
be equal to E1-04 above 5 Vdc.
Figure 72
H3-01 = 0 H3-01 = 1
Gain = 200 % Gain = 200 %
Frequecny 100%
reference E1-04
-10 V -5 V
100 % 0V 5V 10 V
E1-04
-100%
E1-04
Bias = 0 % Gain = -200 %

0V 5V 10 V
Figure 65 Frequency Reference Setting by Analog Input with Increased Gain

• Gain H3-03 = 100%, bias H3-04 = -25%, terminal A1 as frequency reference input:
An input of 0 Vdc will be equivalent to a -25% frequency reference.
When parameter H3-01 = 0, the frequency reference is 0% between 0 and 2 Vdc input.
When parameter H3-01 = 1, the motor will rotate in reverse between -10 and 2 Vdc input.
Figure 73
H3-01 = 0 H3-01 = 1
100 %
100%
Frequency H3-01 = 0
reference -10 V -6.0 V
2.0 V 10 V
-25% Analog Input
Voltage
0
2.0 V 10 V
Analog Input -100%
-25% Voltage E1-04
H3-01 = 1 -150%
Figure 66 Frequency Reference Setting by Analog Input with Negative Bias

Determines the function assigned to analog input terminal A3.

H3-05 Terminal A3 Signal Level Selection 0, 1 0
The input level is 0 to 10 Vdc. See the explanation provided for H3-01. Refer to Setting 0: 0 to 10 Vdc on page 69.
Setting 1: –10 V to 10 Vdc
The input level is -10 to 10 Vdc. See the explanation provided for H3-01. Refer to Setting 1: –10 to 10 Vdc on page 69.

■ H3-07, H3-08: Terminal A3 Gain and Bias Setting

Parameter H3-07 sets the level of the selected input value that is equal to 10 Vdc input at terminal A3 (gain).
Parameter H3-08 sets the level of the selected input value that is equal to 0 V input at terminal A3 (bias).


Selects the input signal level for analog input A2. Be sure to also set DIP switch S1 on the terminal board accordingly for
a voltage input or current input.

H3-09 Terminal A2 Signal Level Selection 0 to 3 2
The input level is 0 to 10 Vdc. Refer to Setting 0: 0 to 10 Vdc on page 69
Setting 1: –10 to 10 Vdc
The input level is –10 to 10 Vdc. Refer to Setting 1: –10 to 10 Vdc on page 69.
Setting 2: 4 to 20 mA Current Input
The input level is 4 to 20 mA. Negative input values by negative bias or gain settings will be limited to 0%.
Setting 3: 0 to 20 mA Current Input
The input level is 0 to 20 mA. Negative input values by negative bias or gain settings will be limited to 0%.

& Operation
■ H3-11, H3-12: Terminal A2 Gain and Bias Setting

Parameter H3-11 sets the level of the input value selected that is equal to 10 Vdc input or 20 mA input to terminal A2.
Parameter H3-12 sets the level of the input value selected that is equal to 0 V, 4 mA or 0 mA input at terminal A2. 4
Both can be used to adjust the characteristics of the analog input signal to terminal A2. The setting works in the same
way as parameters H3-03 and H3-04 for analog input A1.

■ H4-01, H4-04: Multi-Function Analog Output Terminal FM, AM Monitor Selection

Sets the desired drive monitor parameter U- to output as an analog value via terminal FM and AM. Refer to U1:
Operation Status Monitors on page 139 for a list of all monitors. The “Analog Output Level” column indicates if a
monitor can be used for analog output.
Example: Enter “103” for U1-03.

H4-01 Multi-Function Analog Output Terminal FM Monitor Selection 000 to 999 102
H4-04 Multi-Function Analog Output Terminal AM Monitor Selection 000 to 999 103
A setting of 031 or 000 applies no drive monitor to the analog output. With this setting, terminal functions as well as FM
and AM output levels can be set by a PLC via a communication option or MEMOBUS/Modbus (through mode).
■ H4-02, H4-03: Multi-Function Analog Output Terminal FM Gain and Bias
H4-05, H4-06: Multi-Function Analog Output Terminal AM Gain and Bias
Parameter H4-02 and H4-05 set the terminal FM and AM output signal level equal to 100% of the monitor (gain).
Parameter H4-03 and H4-06 set the bias added to the monitor output for terminals FM and AM. Both are set as a
percentage, where 100% equals 10 Vdc analog output. The output voltage of both terminals is limited to 10 Vdc.
The output signal range can be selected between 0 to +10 Vdc or -10 to +10 Vdc using parameter H4-07 and H4-08.
Figure 74 illustrates how gain and bias settings work.

H4-02 Multi-Function Analog Output Terminal FM Gain -999.9 to 999.9% 100.0%
H4-03 Multi-Function Analog Output Terminal FM Bias -999.9 to 999.9% 0.0%
H4-05 Multi-Function Analog Output Terminal AM Gain -999.9 to 999.9% 50.0%
H4-06 Multi-Function Analog Output Terminal AM Bias -999.9 to 999.9% 0.0%
Using Gain and Bias to Adjust Output Signal Level

When viewing a gain setting parameter (H4-02 or H4-05) on the digital operator, the analog output will supply a voltage
signal equal to 100% of the monitor value (including changes made from bias and gain settings). When viewing a bias
setting parameter (H4-03 or H4-06), the analog output voltage will supply a signal equal to 0% monitor value (including
changes made from bias and gain settings).
Example 1: To have an output signal of 5 V at terminal FM when the monitored value is at 100%, set H4-02 to 50%.
Example 2: To have an output signal of 10 V at terminal FM when the monitored value is at 76.7%, set H4-02 to 150%.
Figure 74
H4-07, 08 = 0 H4-07, 08 = 1
15V
Gain = 150%
Output Voltage
Bias = 0%
10V
Gain = 100%
10 V Bias = 0%
Gain 150% 5V
Bias 0% Gain = 50%
Output Voltage Bias = 0%
-100%
Gain 100%
5V Bias 0% 100%
Monitor Value
-5 V
Gain 50%
Bias 0%
0V -10 V
0% Monitor Value 100%
-15 V
Figure 67 Analog Output Gain and Bias Setting Example 1 and 2
Example 3: To have an output signal of 3 V at terminal FM when the monitored value is at 0%, set H4-03 to 30%.
Figure 75
H4-07, 08 = 0 H4-07, 08 = 1
15 V
Gain = 100%
Output Voltage
Bias = 30%
10V
Gain = 100%
10 V Bias = 0%
5V
Bias 30%
Output Voltage Gain 100% -100%
100%
Bias 0% Monitor Value
3V Gain 100% -5 V
0V -10 V
0% Monitor Value 100%
-15 V
Figure 68 Analog Output Gain and Bias Setting Example 3
■ H4-07, H4-08: Multi-Function Analog Output Terminal FM, AM Signal Level Selection
Sets the voltage output level of U parameter (monitor parameter) data to terminal FM and terminal AM using parameters
H4-07 and H4-08.

H4-07 Multi-Function Analog Output Terminal FM Signal Level Selection 0, 1 0
H4-08 Multi-Function Analog Output Terminal AM Signal Level Selection 0, 1 0
Setting: 0 to 10 V
Setting: -10 V to 10 V
■ L3-01: Stall Prevention Selection during Acceleration
Stall Prevention during acceleration prevents tripping with overcurrent (oC), motor overload (oL1), or drive overload
(oL2) faults common when accelerating with heavy loads.

L3-01 Stall Prevention Selection during Acceleration 0 to 2 <1> 1
<1> Setting 2 is not available for PM OLV.
Setting 0: Disabled
No Stall Prevention is provided. If the acceleration time is too short, the drive may not be able to get the motor up to
speed fast enough, thus tripping an overload fault.
Setting 1: Enabled
Enables Stall Prevention during acceleration. Operation varies, depending on the control mode.
• V/f Control, V/f Control with PG, and Open Loop Vector Control:
When the output current value exceeds 85% of the level set in parameter L3-02 for a time longer than L3-27, the Start-Up Programming
acceleration rate is reduced. The acceleration is stopped when the current exceeds L3-02. Acceleration continues when
the current falls below L3-02 for a time longer than the L3-27 setting.
& Operation
The Stall Prevention level is automatically reduced in the constant power range. Refer to L3-03: Stall Prevention
Limit during Acceleration on page 75.
Figure 76
Output current
Stall Prevention Level

During Acceleration
L3-02
L3-02
-15%
Time
Output frequency
L3-27 L3-27
Controls the output frequency

to prevent the motor from stalling
Time
Figure 69 Stall Prevention During Acceleration for Induction Motors
• Open Loop Vector Control for PM:
Acceleration is stopped when the output current reaches the level set in parameter L3-02. Once the time set in
parameter L3-27 passes, the drive decelerates using the deceleration time set in L3-22. When the current falls below
85% of L3-02, deceleration is stopped. The drive will attempt to reaccelerate again after the time set in L3-27.
Figure 77
Output current
L3-02 15 % of L3-02
Time
Output frequency
L3-27
L3-27
Time
Deceleration
using L3-22
Figure 70 Stall Prevention During Acceleration for Permanent Magnet Motors

Setting 2: Intelligent Stall Prevention
When L3-02 = 2, the drive will disregard the selected acceleration time and try to accelerate in the minimum time. The
acceleration rate is adjusted so that the current does not exceed the value set in parameter L3-02.
■ L3-02: Stall Prevention Level during Acceleration
Sets the output current level at which the Stall Prevention during acceleration is activated.

L3-02 Stall Prevention Level during Acceleration 0 to 150% <1> <1>
<1> The upper limit and default value is determined by the duty rating and the carrier frequency derating selection (C6-01 and L8-38 respectively).
• If stalling occurs with L3-02 set to its default value when using a motor that is relatively small compared to the drive,
try lowering L3-02.
• When operating the motor in the constant power range, also set parameter L3-03.
■ L3-03: Stall Prevention Limit during Acceleration

The Stall Prevention level is automatically reduced when the motor is operated in the constant power range. L3-03 sets
the lower limit for this reduction as a percentage of the drive rated current.

L3-03 Stall Prevention Limit during Acceleration 0 to 100% 50%
Figure 78
Stall Prevention level during Acceleration
L3-02
L3-03
Output frequency
E1-06
Base frequency
Figure 71 Stall Prevention Level and Limit During Acceleration
■ L3-04: Stall Prevention Selection during Deceleration

Stall Prevention during deceleration can control the deceleration based on the DC bus voltage and prevent an overvoltage
fault caused by high inertia or rapid deceleration.

L3-04 Stall Prevention Selection During Deceleration 0 to 5 <1> 1
<1> Settings 3 through 5 are not available in OLV/PM. Settings 2 through 5 are not available in AOLV/PM and CLV/PM.
Setting 0: Disabled
When this setting is used, the drive decelerates according to the set deceleration time. With high inertia loads or rapid
deceleration, an overvoltage (ov) fault may occur. In this case use braking options or switch to another L3-04 selection.
Setting 1: General-purpose Stall Prevention
With this setting the drive tries to decelerate within the set deceleration time. When the DC bus voltage exceeds the Stall
Prevention level, the drive pauses deceleration. Deceleration continues as soon as the DC bus voltage drops below that
level. Stall Prevention may be triggered repeatedly to avoid an overvoltage fault. The DC bus voltage level for Stall
Prevention depends on the input voltage setting E1-01.
Drive Input Voltage Stall Prevention Level during Deceleration

200 V Class 377 Vdc
400 V Class 754 Vdc
Note: 1. This setting should not be used in combination with a Dynamic Braking Resistor or other braking options. If Stall Prevention during
deceleration is enabled, it will be triggered before the braking resistor option can operate.
& Operation
2. This method may lengthen the total deceleration time compared to the set value. If this is not appropriate for the application consider
using a braking option.
Figure 79 illustrates the function of Stall Prevention during deceleration.

Figure 79
4
Output Frequency
Deceleration characteristics
when Stall Prevention was
triggered during deceleration
Time
specified deceleration time

Figure 72 Stall Prevention During Deceleration
Setting 2: Intelligent Stall Prevention

With this setting, the drive adjusts the deceleration rate so that the DC bus voltage is kept at the level set in parameter L3-
17. This way the shortest possible deceleration time is achieved while the motor is protected from stalling. The
deceleration time that has been selected is disregarded, but the achievable deceleration time cannot be smaller than 1/10
of the set deceleration time.
This function uses the following parameters for adjusting the deceleration rate:
• DC bus voltage gain (L3-20)
• Deceleration rate calculations gain (L3-21)
• Inertia calculations for motor acceleration time (L3-24)
• Load inertia ratio (L3-25)
Note: As the deceleration time is not constant, Intelligent Stall Prevention should not be used in applications where stopping accuracy
is a concern. Use braking options instead.
Setting 3: Stall Prevention with braking option
Enables the Stall Prevention function while using a braking resistor. Overvoltage problems in the DC bus can occur if
Stall Prevention during deceleration is disabled (L3-04) in OLV and a braking option is installed. Set L3-04 to 3 to
remedy this situation.
Setting 4: Overexcitation Deceleration 1
Overexcitation Deceleration 1 (increasing the motor flux) is faster than deceleration with no Stall Prevention (L3-04 = 0).
Setting 5: Overexcitation Deceleration 2
Overexcitation Deceleration 2 slows down the motor while trying to maintain the DC bus voltage at the level set in
parameter L3-17. By doing this, the achievable deceleration time can even be shorter than with Overexcitation
Deceleration 1.
■ L3-05: Stall Prevention Selection during Run
Stall Prevention during run can prevent a motor from stalling by automatically reducing the speed when a transient
overload occurs while the motor is running at constant speed.
This parameter determines how Stall Prevention works during run.

L3-05 Stall Prevention Selection During Run 0 to 2 1
Note: 1. This function is available in V/f, V/f w/PG, and OLV/PM.

2. When output frequency is 6 Hz or less, Stall Prevention during run is disabled regardless of the setting in L3-05 and L3-06.
Setting 0: Disabled
Drive runs at the set frequency reference. A heavy load may cause the motor to stall and trip the drive with an oC or oL
fault.
Setting 1: Decelerate using C1-02
If the current exceeds the Stall Prevention level set in parameter L3-06, then the drive will decelerate at decel time 1 (C1-
02). Once the current level drops below the value of L3-06 minus 2% for 100 ms, the drive accelerates back to the
frequency reference at the active acceleration time.
Setting 2: Decelerate using C1-04
Same as setting 1 except the drive decelerates at decel time 2 (C1-04).
■ L3-06: Stall Prevention Level during Run
Sets the current level to trigger Stall Prevention during run. Depending on the setting of parameter L3-23, the level is
automatically reduced in the constant power range (speed beyond base speed).
The Stall Prevention level can be adjusted using an analog input.

L3-06 Stall Prevention Level During Run 30 to 150 <1> <1>
<1> The upper limit and default for this setting is determined by C6-01 and L8-38.
■ L7-01 to L7-04: Torque Limits

These parameters set the torque limits in each operation mode.

L7-01 Forward Torque Limit 0 to 300% 200%
L7-02 Reverse Torque Limit 0 to 300% 200%
L7-03 Forward Regenerative Torque Limit 0 to 300% 200%
L7-04 Reverse Regenerative Torque Limit 0 to 300% 200%
Note: If the multi-function analog input is programmed for “10: Forward torque limit”, “11: Reverse torque limit”, “12: Regenerative
torque limit”, or “15: General torque limit”, the drive uses the lower value in L7-01 through L7-04, or analog input torque limit.
Figure 80
positive torque reference
REV run regenerative FWD run motoring
10: Positive Torque Limit 10: Positive Torque Limit

12: Regenerative Torque Limit 15: Torque Limit
15: Torque Limit Parameter L7-01
Parameter L7-04
quadrant 2 quadrant 1
REV motor rotation FWD motor rotation
quadrant 3 quadrant 4
11: Negative Torque Limit
11: Negative Torque Limit 12: Regenerative Torque Limit
15: Torque Limit 15: Torque Limit
Parameter L7-03 Parameter L7-02
REV run motoring FWD run regenerative
negative torque reference
Figure 73 Torque Limit Parameters and Analog Input Settings
◆ Auto-Tuning
■ Types of Auto-Tuning
The drive offers different types of Auto-Tuning for induction motors and permanent magnet motors. The type of Auto-
Tuning used differs further based on the control mode and other operating conditions. Refer to the tables below to select
the type of Auto-Tuning that bests suits the application. Directions on how to execute Auto-Tuning are listed in Start-Up
Flowcharts on page 46.
Note: The drive will only show Auto-Tuning parameters that are valid for the control mode that has been set to A1-03. If the control
mode is for an induction motor, the Auto-Tuning parameters for PM motors will not be available. If the control mode is for a PM
motor, the Auto-Tuning parameters for induction motors will not be available. Inertia Tuning and ASR Gain Tuning parameters
and setting options will be visible only when the drive is set for operation with Closed Loop Vector or CLV/PM.
Auto-Tuning for Induction Motors
This feature automatically sets the V/f pattern and motor parameters E1- and E2- (E3-, E4- for motor 2)
for an induction motor. In Closed Loop Vector, some F1- parameters for speed feedback detection are also set up.
Table 42 Types of Auto-Tuning for Induction Motors Start-Up Programming
Control Mode
Type Setting Application Conditions and Benefits
& Operation
V/f V/f w/PG OLV CLV

• Motor can be decoupled from the load and rotate freely while Auto-
Tuning is performed.
Rotational Auto-Tuning T1-01 = 0 • Motor and load can not be decoupled but the motor load is below 30%. N/A N/A YES YES
• Rotational Auto-Tuning gives the most accurate results, and is therefore
highly recommended if possible.
• Motor and load can not be decoupled and the load is higher than 30%. 4
Stationary Auto-Tuning 1 T1-01 = 1 • A motor test report listing motor data is not available. N/A N/A YES YES
• Automatically calculates motor parameters needed for vector control.
• Motor and load can not be decoupled and the load is higher than 30%.
• A motor test report is available. Once the no-load current and the rated
Stationary Auto-Tuning 2 T1-01 = 4 N/A N/A YES YES
slip have been entered, the drive calculates and sets all other motor-
related parameters.
• The drive is used in V/f Control and other Auto-Tuning selections not
possible.
• Drive and motor capacities differ.
Stationary Auto-Tuning for • Tunes the drive after the cable between the drive and motor has been
T1-01 = 2 YES YES YES YES
Line-to-Line Resistance replaced with a cable over 50 m long. Assumes Auto-Tuning has already
been performed.
• Should not be used for any vector control modes unless the motor cable
has changed.
Control Mode
V/f V/f w/PG OLV CLV
• Recommended for applications using Speed Estimation Speed Search or
using the Energy Saving function in V/f Control.
Rotational Auto-Tuning for V/f
T1-01 = 3 • Assumes motor can rotate while Auto-Tuning is executed. Increases YES YES N/A N/A
Control
accuracy for certain functions like torque compensation, slip
compensation, Energy Saving, and Speed Search.
Table 43 lists the data that must be entered for Auto-Tuning. Make sure this data is available before starting Auto-
Tuning. The information needed is usually listed on the motor nameplate or in the motor test report provided by the
motor manufacturer. Also refer to page 48 and 49 for details on Auto-Tuning process and selections.
Table 43 Auto-Tuning Input Data
Tuning Type (T1-01)
Input 2 3
Input Value Unit 0 1 4
Parameter Line-to-Line Rotational for V/f
Standard Stationary 1 Resistance Control Stationary 2
Motor rated power T1-02 kW YES YES YES YES YES

Motor rated voltage T1-03 Vac YES YES N/A YES YES
Motor rated current T1-04 A YES YES YES YES YES
Motor rated frequency T1-05 Hz YES YES N/A YES YES
Number of motor poles T1-06 - YES YES N/A YES YES
Motor rated Speed T1-07 r/min YES YES N/A YES YES
PG Number of pulses per revolution T1-08 - YES <1> YES <1> N/A N/A YES <1>
Motor no-load current T1-09 A N/A YES N/A N/A YES
Motor rated Slip T1-10 Hz N/A N/A N/A N/A YES
Motor iron loss T1-11 W N/A N/A N/A YES N/A
<1> Input data is needed for CLV/PM only.
Auto-Tuning for Permanent Magnet Motors

Automatically sets the V/f pattern and motor parameters E1- and E5- when a PM motor is used. In Closed Loop
Vector Control, the Auto-Tuning process will also set some F1- parameters for speed feedback detection.
Table 44 Types of Auto-Tuning for Permanent Magnet Motors
Control Mode
OLV/PM AOLV/PM CLV/PM
• Motor does not rotate during Auto-Tuning
PM Motor Parameter Settings T2-01 = 0 YES YES YES
• Motor test report or motor data like listed in Table 45 are available.
• A motor test report listing motor data is not available. Drive
PM Stationary Auto-Tuning T2-01 = 1 YES YES YES
automatically calculates and sets motor parameters.
• Useful to tune the drive when the motor data were set up manually or by
PM Stationary Auto-Tuning for
T2-01 = 2 motor code and the cable is longer than 50 m. Should also be performed if YES YES YES
Stator Resistance
the cable has changed after earlier tuning.
• PG encoder has been replaced. Calculates the Z pulse offset.
Z Pulse Offset Tuning T2-01 = 3 N/A N/A YES
• Requires the motor to rotate with no or very low load.
Table 45 lists the data that must be entered for Auto-Tuning. Make sure the data is available before starting Auto-Tuning.
The information needed is usually listed on the motor nameplate or in the motor test report provided by the motor
manufacturer. Also refer to page 50 for details on the tuning mode selection and the tuning process.
Tuning Type (T2-01)
Input 2 3
Input Value Unit 0 1
Parameter Phase Z-Pulse
Parameter Calculation Stationary
Resistance Offset
Control Mode A1-02 - 5, 6, 7 5 6, 7 5 6, 7 5, 6, 7 7
Motor Code T2-01 - FFFFh FFFFh FFFFh - - - -
Motor Type T2-03 - N/A N/A N/A YES YES N/A N/A
Motor rated power T2-04 kW N/A YES YES YES YES N/A N/A
Motor rated voltage T2-05 Vac N/A YES YES YES YES N/A N/A
Motor rated current T2-06 A N/A YES YES YES YES YES N/A
Motor rated frequency T2-07 Hz N/A YES N/A YES N/A N/A N/A
Number of motor poles T2-08 - N/A YES YES YES YES N/A N/A
Motor rated Speed T2-09 r/min N/A N/A YES N/A YES N/A N/A
Stator 1 Phase resistance T2-10 Ω YES YES YES N/A N/A N/A N/A
d-axis inductance T2-11 mH YES YES YES N/A N/A N/A N/A
q-axis inductance T2-12 mH YES YES YES N/A N/A N/A N/A
Voltage constant <1> T2-13 mVs/rad (el.) YES YES YES N/A N/A N/A N/A
Tuning Type (T2-01)

Input 2 3
Input Value Unit 0 1
Parameter Phase Z-Pulse
Parameter Calculation Stationary Resistance Offset
Control Mode A1-02 - 5, 6, 7 5 6, 7 5 6, 7 5, 6, 7 7
Motor Code T2-01 - FFFFh FFFFh FFFFh - - - -
Voltage constant <1> T2-14 mVmin (mech.) YES YES YES N/A N/A N/A N/A
Tuning pull-in current T2-15 A N/A N/A N/A YES YES N/A N/A
PG Number of pulses per revolution T2-16 - YES <2> N/A YES <2> N/A YES <2> N/A N/A
Z Pulse Offset T2-17 deg (mech.) YES <2> N/A YES <2> N/A YES <2> N/A N/A
<1> Only parameter T2-13 or T2-14 has to be input. Select one and leave the other empty.
<2> Input data is needed for CLV/PM only.
Inertia Tuning and Speed Control Loop Auto-Tuning

Inertia Tuning can be performed when the drive is using Closed Loop Vector control for either IM or PM motors. Inertia
Tuning automatically calculates load and motor inertia, and optimizes settings related to the KEB Ride-Thru function
(KEB 2) and Feed Forward control.
ASR Gain Auto-Tuning performs the same operation as Inertia Tuning, but also optimizes speed control loop settings.
Table 46 Inertia and Speed Control Loop Tuning
Setting Control Mode
Type Application Conditions and Benefits
IM Motor PM Motor CLV CLV/PM
Lets the motor rotate at a certain speed and applies a test signal. The response to the test
Inertia Tuning T1-01 = 8 T2-01 = 8 signals are analyzed, and adjustments are made to parameters controlling the Feed YES YES
Forward and KEB Ride-Thru functions (KEB 2, L2-29 = 1).
Performs the same operation as Inertia Tuning, but also adjusts the ASR gain according
ASR Gain Auto-Tuning T1-01 = 9 T2-01 = 9 YES YES
to the response to the test signal.
Table 47 explains that data that must be entered in order to perform the Inertia Tuning and ASR Gain Auto-Tuning. Refer
to Auto-Tuning for Permanent Magnet Motors on page 78 for details.
Tuning Type (T1-01 or T2-01)
Input Value Input Parameter Unit 8 9
Inertia Tuning ASR Gain Tuning
Test signal frequency T3-01 Hz YES YES
Test signal Amplitude T3-02 rad YES YES
Motor inertia T3-03 kgm2 YES YES
System response frequency T3-04 Hz N/A YES
■ Auto-Tuning Interruption and Fault Codes

If tuning results are abnormal or the STOP key is pressed before completion, Auto-Tuning will be interrupted and a fault
code will appear on the digital operator.
Figure 81
A B
DIGITAL OPERATOR JVOP-182
ALM
ALM
REV DRV
DRV FOUT REV DRV FOUT
& Operation
A – During Auto-Tuning B – Auto-Tuning Aborted

Figure 74 Auto-Tuning Aborted Display
■ Auto-Tuning Operation Example

4
The following example demonstrates Rotational Auto-Tuning when using OLV (A1-02 = 2) and CLV (A1-02 = 3).
Selecting the Type of Auto-Tuning
Step Display/Result
DRV FOUT
2.
Press the or key until the Auto-Tuning display appears.
Step Display/Result
3. Press to begin setting parameters.
4.
Press to display the value for T1-01. <1>
5.
Save the setting by pressing .
6. The display automatically returns to the display shown in Step 3.
<1> T1-00 will appear on the display when one of the multi-function inputs has been set to switch between motor 1 and motor 2 (H1- = 16).
Enter Data from the Motor Nameplate

After selecting the type of Auto-Tuning, enter the data required from the motor nameplate.
Note: These instructions continue from Step 6 in “Selecting the Type of Auto-Tuning”.
Step Display/Result
1.
Press to access the motor output power parameter T1-02.
2.
Press to view the default setting.
3.
Press to select the digit to edit.
4.
Press and enter the motor power nameplate data in kW.
5.
Press to save the setting.
6. The display automatically returns to the display in Step 1.
Repeat Steps 1 through 5 to set the following parameters:

• T1-03, Motor Rated Voltage
• T1-04, Motor Rated Current
7. • T1-05, Motor Base Frequency
• T1-06, Number of Motor Poles
• T1-07, Motor Base Frequency
• T1-09, Motor No-Load Current
Note: To execute Stationary Auto-Tuning for line-to-line resistance only, set parameters T1-02 and T1-04.
Starting Auto-Tuning
WARNING! Sudden Movement Hazard. The drive and motor may start unexpectedly during Auto-Tuning, which could result in death
or serious injury. Ensure the area surrounding the drive motor and load are clear before proceeding with Auto-Tuning.
WARNING! Electrical Shock Hazard. High voltage will be supplied to the motor when Stationary Auto-Tuning is performed even with
the motor stopped, which could result in death or serious injury. Do not touch the motor until Auto-Tuning has been completed.
NOTICE: Rotational Auto-Tuning will not function properly if a holding brake is engaged on the load. Failure to comply could result in
improper operation of the drive. Ensure the motor can freely spin before beginning Auto-Tuning.
Enter the required information from the motor nameplate. Press to proceed to the Auto-Tuning start display.
Note: These instructions continue from Step 7 in “Enter Data from the Motor Nameplate”.
Step Display/Result
1.
After entering the data listed on the motor nameplate, press to confirm.
ALM
Press to activate Auto-Tuning. flashes. The drive begins by injecting current into the motor for
DIGITAL OPERATOR JVOP-182
DRV
2. about 1 min, and then starts to rotate the motor.
REV DRV FOUT
Note: The first digit on the display indicates which motor is undergoing Auto-Tuning (motor 1 or motor 2). The
second digit indicates the type of Auto-Tuning being performed.
3. Auto-Tuning finishes in approximately one to two minutes.
◆ No-Load Operation Test Run

■ No-Load Operation Test Run
This section explains how to operate the drive with the motor decoupled from the load during a test run.
Before Starting the Motor
Check the following items before operation:
• Ensure the area around the motor is safe.
• Ensure external emergency stop circuitry is working properly and other safety precautions have been taken.
During Operation
Check the following items during operation:
• The motor should rotate smoothly (i.e., no abnormal noise or oscillation).
• The motor should accelerate and decelerate smoothly.
No-Load Operation Instructions
The following example illustrates a test run procedure using the digital operator.
Note: Before starting the motor, set the frequency reference d1-01 to 6 Hz.
Step Display/Result
DRV FOUT
REV DRV
DRV FOUT
LO
2.
ESC
RE
Press the key to select LOCAL. The LO/RE light will turn on. RESET ENTER
RUN STOP
Off On
REV DRV
DRV FOUT
LO
ESC
RE
3. Press to give the drive a Run command. RUN will light and the motor will rotate at 6 Hz.
RESET ENTER
RUN STOP
Off On
Motor
4. Ensure the motor is rotating in the correct direction and that no faults or alarms occur. Start-Up Programming
Forward
& Operation
If there is no error in step 4, press to increase the frequency reference. Increase the frequency in
5.
increments of 10 Hz, verifying smooth operation at all speeds. For each frequency, check the drive output
current using monitor U1-03. The current should be well below the motor rated current.
4
REV DRV
DRV FOUT
LO
ESC
RE
6. The drive should operate normally. Press STOP to stop the motor. RUN flashes until the motor comes to a RESET ENTER
RUN STOP
complete stop.
Flashing Off
◆ Test Run with Load Connected

■ Test Run with the Load Connected
After performing a no-load test run, connect the motor and proceed to run the motor and load together.
Notes on Connected Machinery
• Clear the area around the motor.
• The motor should come to a complete stop without problems.
• Connect the load and machinery to the motor.
• Fasten all installation screws properly. Check that the motor and connected machinery are held in place.
• Confirm that the Fast Stop circuit or mechanical safety measures operate correctly.
• Be ready to press the STOP button in case of emergency.
Checklist Before Operation
• The motor should rotate in the proper direction.
• The motor should accelerate and decelerate smoothly.
Operating the Motor under Loaded Conditions
Test run the application similarly to the no-load test procedure when connecting the machinery to the motor.
• Watch monitor parameter U1-03 during operation to ensure there is no overcurrent.
• If the application permits running the load in the reverse direction, try changing motor direction and the frequency
reference while watching for abnormal motor oscillation or vibration.
• Correct any problems that occur with hunting, oscillation, or other control-related issues.
◆ Test Run Checklist

Review the checklist before performing a test run. Check each item that applies.
No. Checklist Page
1 Thoroughly read the manual before performing a test run. –
2 Turn the power on. 51
3 Set the voltage for the power supply to E1-01. 62
4 Select the correct duty rating (C6-01) for the application. –
Check the items that correspond to the control mode being used.
WARNING! Ensure start/stop and safety circuits are wired properly and in the correct state before energizing the drive. Failure to
comply could result in death or serious injury from moving equipment. When programmed for 3-Wire control, a momentary closure on
terminal S1 may cause the drive to start.
No. Checklist Page
V/f Control (A1-02 = 0) and V/f Control with PG (A1-02 = 1)

Select the best V/f pattern according to the application and motor characteristics.
5 –
Example: If using a motor with a rated frequency of 60.0 Hz, set E1-03 to “1”.
6 Perform Rotational Auto-Tuning for V/f Control if using Energy Saving functions. 77
V/f Control with PG (A1-02 = 1)
7 Setup the PG feedback parameters correctly and make sure the encoder pulse counting direction is correct. –
8 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. –
Open Loop Vector Control (A1-02 = 2) or Closed Loop Vector Control (A1-02=3)
9 Perform Auto-Tuning as described. 77
Closed Loop Vector Control (A1-02 = 3)
10 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. Perform ASR Tuning if possible. –
Open Loop Vector Control for PM (A1-02 = 5)
Advanced Open Loop Vector Control for PM (A1-02 = 6)
No. Checklist Page
13 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. –
Closed Loop Vector Control for PM (A1-02 = 7)
15 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. Perform ASR Tuning if possible. –
16 Set the Z pulse offset to or enter the Z manually to parameter E5-11. –
Proceed to the following checklist after checking items 4 through 15.
No. Checklist Page
17 The should light after giving a Run command. –
18 To give a Run command and frequency reference from the digital operator, press to set to LOCAL. The LO/RE key will light. 46
If the motor rotates in the opposite direction during the test run, switch two of the drive output terminals (U/T1, V/T2, W/T3) or change
20 51
parameter b1-14.
21 Set the correct values for the motor rated current (E2-01, E4-01, E5-03) and motor protection (L1-01) to ensure motor thermal protection. –
If the Run command and frequency reference are provided via the control circuit terminals, set the drive for REMOTE and be sure the LO/RE
22 46
light is out.
If the control circuit terminals should supply the frequency reference, select the correct voltage input signal level (0 to 10 V) or the correct
23 53
current input signal level (4 to 20 mA or 0 to 20 mA).
24 Set the proper voltage to terminal A1 and A3 (-10 to +10 V). 53
When current input is used, switch the drive’s built-in DIP switch S1 from the V-side to I-side. Set the level for current signal used to H2-09
25 53
(set “2” for 4 to 20 mA, or “3” for 0 to 20 mA).
26 Set the proper current to terminal A2. (-10 to +10 V, 4 to 20 mA or 0 to 20 mA). 53
If the frequency reference is supplied via one of the analog inputs, make sure the analog input produces the desired frequency reference. Make
the following adjustments if the drive does not operate as expected:
Gain adjustment: Set the maximum voltage/current signal and adjust the analog input gain (H3-03 for input A1, H3-11 for input A2, H3-07
27 –
for analog input A3) until the frequency reference value reaches the desired value.
Bias adjustment: Set the minimum voltage/current signal and adjust the analog input bias (H3-04 for input A1, H3-12 for input A2, H3-08 for
analog input A3) until the frequency reference value reaches the desired minimum value.
& Operation
5 Troubleshooting
5 Troubleshooting
◆ Drive Alarms, Faults, and Errors
■ Types of Alarms, Faults, and Errors
Check the digital operator for information about possible faults if the drive or motor fails to operate. Refer to Using the
Digital Operator on page 42.
If problems occur that are not covered in this manual, contact the nearest Yaskawa representative with the following
information:
• Drive model
• Software version
• Date of purchase
• Description of the problem
Table 48 contains descriptions of the various types of alarms, faults, and errors that may occur while operating the drive.
Contact Yaskawa in the event of drive failure.
Table 48 Types of Alarms, Faults, and Errors

Type Drive Response
When the drive detects a fault:
• The digital operator displays text that indicates the specific fault and the ALM indicator LED remains lit until the fault is reset.
• The fault interrupts drive output and the motor coasts to a stop.
Faults
• Some faults allow the user to select how the drive should stop when the fault occurs.
• Fault output terminals MA-MC will close, and MB-MC will open.
The drive will remain inoperable until that fault has been cleared. Refer to Fault Reset Methods on page 98.
When the drive detects an alarm or a minor fault:
• The digital operator displays text that indicates the specific alarm or minor fault, and the ALM indicator LED flashes.
• The drive generally continues running the motor, although some alarms allow the user to select a stopping method when the alarm occurs.
Minor Faults and Alarms
• One of the multi-function contact outputs closes if set to be tripped by a minor fault (H2- = 10), but not by an alarm.
• The digital operator displays text indicating a specific alarm and ALM indicator LED flashes.
To reset the a minor fault or alarm, remove whatever is causing the problem.
When parameter settings conflict with one another or do not match hardware settings (such as with an option card), it results in an operation error. When the
drive detects an operation error:
Operation Errors • The digital operator displays text that indicates the specific error.
• Multi-function contact outputs do not operate.
The drive will not operate the motor until the error has been reset. Correct the settings that caused the operation error to clear the error.
Tuning errors occur while performing Auto-Tuning. When the drive detects a tuning error:
• The digital operator displays text indicating the specific error.
Tuning Errors • Multi-function contact outputs do not operate.
• Motor coasts to stop.
Remove the cause of the error and repeat the Auto-Tuning process.
These are the types of errors that can occur when using the optional digital operator or the USB Copy Unit to copy, read, or verify parameter settings.
• The digital operator displays text indicating the specific error.
Copy Function Errors
• Multi-function contact outputs do not operate.
Pressing any key on the operator will clear the fault. Find out what is causing the problem (such as model incompatibility) and try again.
◆ Fault Detection
■ Fault Displays, Causes, and Possible Solutions
Faults are detected for drive protection, and cause the drive to stop. When a fault occurs, the fault output terminal MA-
MB-MC is triggered. Faults have to be cleared manually after removing the cause to start running the drive again.
Table 49 Detailed Fault Displays, Causes, and Possible Solutions
Digital Operator Display Fault Name
Braking Transistor Overload Fault
boL
The braking transistor has reached its overload level.
Option Communication Error
bUS • After establishing initial communication, the connection was lost.
• Only detected when the run command frequency reference is assigned to an option card.
Cause Possible Solution
No signal received from the PLC. • Check for faulty wiring.
• Correct the wiring.
Faulty communications wiring or a short circuit exists. • Check for disconnected cables and short circuits. Repair as needed.
5 Troubleshooting
• Check the various options available to minimize the effects of noise.

• Take steps to counteract noise in the control circuit, main circuit, and ground wiring.
A communications data error occurred due to noise. • Ensure that other equipment such as switches or relays do not cause noise. Use surge suppressors if necessary.
• Use only recommended cables or other shielded line. Ground the shield on the controller side or on the drive input power side.
• Separate all communication wiring from drive power lines. Install an EMC noise filter to the drive power supply input.
The option card is damaged. Replace the option card if there are no problems with the wiring and the error continues to occur.
• The connector pins on the option card are not properly lined up with the connector pins on the drive.
The option card is not properly connected to the drive.
• Reinstall the option card.
MEMOBUS/Modbus Communication Error
CE
Control data was not received for the CE detection time set to H5-09.
• Check for faulty wiring.
Faulty communications wiring or a short circuit exists. • Correct the wiring.
• Check for disconnected cables and short circuits. Repair as needed.
• Check the various options available to minimize the effects of noise.
• Take steps to counteract noise in the control circuit, main circuit, and ground wiring.
Communication data error occurred due to noise. • Use only recommended cables or other shielded line. Ground the shield on the controller side or on the drive input power side.
• Ensure that other equipment such as switches or relays do not cause noise and use surge suppressors if required.
• Separate all communication wiring from drive power lines. Install an EMC noise filter to the drive power supply input.
Control Fault
CF
A torque limit was reached continuously for three seconds or longer while ramping to stop in Open Loop Vector Control.
CPF11 to CPF14
or Control Circuit Error
CPF16 to CPF19
A/D Conversion Error
CPF02
An A/D conversion error or control circuit error occurred.
Control Board Connection Error
CPF03
Connection error between the control board and the drive
EEPROM Memory Data Error
CPF06
There is an error in the data saved to EEPROM.
• Turn the power off and check the connection between the control board and the drive.
There is an error in EEPROM control circuit. • If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board,
contact Yaskawa or your nearest sales representative.
The power supply was switched off when parameters
Reinitialize the drive (A1-03).
were being saved to the drive.
CPF07
Terminal Board Connection Error
CPF08
or CPF20 and CPF21 Control Circuit Error
CPF22 Powerboard Failure
Control Board Connection Error

CPF23
Connection error between the control board and the drive
Drive Unit Signal Fault
CPF24
The drive capacity cannot be detected correctly (drive capacity is checked when the drive is powered up).
Control Circuit Error
to CPF26 to CPF34
CPU error
Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your
Hardware is damaged.
nearest sales representative.
Speed Deviation (for Control Mode with PG)
Troubleshooting
dEv The deviation between the speed reference and speed feedback is greater than the setting in F1-10 for longer than the time set to
F1-11.
Z Pulse Fault
dv1
The motor turned one full rotation without the Z pulse being detected.
Z Pulse Noise Fault Detection
dv2
The Z pulse is out of phase by more than 5 degrees for the number of times specified in parameter F1-17.
Inversion Detection 5
dv3 The torque reference and acceleration are in opposite directions from one another (one is in reverse and the other is forward)
while at the same time the speed reference and actual motor speed differ by over 30% for the number of pulses set to F1-18.
Inversion Prevention Detection
Pulses indicate that the motor is rotating in the opposite direction of the speed reference. Set the number of pulses to trigger
dv4 inverse detection to F1-19.
Note: Disable inverse detection in applications where the motor may rotate in the opposite direction of the speed reference.
Setting F1-19 to 0 disables this feature.
5 Troubleshooting
dWAL
DriveWorksEZ Fault
dWFL
Option Card External Fault

EF0
An external fault condition is present.
An external fault was received from the PLC with other
• Remove the cause of the external fault.
than F6-03 = 3 “alarm only” (the drive continued to run
• Remove the external fault input from the PLC.
after external fault).
Problem with the PLC program. Check the PLC program and correct problems.
External Fault (input terminal S1)
EF1
External fault at multi-function input terminal S1.
EF2
EF3
EF4
EF5
EF6
EF7
External fault at multi-function input terminal S7
EF8
External fault at multi-function input terminal S8
An external device has tripped an alarm function. Remove the cause of the external fault and reset the fault.
• Ensure the signal lines have been connected properly to the terminals assigned for external fault detection (H1- = 20 to 2F).
Wiring is incorrect.
• Reconnect the signal line.
• Check if the any unused terminals are set for H1- = 20 to 2F (External Fault).
Incorrect setting of multi-function contact inputs.
• Change the terminal settings.
EEPROM Write Error
Err
Data cannot be written to the EEPROM.
Excessive PID Feedback
FbH PID feedback input is greater than the level set b5-36 for longer than the time set to b5-37. To enable fault detection, set b5-12 =
2 or 5.
PID Feedback Loss
FbL This fault occurs when PID feedback loss detection is programmed to trigger a fault (b5-12 = 2) and the PID feedback level is
below the detection level set to b5-13 for longer than the time set to b5-14.
Ground Fault
GF • A current short to ground exceeded 50% of rated current on the output side of the drive.
• Setting L8-09 to 1 enables ground fault detection in models 5.5 kW or larger.
• Check the insulation resistance of the motor.
Motor insulation is damaged.
• Replace the motor.
• Check the motor cable.
• Remove the short circuit and turn the power back on.
A damaged motor cable is creating a short circuit.
• Check the resistance between the cable and the ground terminal .
• Replace the cable.
• Reduce the carrier frequency.
The leakage current at the drive output is too high.
• Reduce the amount of stray capacitance.
• The value set exceeds the allowable setting range while the drive automatically adjusts the current offset (this happens only
when attempting to restart a PM motor that is coasting to stop).
The drive started to run during a current offset fault or
• Enable Speed Search at start (b3-01 = 1).
while coasting to a stop.
• Perform Speed Search 1 or 2 (H1- = 61 or 62) via one of the external terminals.
Note: Speed Search 1 and 2 are the same when using PM OLV.
Hardware problem.
Output Phase Loss
LF • Phase loss on the output side of the drive.
• Phase Loss Detection is enabled when L8-07 is set to 1 or 2.
• Check for wiring errors and ensure the output cable is connected properly.
The output cable is disconnected.
• Check the resistance between motor lines.
The motor winding is damaged.
• Replace the motor if the winding is damaged.
5 Troubleshooting
Apply the tightening torque specified in this manual to fasten the terminals. Refer to Wire Size and Torque Specifications on
The output terminal is loose.
page 35.
The rated current of the motor being used is less than 5%
Check the drive and motor capacities.
of the drive rated current.
An output transistor is damaged.
A single-phase motor is being used. The drive cannot operate a single phase motor.
Output current imbalance
LF2
One or more of the phases in the output current is lost.
• Check for faulty wiring or poor connections on the output side of the drive.
Phase loss has occurred on the output side of the drive.
Apply the tightening torque specified in this manual to fasten the terminals. Refer to Wire Size and Torque Specifications on
Terminal wires on the output side of the drive are loose.
page 35.
The output circuit is damaged.
• Measure the line-to-line resistance for each motor phase. Ensure all values are the same.
Motor impedance or motor phases are uneven.
• Replace the motor.
Overcurrent
oC
Drive sensors have detected an output current greater than the specified overcurrent level.
The motor has been damaged due to overheating or the • Check the insulation resistance.
motor insulation is damaged. • Replace the motor.
• Check the motor cables.
• Remove the short circuit and power the drive back up.
One of the motor cables has shorted out or there is a
grounding problem. • Check the resistance between the motor cables and the ground terminal .
• Replace damaged cables.
• Measure the current flowing into the motor.
• Replace the drive with a larger capacity unit if the current value exceeds the rated current of the drive.
The load is too heavy.
• Determine if there is sudden fluctuation in the current level.
• Reduce the load to avoid sudden changes in the current level or switch to a larger drive.
Calculate the torque needed during acceleration relative to the load inertia and the specified acceleration time. If the right amount
of torque cannot be set, make the following changes:
The acceleration or deceleration times are too short. • Increase the acceleration time (C1-01, -03, -05, -07)
• Increase the S-curve characteristics (C2-01 through C2-04)
• Increase the capacity of the drive.
The drive is attempting to operate a specialized motor or • Check the motor capacity.
a motor larger than the maximum size allowed. • Ensure that the rated capacity of the drive is greater than or equal to the capacity rating found on the motor nameplate.
Magnetic contactor (MC) on the output side of the drive
Set up the operation sequence so that the MC is not tripped while the drive is outputting current.
has turned on or off.
• Check the ratios between the voltage and frequency.
V/f setting is not operating as expected. • Set parameter E1-04 through E1-10 appropriately (E3-04 through E3-10 for motor 2).
• Lower the voltage if it is too high relative to the frequency.
• Check the amount of torque compensation.
Excessive torque compensation.
• Reduce the torque compensation gain (C4-01) until there is no speed loss and less current.
• Review the possible solutions provided for handling noise interference.
Drive fails to operate properly due to noise interference.
• Review the section on handling noise interference and check the control circuit lines, main circuit lines, and ground wiring.
• Check if fault occurs simultaneously to overexcitation function operation.
Overexcitation gain is set too high.
• Consider motor flux saturation and reduce the value of n3-13 (Overexcitation Deceleration Gain).
• Enable Speed Search at start (b3-01 = 1).
Run command applied while motor was coasting.
• Program the Speed Search command input through one of the multi-function contact input terminals (H1- = 61 or 62).
The wrong motor code has been entered for PM Open • Enter the correct motor code to E5-01.
Loop Vector (Yaskawa motors only) or the motor data • If a non-Yaskawa PM motor is used, enter “FFFF” to E5-01. Set the correct motor data to the E5- parameters or perform
are wrong. Auto-Tuning.
• Check which motor control method the drive is set to (A1-02).
The motor control method and motor do not match. • For IM motors, set A1-02 = “0”, “1”, “2”, or “3”.
• For PM motors, set A1-02 = “5”, “6” or “7”.
Troubleshooting
The drives rated output current is too small. Use a larger drive.
Option Card Connection Error at Option Port CN5-A
oFA00
Option compatibility error
Option Card Fault at Option Port CN5-A
oFA01
Option not properly connected
oFA03 to oFA06
5
to
, oFA10, oFA11
Option card error occurred at option port CN5-A
to oFA12 to oFA17
to oFA30 to oFA43
Option Card Fault at Option Port CN5-B

oFb00
5 Troubleshooting

oFb01
oFb02
Same type of option card already connected
to oFb03 to oFb11
to oFb12 to oFb17 Option card error occurred at Option Port CN5-B
to oFb30 to oFb43
Option Card Connection Error at Option Port CN5-C

oFC00
Option Card Fault at Option Port CN5-C
oFC01
Option Card Fault at Option Port CN5-C
oFC02
Same type of option card already connected
to oFC03 to oFC11
oFC12 to oFC17 Option card error occurred at option port CN5-C

to
to oFC30 to oFC43
Heatsink Overheat
oH The temperature of the heatsink exceeded the overheat pre-alarm level set to L8-02. Default value for L8-02 is determined by
drive capacity (o2-04).
• Check the temperature surrounding the drive. Verify temperature is within drive specifications.
• Improve the air circulation within the enclosure panel.
Surrounding temperature is too high.
• Install a fan or air conditioner to cool the surrounding area.
• Remove anything near the drive that might be producing excessive heat.
• Measure the output current.
Load is too heavy. • Decrease the load.
• Lower the carrier frequency (C6-02).
• Replace the cooling fan.
Internal cooling fan is stopped.
• After replacing the drive, reset the cooling fan maintenance parameter (o4-03 = 0).
Overheat 1 (Heatsink Overheat)
oH1
The temperature of the heatsink exceeded the drive overheat level. The overheat level is determined by drive capacity (o2-04).
• Check the temperature surrounding the drive.
• Improve the air circulation within the enclosure panel.
Surrounding temperature is too high.
• Install a fan or air conditioner to cool the surrounding area.
• Remove anything near the drive that might be producing excessive heat.
• Measure the output current.
Load is too heavy. • Lower the carrier frequency (C6-02).
• Reduce the load.
• Replace the cooling fan.
Internal cooling fan is stopped.
• After replacing the drive, reset the cooling fan maintenance parameter (o4-03 = 0).
Motor Overheat Alarm (PTC Input)
oH3 • The motor overheat signal to analog input terminal A1, A2, or A3 exceeded the alarm detection level.
• Detection requires multi-function analog input H3-02, H3-06, or H3-10 be set to “E”.
Motor Overheat Fault (PTC Input)
oH4 • The motor overheat signal to analog input terminal A1, A2, or A3 exceeded the fault detection level.
• Detection requires that multi-function analog input H3-02, H3-06, or H3-10 = “E”.
• Check the size of the load, the accel/decel times, and the cycle times.
• Decrease the load.
• Increase the acceleration and deceleration times (C1-01 through C1-08).
Adjust the preset V/f pattern (E1-04 through E1-10). This will mainly involve reducing E1-08 and E1-10. Be careful not to lower
Motor has overheated. E1-08 and E1-10 too much because this reduces load tolerance at low speeds.
• Check the motor rated current.
• Enter the motor rated current as indicated on the motor nameplate (E2-01).
• Ensure the motor cooling system is operating normally.
• Repair or replace the motor cooling system.
Motor Overload
oL1
The electronic motor overload protection tripped.
Load is too heavy. Reduce the load.
Cycle times are too short during acceleration and
Increase the acceleration and deceleration times (C1-01 through C1-08).
deceleration.
• Reduce the load.
A general purpose motor is driven below the rated speed • Increase the speed.
with too high load. • If the motor is supposed to operate at low speeds, either increase the motor capacity or use a motor specifically designed to
operate in the desired speed range.
5 Troubleshooting
Adjust the user-set V/f patterns (E1-04 through E1-10). Parameters E1-08 and E1-10 may need to be reduced. Be careful not to
The output voltage is too high.
lower E1-08 and E1-10 too much because this reduces load tolerance at low speeds.
• Check the motor-rated current.
The wrong motor rated current is set to E2-01.
• Enter the value written on the motor nameplate to parameter E2-01.
• Check the rated frequency indicated on the motor nameplate.
The maximum output frequency is set incorrectly.
• Enter the rated frequency to E1-06 (Base Frequency).
Multiple motors are running off the same drive. Disable the motor protection function (L1-01 = 0) and install a thermal relay to each motor.
• Check the motor characteristics.
The electrical thermal protection characteristics and
• Correct the type of motor protection that has been selected (L1-01).
motor overload characteristics do not match.
• Install an external thermal relay.
The electrical thermal relay is operating at the wrong • Check the current rating listed on the motor nameplate.
level. • Check the value set for the motor rated current (E2-01).
• Overexcitation increases the motor losses and the motor temperature. If applied too long, motor damage can occur. Prevent
excessive overexcitation operation or apply proper cooling to the motor.
Motor overheated by overexcitation operation.
• Reduce the excitation deceleration gain (n3-13).
• Set L3-04 (Stall Prevention during Deceleration) to a value other than 4.
• Check values set to Speed Search related parameters.
Speed Search related parameters are set incorrectly. • Adjust the Speed Search current and Speed Search deceleration times (b3-02 and b3-03 respectively).
• After Auto-Tuning, enable Speed Estimation Speed Search (b3-24 = 1).
Output current fluctuation due to input phase loss Check the power supply for phase loss.
Drive Overload
oL2
The thermal sensor of the drive triggered overload protection.
Load is too heavy. Reduce the load.
Acceleration or deceleration times are too short. Increase the settings for the acceleration and deceleration times (C1-01 through C1-08).
• Adjust the preset V/f pattern (E1-04 through E1-10). This will mainly involve reducing E1-08 and E1-10.
The output voltage is too high.
• Be careful not to lower E1-08 and E1-10 excessively because this reduces load tolerance at low speeds.
Drive capacity is too small. Replace the drive with a larger model.
• Reduce the load when operating at low speeds.
Overload occurred when operating at low speeds. • Replace the drive with a model that is one frame size larger.
• Lower the carrier frequency (C6-02).
Excessive torque compensation. Reduce the torque compensation gain (C4-01) until there is no speed loss but less current.
• Check the settings for all Speed Search related parameters.
Speed Search related parameters are set incorrectly. • Adjust the current used during Speed Search and the Speed Search deceleration time (b3-03 and b3-02 respectively).
• After Auto-Tuning the drive, enable the Speed Estimation Speed Search (b3-24 = 1).
Output current fluctuation due to input phase loss Check the power supply for phase loss.
Overtorque Detection 1
oL3
The current has exceeded the value set for torque detection (L6-02) for longer than the allowable time (L6-03).
Overtorque Detection 2
oL4
The current has exceeded the value set for Overtorque Detection 2 (L6-05) for longer than the allowable time (L6-06).
Mechanical Weakening Detection 1
oL5
Overtorque occurred, matching the conditions specified in L6-08.
High Slip Braking oL
oL7
The output frequency stayed constant for longer than the time set in n3-04 during High Slip Braking.
External Digital Operator Connection Fault
• The external operator has been disconnected from the drive.
oPr Note: An oPr fault will occur when all of the following conditions are true:
• Output is interrupted when the operator is disconnected (o2-06 = 1).
• The Run command is assigned to the operator (b1-02 = 0 and LOCAL has been selected).
Overspeed (for Control Mode with PG)
oS
The motor speed feedback exceeded the F1-08 setting.
Overvoltage
ov Voltage in the DC bus has exceeded the overvoltage detection level.
• For 200 V class: approximately 410 V
• For 400 V class: approximately 820 V (740 V when E1-01 is less than 400)
Troubleshooting

• Increase the deceleration time (C1-02, C1-04, C1-06, C1-08).
Deceleration time is too short and regenerative energy is • Install a braking resistor or a dynamic braking resistor unit.
flowing from the motor into the drive. • Enable stall prevention during deceleration (L3-04 = 1).
Stall Prevention is enabled as the default setting.
• Check if sudden drive acceleration triggers an overvoltage alarm.
• Increase the acceleration time.
Fast acceleration time causes the motor to overshoot the
speed reference.
• Use longer S-curve acceleration and deceleration times. 5
• Enable the Overvoltage Suppression function (L3-11 = 1).
• Lengthen the S-curve at acceleration end.
The braking torque was too high, causing regenerative energy to charge the DC bus. Reduce the braking torque, use a braking
Excessive braking load.
option, or lengthen decel time.
Install a DC reactor.
Surge voltage entering from the drive input power.
Note: Voltage surge can result from a thyristor convertor and phase advancing capacitor using the same input power supply.
Ground fault in the output circuit causing the DC bus • Check the motor wiring for ground faults.
capacitor to overcharge. • Correct grounding shorts and turn the power back on.
5 Troubleshooting
• Check the settings for Speed Search-related parameters.

Improper Setting of Speed Search related parameters.
• Enable Speed Search restart function (b3-19 greater than or equal to 1 to 10).
(Includes Speed Search after a momentary power loss
• Adjust the current level during Speed Search and the deceleration time (b3-02 and b3-03 respectively).
and after a fault restart.)
• Perform Stationary Auto-Tuning for line-to-line resistance and then enable Speed Estimation Speed Search (b3-24 = 1).
• Check the voltage.
Drive input power voltage is too high.
• Lower drive input power voltage within the limits listed in the specifications.
• Check braking transistor wiring for errors.
The braking transistor is wired incorrectly.
• Properly rewire the braking resistor device.
PG cable is disconnected. Reconnect the cable.
PG cable wiring is wrong. Correct the wiring.
Noise interference along the PG encoder wiring. Separate the wiring from the source of the noise (often the output lines from the drive).
• Review the list of possible solutions provided for controlling noise.
Drive fails to operate properly due to noise interference.
• Review the section on handling noise interference and check the control circuit lines, main circuit lines, and ground wiring.
• Check the load inertia settings when using KEB, overvoltage suppression, or Stall Prevention during deceleration.
Load inertia has been set incorrectly.
• Adjust the load inertia ratio in L3-25 to better match the load.
Braking function is being used in OLV/PM. Connect a braking resistor.
• Adjust the parameters that control hunting.
• Set the gain for Hunting Prevention (n1-02).
Motor hunting occurs.
• Adjust the AFR time constant (n2-02 and n2-03).
• Adjust the speed feedback detection suppression gain for PM motors (n8-45) and the time constant for pull-in current (n8-47).
Input Phase Loss
PF
Drive input power has an open phase or has a large imbalance of voltage between phases. Detected when L8-05 = 1 (enabled).
• Check for wiring errors in the main circuit drive input power.
There is phase loss in the drive input power.
• Ensure the terminals are tightened properly.
There is loose wiring in the drive input power terminals.
• Apply the tightening torque as specified in this manual. Refer to Wire Gauges and Tightening Torque on page 27
There is excessive fluctuation in the drive input power • Check the voltage from the drive input power.
voltage. • Review the possible solutions for stabilizing the drive input power.
There is poor balance between voltage phases. • Stabilize drive input power or disable phase loss detection.
• Check the maintenance time for the capacitors (U4-05).
• Replace the capacitor if U4-05 is greater than 90%. For instructions on replacing the capacitor, contact Yaskawa or your nearest
sales representative.
The main circuit capacitors are worn.
Check for anything problems with the drive input power. If drive input power appears normal but the alarm continues to occur,
replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your
PG Disconnect (for any control modes using a PG option card)
PGo
No PG pulses are received for longer than the time set to F1-14.
PG Hardware Fault (detected when using a PG-X3 option card)
PGoH
PG cable is not connected properly.
Braking Resistor Fault
rF
The resistance of the braking resistor being used is too low.
Braking Resistor Overheat
rH Braking resistor protection was triggered.
Fault detection is enabled when L8-01 = 1 (disabled as a default).
• Check the load, deceleration time, and speed.
Deceleration time is too short and excessive regenerative • Reduce the load inertia.
energy is flowing back into the drive. • Increase the deceleration times (C1-02, C1-04, C1-06, C1-08, C1-09).
• Replace the braking option with a larger device that can handle the power that is discharged.
Excessive braking inertia. Recalculate braking load and braking power. Reduce the braking load by adjusting braking resistor settings.
Check the braking operation duty cycle. Braking resistor protection for ERF-type braking resistors (L8-01 = 1) allows a braking
The braking operation duty cycle is too high.
duty cycle of maximum 3%.
• Check the specifications and conditions for the braking resistor device.
The proper braking resistor has not been installed.
• Select the optimal braking resistor.
Note: The magnitude of the braking load trips the braking resistor overheat alarm, NOT the surface temperature. Using the braking resistor more frequently than it is rated for trips the alarm
even when the braking resistor surface is not very hot.
Dynamic Braking Transistor
rr
The built-in dynamic braking transistor failed.
The braking transistor is damaged. • Cycle power to the drive and check if the fault reoccurs.
• Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your
The control circuit is damaged. nearest sales representative.
Too Many Speed Search Restarts
SEr
The number of Speed Search restarts exceeded the number set to b3-19.
Motor Pull Out or Step Out Detection
STo
Motor pull out or step out has occurred. Motor has exceeded its pull-out torque.
Zero Servo Fault
SvE
Position deviation during zero servo.
5 Troubleshooting
Undertorque Detection 1
UL3
The current has fallen below the minimum value set for torque detection (L6-02) for longer than the allowable time (L6-03).
Parameter settings are not appropriate for the load. Check the settings of parameters L6-02 and L6-03.
There is a fault on the machine side. Check the load for any problems.
UL4
The current has fallen below the minimum value set for torque detection (L6-05) for longer than the allowable time (L6-06).
UL5
The operation conditions matched the conditions set to L6-08.
DC Bus Undervoltage
One of the following conditions occurred while the drive was stopped:
Uv1 • Voltage in the DC bus fell below the undervoltage detection level (L2-05)
• For 200 V class: approximately 190 V
• For 400 V class: approximately 380 V (350 V when E1-01 is less than 400) The fault is output only if L2-01 = 0 or L2-01 = 1
and the DC bus voltage has fallen below the level set to L2-05 for longer than the time set to L2-02.
• The main circuit drive input power is wired incorrectly.
Input power phase loss.
• Ensure there are no loose terminals.
One of the drive input power wiring terminals is loose. • Apply the tightening torque specified in this manual to fasten the terminals. Refer to Wire Gauges and Tightening Torque on
page 27
• Check the voltage.
There is a problem with the voltage from the drive input
• Correct the voltage to be within the range listed in drive input power specifications.
power.
• If there is no problem with the power supply to the main circuit, check for problems with the main circuit magnetic contactor.
The power has been interrupted. Correct the drive input power.
• Check the maintenance time for the capacitors (U4-05).
The main circuit capacitors are worn. • Replace either the control board or the entire drive if U4-05 exceeds 90%. For instructions on replacing the control board,
• Cycle power to the drive and see if the fault reoccurs.
• If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board,
The relay or contactor on the soft-charge bypass circuit contact Yaskawa or your nearest sales representative.
is damaged. • Check monitor U4-06 for the performance life of the soft-charge bypass.
• Replace either the control board or the entire drive if U4-06 exceeds 90%. For instructions on replacing the control board,
Control Power Supply Voltage Fault
Uv2
Voltage is too low for the control drive input power.
L2-02 was changed from its default value in a drive that
is 7.5 kW or smaller without installing a Momentary Correct the setting to L2-02 or install an optional Momentary Power Loss Ride-Thru unit.
Power Loss Ride-Thru unit.
• Cycle power to the drive. Check if the fault reoccurs.
Control power supply wiring is damaged.
• If the problem continues, replace the control board, the entire drive, or the control power supply.
• Cycle power to the drive. Check if the fault reoccurs.
Internal circuitry is damaged. • If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board,
Undervoltage 3 (Soft-Charge Bypass Circuit Fault)
Uv3
The soft-charge bypass circuit has failed.
Output Voltage Detection Fault
voF
Problem detected with the voltage on the output side of the drive.
◆ Alarm Detection
Troubleshooting
■ Alarm Codes, Causes, and Possible Solutions

Alarms are drive protection functions that do not necessarily cause the drive to stop. Once the cause of an alarm is
removed, the drive will return to the same status is was before the alarm occurred.
When an alarm has been triggered, the ALM light on the digital operator display blinks and the alarm code display
flashes. If a multi-function output is set for an alarm (H2- = 10), that output terminal will be triggered. 5
Note: If a multi-function output is set to close when an alarm occurs (H2- = 10), it will also close when maintenance periods are
reached, triggering alarms LT-1 through LT-4 (triggered only if H2- = 2F).
5 Troubleshooting
Table 50 Alarm Codes, Causes, and Possible Solutions

Digital Operator Display Minor Fault Name
Communication Option Station Number Setting Error (CC-Link, CANopen)
AEr
Option card node address is outside the acceptable setting range.
Baseblock
bb
Drive output interrupted as indicated by an external baseblock signal.
Braking Transistor Overload Fault
boL
The braking transistor in the drive has been overloaded.
Option Communication Error
bUS • After initial communication was established, the connection was lost.
• Assign a Run command frequency reference to the option card.
Serial Communication Transmission Error
CALL
Communication has not yet been established.
MEMOBUS/Modbus Communication Error
CE
Control data was not received correctly for two seconds.
CrST Cannot Reset
Speed Deviation (when using a PG option card)

dEv
The deviation between the speed reference and speed feedback is greater than the setting in F1-10 for longer than the time in F1-11.
dnE Drive Disabled
Forward/Reverse Run Command Input Error

EF
Both forward run and reverse run closed simultaneously for over 0.5 s.
Option Card External Fault
EF0
An external fault condition is present.
External fault (input terminal S1)
EF1
EF2
EF3
EF4
EF5
EF6
EF7
EF8
Excessive PID Feedback
FbH
The PID feedback input is higher than the level set in b5-36 for longer than the time set in b5-37, and b5-12 is set to 1 or 4.
PID Feedback Loss
FbL
The PID feedback input is lower than the level set in b5-13 for longer than the time set in b5-14, and b5-12 is set to 1 or 4.
Safe Disable Signal Input
Hbb
Both Safe Disable Input channels are open.
Safe Disable Signal Input
HbbF
One Safe Disable channel is open while the other one is closed.
Current Alarm
HCA
Drive current exceeded overcurrent warning level (150% of the rated current).
Cooling Fan Maintenance Time
LT-1 The cooling fan has reached its expected maintenance period and may need to be replaced.
Note: An alarm output (H2- = 10) will only be triggered if H2- = 2F.
Capacitor Maintenance Time
LT-2 The main circuit and control circuit capacitors are nearing the end of their expected performance life.
Soft Charge Bypass Relay Maintenance Time
LT-3 The DC bus soft charge relay is nearing the end of its expected performance life.
IGBT Maintenance Time (50%)
LT-4 IGBTs have reached 50% of their expected performance life.
Heatsink Overheat
oH The temperature of the heatsink exceeded the overheat pre-alarm level set to L8-02 (90-100°C). Default value for L8-02 is
determined by drive capacity (o2-04).
5 Troubleshooting
Digital Operator Display Minor Fault Name

Drive Overheat Warning
oH2
“Drive Overheat Warning” was input to a multi-function input terminal, S1 through S8 (H1-= B)
Motor Overheat
oH3
The motor overheat signal entered to a multi-function analog input terminal exceeded the alarm level (H3-02, H3-06 or H3-10 = E).
Overtorque 1
oL3
Drive output current (or torque in OLV, CLV, AOLV/PM, CLV/PM) was greater than L6-02 for longer than the time set in L6-03.
Overtorque 2
oL4
Drive output current (or torque in OLV, CLV, AOLV/PM, CLV/PM) was greater than L6-05 for longer than the time set in L6-06.
oL5
Overtorque occurred, matching the conditions specified in L6-08.
Overspeed (for Control Mode with PG)
oS
The motor speed feedback exceeded the F1-08 setting.
DC Bus Overvoltage
ov The DC bus voltage exceeded the trip point.
For 200 V class: approximately 410 V
For 400 V class: approximately 820 V (740 V when E1-01 < 400)
PASS MEMOBUS/Modbus Comm. Test Mode Complete
PG Disconnect (for Control Mode with PG)

PGo
Detected when no PG pulses are received for a time longer than setting in F1-14.
PG Hardware Fault (detected when using a PG-X3 option card)
PGoH
PG cable has become disconnected.
Motor Switch during Run
rUn
A command to switch motors was entered during run.
MEMOBUS/Modbus Communication Test Mode Error
SE
Note: This alarm will not trigger a multi-function output terminal that is set for alarm output (H2- = 10).
IGBT Maintenance Time (90%)
TrPC
IGBTs have reached 90% of their expected performance life.
UL3
Drive output current (or torque in OLV, CLV, AOLV/PM, CLV/PM) less than L6-02 for longer than L6-03 time.
UL4
Drive output current (or torque in OLV, CLV, AOLV/PM, CLV/PM) less than L6-05 for longer than L6-06 time.
Undervoltage
One of the following conditions was true when the drive was stopped and a Run command was entered:
Uv • DC bus voltage dropped below the level specified in L2-05.
• Contactor to suppress inrush current in the drive was opened.
• Low voltage in the control drive input power. This alarm outputs only if L2-01 is not 0 and DC bus voltage is under L2-05.
Output Voltage Detection Fault
voF
There is a problem with the output voltage.
◆ Operator Programming Errors

■ oPE Codes, Causes, and Possible Solutions
An Operator Programming Error (oPE) occurs when a contradictory parameter is set or an individual parameter is set to
an inappropriate value.
The drive will not operate until the parameter or parameters causing the problem are set correctly. An oPE, however, does
not trigger an alarm or fault output. If an oPE occurs, investigate the cause and Refer to oPE Codes, Causes, and
Possible Solutions on page 93 for the appropriate action. When an oPE appears on the operator display, press the
ENTER button to view U1-18 and see the parameter that is causing the oPE error (U1-18).
Troubleshooting
Table 51 oPE Codes, Causes, and Possible Solutions

Digital Operator Display Error Name
Drive Capacity Setting Fault
oPE01
Drive capacity and the value set to o2-04 do not match.
oPE02
Parameter Range Setting Error 5
Use U1-18 to find parameters set outside the range.
Multi-Function Input Selection Error
oPE03
A contradictory setting is assigned to multi-function contact inputs H1-01 to H1-08.
oPE04 Initialization required.
oPE05 Run Command/Frequency Reference Source Selection Error
Control Method Selection Error

oPE06
Correct the setting for the control method.
5 Troubleshooting

Multi-Function Analog Input Selection Error
oPE07
A contradictory setting is assigned to multi-function analog inputs H3-02, H3-06, or H3-10 and PID functions conflict.
Parameter Selection Error
oPE08
A function has been set that cannot be used in the motor control method selected.
PID Control Selection Fault
oPE09
PID control function selection is incorrect. Requires that PID control is enabled (b5-01 = 1 to 4).
V/f Data Setting Error
The following setting errors have occurred where:
oPE10 • E1-04 is greater than or equal to E1-06, E1-06 is greater than or equal to E1-07, E1-07 is greater than or equal to E1-09, or E1-09
is greater than or equal to E1-11.
• E3-04 is greater than or equal to E3-06, E3-06 is greater than or equal to E3-07, E3-07 is greater than or equal to E3-09, or E3-09
is greater than or equal to E3-11.
Carrier Frequency Setting Error
oPE11
Correct the setting for the carrier frequency.
Pulse Monitor Selection Error
oPE13
Incorrect setting of monitor selection for pulse train (H6-06).
Torque Control Setting Error
oPE15
Parameters settings that are not allowed in combination with Torque Control have been set.
◆ Auto-Tuning Fault Detection

Auto-Tuning faults are shown below. When the following faults are detected, the fault is displayed on the digital operator
and the motor coasts to a stop. Auto-Tuning faults do not trigger an multi-function terminal set for fault or alarm output.
An End error indicates that although Auto-Tuning has completely successful, there is some discrepancy in the
calculations the drive made. If an End error occurs, check for what might be causing the error using the table below,
and perform Auto-Tuning again once the problem has been taken care of. If there appears to be no problem despite the
End error being displayed, go ahead and start the application.
■ Auto-Tuning Codes, Causes, and Possible Solutions
Table 52 Auto-Tuning Codes, Causes, and Possible Solutions
End1 Excessive V/f Setting (detected only during Rotational Auto-Tuning, and displayed after Auto-Tuning is complete)
Cause Possible Solutions

The torque reference exceeded 20% during • Before Auto-Tuning the drive, verify the information written on the motor nameplate and enter that data to T1-03 through T1-05.
Auto-Tuning. • Enter proper information to parameters T1-03 to T1-05 and repeat Auto-Tuning.
The results from Auto-Tuning the no-load current • If possible, disconnect the motor from the load and perform Auto-Tuning. If the load cannot be uncoupled, simply use the Auto-
exceeded 80%. Tuning results as they are.
End2 Motor Iron-Core Saturation Coefficient (detected only during Rotational Auto-Tuning and displayed after Auto-Tuning is complete)

Motor data entered during Auto-Tuning was • Make sure the data entered to the T1 parameters match the information written on the motor nameplate.
incorrect. • Restart Auto-Tuning and enter the correct information.
Results from Auto-Tuning are outside the parameter
• Check and correct faulty motor wiring.
setting range, assigning the iron-core saturation
• Disconnect the motor from machine and perform Rotational Auto-Tuning.
coefficient (E2-07, E2-08) a temporary value.
End3 Rated Current Setting Alarm (displayed after Auto-Tuning is complete)

The correct current rating printed on the nameplate • Check the setting of parameter T1-04.
was not entered into T1-04. • Check the motor data and repeat Auto-Tuning.
End4 Adjusted Slip Calculation Error
The slip that was calculated is outside the allowable • Make sure the data entered for Auto-Tuning is correct.
range. • Execute Rotational Auto-Tuning instead. If not possible, try Stationary Auto-Tuning 2.
End5 Resistance Tuning Error
The resistance value that was calculated is outside • Double check the data that was entered for the Auto-Tuning process.
the allowable range. • Check the motor and motor cable connection for faults.
End6 Leakage Inductance Alarm
5 Troubleshooting

The leakage inductance value that was calculated is
Double check the data that was entered for the Auto-Tuning process.
outside the allowable range.
End7 No-Load Current Alarm
The entered no-load current value was outside the
Check and correct faulty motor wiring.
allowable range.
Auto-Tuning results were less than 5% of the motor
Double check the data that was entered for the Auto-Tuning process.
rated current.
Er-01 Motor Data Error

Motor data or data entered during Auto-Tuning was • Check that the motor data entered to T1 parameters matches motor nameplate input before Auto-Tuning.
incorrect. • Start Auto-Tuning over again and enter the correct information.
Motor output power and motor-rated current settings • Check the drive and motor capacities.
(T1-02 and T1-04) do not match. • Correct the settings of parameters T1-02 and T1-04.
Motor rated current and detected no-load current are • Check the motor rated current and no-load current.
not consistent with another. • Correct the settings of parameters T1-04 and E2-03.
Base frequency and motor rated speed (T1-05 and • Set T1-05 and T1-07 to the correct value.
T1-07) do not match. • Check if the correct pole number was entered to T1-06.
Er-02 Minor Fault

An alarm was triggered during Auto-Tuning. Exit the Auto-Tuning menu, check the alarm code, remove the alarm cause, and repeat Auto-Tuning.
Er-03 STOP Button Input

Auto-Tuning canceled by pressing STOP button. Auto-Tuning did not complete properly and will have to be performed again.
Er-04 Line-to-Line Resistance Error

Results from Auto-Tuning are outside the parameter
setting range or the tuning process took too long. Check and correct faulty motor wiring.
Motor cable or cable connection faulty.
Er-05 No-Load Current Error

Results from Auto-Tuning are outside the parameter • Check and correct faulty motor wiring.
setting range or the tuning process took too long. • Perform Rotational Auto-Tuning.
• Disconnect the motor from machine and restart Auto-Tuning. If motor and load cannot be uncoupled make sure the load is lower
The load during Rotational Auto-tuning was too
than 30%.
high.
• If a mechanical brake is installed, make sure it is fully lifted during tuning.
Er-08 Rated Slip Error

Troubleshooting
Drive-calculated values outside parameter setting • Check and correct faulty motor wiring.
range or the tuning process took too long. • Perform Rotational Auto-Tuning.
The load during rotational Auto-tuning was too high. than 30%.
Digital Operator Display Error Name 5
Er-09 Acceleration Error

The motor did not accelerate for the specified • Increase the acceleration time (C1-01).
acceleration time. • Check if it is possible to disconnect the machine from the motor.
Torque limit when motoring is too low (L7-01 and • Check the settings of parameters L7-01 and L7-02.
L7-02). • Increase the setting.
The load during Rotational Auto-Tuning was too
than 30%.
high.
5 Troubleshooting

Er-10 Motor Direction Error
The encoder signal lines are not properly connected
Check and correct wiring to the PG encoder.
to the drive.
Check the motor speed monitor U1-05 while turning the motor manually in forward direction. If the sign displayed is negative,
Motor and PG direction are opposite.
change the setting of parameter F1-05.
The load pulled the motor in the opposite direction
of the speed reference and the torque exceeded Uncouple the motor from the load and repeat Auto-Tuning.
100%.
Er-11 Motor Speed Fault

• Increase the acceleration time (C1-01).
Torque reference is too high.
• Disconnect the machine from the motor, if possible.
Er-12 Current Detection Error

One of the motor phases is missing:
Check motor wiring and correct any problems.
(U/T1, V/T2, W/T3).
Current exceeded the current rating of the drive. • Check the motor wiring for a short between motor lines.
• If a magnetic contactor is used between motors, make sure it is closed.
The current is too low. • Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest
Attempted Auto-Tuning without motor connected to
Connect the motor and perform Auto-Tuning.
the drive.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest
Current detection signal error.
Er-13 Leakage Inductance Error

• Check all wiring and correct any mistakes.
Drive was unable to complete tuning for leakage
• Double check the motor rated current value that was entered to T1-04 for Auto-Tuning.
inductance within 300 seconds.
• Check the motor rated current value written on the motor nameplate and enter the correct value.
Er-14 Motor Speed Error 2
The motor speed exceeded twice the amplitude of
Reduce the ASR gain set to C5-01.
speed reference during Inertia Tuning.
Er-15 Torque Saturation Error
• Increase the torque limits in L7-01 through L7-04 (but keep them within reasonable limits).
The output torque reached the torque limit set in L7-
• First try reducing the test signal amplitude in T3-01 and repeat the tuning. If necessary, then try reducing the test signal frequency
01 through L7-04 during Inertia Tuning.
(T3-02) and repeat the tuning.
Er-16 Inertia Detection Error
• First try reducing the test signal amplitude in T3-01 and repeat the tuning. If necessary, then try reducing the test signal frequency
The inertia identified by the drive was abnormally
(T3-02) and repeat the tuning.
small or abnormally large during Inertia Tuning.
• Check the basic motor inertia value entered to T3-03.
Er-17 Reverse Prohibited Error
Drive is prohibited from rotating the motor in • Inertia Auto-Tuning cannot be performed if the drive is restricted from rotating in reverse.
reverse while attempting to perform Inertia Tuning. • Assuming it is acceptable for the application to rotate in reverse, set b1-04 to 0 and then execute Inertia Tuning.
Er-18 Induction Voltage Error
The induced voltage constant attempted to set a
Double check the data that was entered to the T2- parameters, and perform Auto-Tuning again.
value outside the allowable setting range.
Er-19 PM Inductance Error
The induced voltage constant attempted to set a
value to E5-08 or E5-09 outside the allowable range.
5 Troubleshooting
Er-20 Stator Resistance Error

Stator resistance tuning attempted to set a value to
E5-06 that is outside the allowable setting range.
Er-21 Z Pulse Correction Error
Motor was coasting when Auto-Tuning was
Make sure the motor has stopped completely. Repeat Auto-Tuning.
performed.
Either the motor or the PG encoder on the motor is
Check the wiring for the motor and the PG encoder. Repeat Auto-Tuning.
not properly wired.
The direction for the PG encoder is set incorrectly, or
the number of pulses set for the PG encoder is Check the direction and number of pulses set for the PG encoder. Repeat Auto-Tuning.
wrong.
PG encoder is damaged. Check the signal output from the PG encoder attached to the motor. Replace the PG if damaged.
◆ Copy Function Related Displays

■ Tasks, Errors, and Troubleshooting
The table below lists the messages and errors that may appear when using the Copy function.
When executing the tasks offered by the Copy function, the operator will indicate the task being performed. When an
error occurs, a code appears on the operator to indicate the error. Note that errors related to the Copy function do not
trigger a multi-function output terminal that has been set up to close when a fault or alarm occurs. To clear an error,
simply press any key on the operator and the error display will disappear.
Table 53 lists the corrective action that can be taken when an error occurs.
Note: 1. Whenever using the copy function, the drive should be fully stopped.
2. The drive will not accept a Run command while the Copy function is being executed.
3. Parameters can only be saved to a drive when the voltage class, capacity, control mode, and software version match.
Table 53 Copy Function Task and Error Displays
Digital Operator Display Task
CoPy Writing Parameter Settings (flashing)
CPEr Control Mode Mismatch
CPyE Error Writing Data
CSEr Copy Unit Error
dFPS Drive Model Mismatch
End Task Complete
iFEr Communication Error
ndAT Model, Voltage Class, Capacity Mismatch
rdEr Error Reading Data
rEAd Reading Parameter Settings (flashing)
vAEr Voltage Class, Capacity Mismatch
vFyE Parameter settings in the drive and those saved to the copy function are not the same
Troubleshooting
vrFy Comparing Parameter Settings (flashing)
5 Troubleshooting
◆ Fault Reset Methods

When a fault occurs, the cause of the fault must be removed and the drive must be restarted. The table below lists the
different ways to restart the drive.
After the Fault Occurs Procedure
REV DRV FOUT
Fix the cause of the fault, restart the drive, and

reset the fault Press on the digital operator.
LO
ESC
RE
RESET ENTER
RUN STOP
Drive
Close then open the fault signal digital input via terminal S4. Fault Reset Switch
Resetting via Fault Reset Digital Input S4 S4 Fault Reset Digital Input
S4 is set for “Fault Reset” as default (H1-04 = 14).
SC Digital Input Common
2 ON
If the above methods do not reset the fault, turn off the drive main power supply. Reapply power after the digital
operator display is out.
1 OFF
Note: If the Run command is present, the drive will disregard any attempts to reset the fault. The Run command must first be removed
before a fault situation can be cleared.
6 Periodic Inspection & Maintenance

◆ Inspection
Power electronics have limited life and may exhibit changes in characteristics or performance deterioration after years of
use under normal conditions. To help avoid such problems, it is important to perform preventive maintenance and
periodic inspection on the drive.
Drives contain a variety of power electronics such as power transistors, semiconductors, capacitors, resistors, fans, and
relays. The electronics in the drive serve a critical role in maintaining proper motor control.
Follow the inspection lists provided in this chapter as a part of a regular maintenance program.
Note: The drive will require more frequent inspection if it is placed in harsh environments, such as:
• High ambient temperatures
• Frequent starting and stopping
• Fluctuations in the AC supply or load
• Excessive vibrations or shock loading
• Dust, metal dust, salt, sulfuric acid, chlorine atmospheres
• Poor storage conditions.
Perform the first equipment inspection one to two years after installation.
■ Recommended Daily Inspection
Table 54 outlines the recommended daily inspection for Yaskawa drives. Check the following items on a daily basis to
avoid premature deterioration in performance or product failure. Copy this checklist and mark the “Checked” column
after each inspection.
Table 54 General Recommended Daily Inspection Checklist
Inspection Category Inspection Points Corrective Action Checked
• Check the load coupling.
Motor • Inspect for abnormal oscillation or noise coming from the motor. • Measure motor vibration.
• Tighten all loose components.
• Check for excessive load.
• Inspect for abnormal heat generated from the drive or motor and • Loose connections
Cooling
visible discoloration. • Check for dirty heatsink or motor.
• Ambient temperature
• Check for clogged or dirty fan.
Cooling Fan • Inspect drive cooling fan operation.
• Check fan operation drive parameter.
• Verify the drive environment complies with the specifications • Eliminate the source of contaminants or correct poor
Environment
listed in Installation Environment on page 14. environment.
• The drive output current should not be higher than the motor or • Check for excessive load.
Load
drive rating for an extended period of time. • Check the motor parameter settings of the drive.
• Correct the voltage or power supply to within nameplate
Power Supply Voltage • Check main power supply and control voltages. specifications.
• Verify all main circuit phases.

Maintenance
■ Recommended Periodic Inspection

Table 55 outlines the recommended periodic inspections for Yaskawa drive installations. Although periodic inspections
should generally be performed once a year; the drive may require more frequent inspection in harsh environments or with
rigorous use. Operating and environmental conditions, along with experience in each application, will determine the
actual inspection frequency for each installation. Periodic inspection will help to avoid premature deterioration in
performance or product failure. Copy this checklist and mark the “Checked” column after each inspection.
Periodic Inspection
WARNING! Electrical Shock Hazard. Do not inspect, connect, or disconnect any wiring while the power is on. Failure to comply can
result in serious personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor 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.
Table 55 Periodic Inspection Checklist

Inspection Area Inspection Points Corrective Action Checked
Main Circuit Periodic Inspection
• Inspect equipment for discoloration from overheating or • Replace damaged components as required.
deterioration. • The drive has few serviceable parts and may require complete
• Inspect for damaged or deformed parts. drive replacement.
General • Inspect enclosure door seal if used.
• Inspect for dirt, foreign particles, or dust collection on • Use dry air to clear away foreign matter. Use a pressure of
components. 39.2 × 104 to 58.8 × 104 Pa (4 - 6 kgxcm2).
• Replace components if cleaning is not possible.
• Inspect wiring and connections for discoloration, damage, or heat
Conductors and Wiring stress. • Repair or replace damaged wiring.
• Inspect wire insulation and shielding for wear.
• Tighten loose screws and replace damaged screws or
Terminals • Inspect terminals for stripped, damaged, or loose connections.
terminals.
• Inspect contactors and relays for excessive noise during operation. • Check coil voltage for over or under voltage conditions.
Relays and Contactors • Inspect coils for signs of overheating such as melted or cracked • Replace damaged removable relays contactors or circuit
insulation. board.
• Minor discoloration may be acceptable.
Braking Resistors • Inspect for discoloration of heat stress on or around resistors.
• If discoloration exists check for loose connections.
• Inspect for leaking, discoloration, or cracks.
• The drive has few serviceable parts and may require complete
Electrolytic Capacitor • Check if the cap has come off, for any swelling, or if the sides
drive replacement.
have burst open.
Diode, IGBT (Power • Use dry air to clear away foreign matter. Use a pressure of
• Inspect for dust or other foreign material collected on the surface.
Transistor) 39.2 × 104 to 58.8 × 104 Pa (4 - 6 kgxcm2).
Motor Periodic Inspection
• Stop the motor and contact qualified maintenance personnel
Operation Check • Check for increased vibration or abnormal noise.
as required.
Control Circuit Periodic Inspection
• Tighten loose screws and replace damaged screws or
• Inspect terminals for stripped, damaged, or loose connections. terminals.
General
• Make sure all terminals have been properly tightened. • If terminals are integral to a circuit board, then board or drive
replacement may be required.
• Fix any loose connections.
• If an antistatic cloth or vacuum plunger can't be used, replace
the board.
• Check for any odor, discoloration, and rust. Make sure
• Do not use any solvents to clean the board.
Circuit Boards connections are properly fastened and that no dust or oil mist has
• Use dry air to clear away foreign matter. Use a pressure of
accumulated on the surface of the board.
39.2 × 104 to 58.8 × 104 Pa (4 - 6 kgxcm2).
• The drive has few serviceable parts and may require complete
drive replacement.
Cooling System Periodic Inspection
• Check for abnormal oscillation or unusual noise.
Cooling Fan • Replace as required.
• Check for damaged or missing fan blades.
• Use dry air to clear away foreign matter.
Heatsink • Inspect for dust or other foreign material collected on the surface.
Use a pressure of 39.2 × 104 to 58.8 × 104 Pa (4 - 6 kgxcm2).
• Inspect air intake and exhaust openings. They must be free from • Visually inspect the area.
Air Duct
obstruction and properly installed. • Clear obstructions and clean air duct as required.
Display Periodic Inspection
• Make sure data appears on the operator properly. • Contact your Yaskawa representative if there is any trouble
Digital Operator • Inspect for dust or other foreign material that may have collected with the display or keypad.
on surrounding components. • Clean the digital operator.
◆ Periodic Maintenance
The drive has Maintenance Monitors that keep track of component wear. This feature provides advance maintenance
warning and eliminates the need to shut down the entire system for unexpected problems. The drive allows the user to
check predicted maintenance periods for the components listed below.
• Cooling Fan
• Electrolytic Capacitors
• Inrush Prevention Circuit
• IGBTs
For replacement parts, contact the distributor where the drive was purchased or contact Yaskawa directly.
■ Replacement Parts
Table 56 contains the estimated performance life of components that require replacement during the life of the drive.
Only use Yaskawa replacement parts for the appropriate drive model and revision.
Table 56 Estimated Performance Life
Component Estimated Performance Life
Cooling Fan 10 years
Electrolytic Capacitors 10 years <1>
<1> The drive has few serviceable parts and may require complete drive replacement.
NOTICE: Estimated performance life based on specific usage conditions. These conditions are provided for the purpose of replacing
parts to maintain performance. Some parts may require more frequent replacement due to poor environments or rigorous use. Usage
conditions for estimated performance life:
• Ambient temperature: Yearly average of 40°C (open-chassis)
• Load factor: 80% maximum
• Operation time: 24 hours a day
Performance Life Monitors Maintenance Monitors

The drive calculates the maintenance period for components that may require replacement during the life of the drive. A
percentage of the maintenance period is displayed on the digital operator by viewing the appropriate monitor parameter.
When the maintenance period reaches 100%, there is increased risk that the drive may malfunction. Yaskawa
recommends checking the maintenance period regularly to ensure maximum performance life.
Refer to Recommended Periodic Inspection on page 100 for more details.
Table 57 Performance Life Monitors Used for Component Replacement
Parameter Component Contents
Displays the accumulated operation time of the cooling fan, from 0 to 99999 hours. This value is automatically reset to 0
U4-03
Cooling Fan once it reaches 99999.
U4-04 Displays the accumulated cooling fan operation time as a percentage of the specified maintenance period.
U4-05 DC Bus Capacitors Displays the accumulated time the capacitors are used as a percentage of the specified maintenance period.
U4-06 Inrush (pre-charge) Relay Displays the number of times the drive is powered up as a percentage of the performance life of the inrush circuit.
U4-07 IGBT Displays the percentage of the maintenance period reached by the IGBTs.
Alarm Outputs for Maintenance Monitors

An output can be set up to inform the user when a specific components has neared its expected performance life.
When one of multi-function digital output terminals has been assigned the maintenance monitor function (H2- = 2F),
the terminal will close when the cooling fan, DC bus capacitors, or DC bus pre-charge relay reach 90% of the expected
performance life, or the IGBTs have reached 50% of their expect performance life. Additionally the digital operator will
Maintenance
display an alarm like shown in Table 58 to indicate the specific components that may need maintenance.
Table 58 Maintenance Alarms

Alarm Display Function Corrective Action
<1> The cooling fans have reached 90% of their designated life time. Replace the cooling fan.
<1> The DC bus capacitors have reached 90% of their designated life time. Replace the drive.
<1> The DC bus charge circuit has reached 90% of its designated life time. Replace the drive.
<1> The IGBT’s have reached 50% of their designated life time. Check the load, carrier frequency, and output frequency.
<2> The IGBT’s have reached 90% of their designated life time. Replace the drive.
<1> This alarm message will be output only if the Maintenance Monitor function is assigned to one of the digital outputs (H2- = 2F). The
alarm will also trigger a digital output that is programmed for alarm indication (H2- = 10).
<2> This alarm message will always be output, even if the Maintenance Monitor function is not assigned to any of the digital outputs (H2- =
2F). The alarm will also trigger a digital output that is programmed for alarm indication (H2- = 10).
Related Drive Parameters

Parameters o4-03, o4-05, o4-07, and o4-09 can be used to reset a Maintenance Monitor back to zero after a specific
component has been replaced. Refer to Parameter List on page 107 for details on parameter settings.
NOTICE: If these parameters are not reset after the corresponding parts have been replaced, the Maintenance Monitor function will
continue to count down the performance life from the value that was reached with the old part. If the Maintenance Monitor is not reset,
the drive will not have the correct value of the performance life for the new component.
■ Replacing the Drive

WARNING! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply can result in serious
personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor 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! Electrical Shock Hazard. Do not allow unqualified personnel to perform work on the drive. Failure to comply could result in
serious injury. Installation, maintenance, inspection and servicing must be performed only by authorized personnel familiar with
installation, adjustment and maintenance of AC drives.
NOTICE: Damage to Equipment. 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.
The following procedure explains how to replace a drive. This section provides instructions for drive replacement only.
To install option boards or other types of options, then refer to the specific manuals for those options.
NOTICE: When transferring a braking transistor, braking resistor, or other type of option from a damaged drive to a new replacement
drive, make sure they are working properly before reconnecting them to the new drive. Replace broken options to prevent immediate
break down of the replacement drive.
1. Remove the terminal cover.

Figure 82
Figure 75 Drive Replacement: Removing the Terminal Cover
2. Loosen the screws holding the terminal board in place. Take out the screw securing the bottom cover and
remove the bottom cover from the drive.
Note: Drives set up for compliance with IP00 do not have a bottom cover.
Figure 83
Figure 76 Drive Replacement: Removing the Terminal Board

3. Slide the terminal board as illustrated by the arrows, and remove it from the drive along with the bottom cover.
Figure 84
Figure 77 Drive Replacement: Remove the Terminal Board

Figure 85
Figure 78 Drive Replacement:

Removable Terminal Board Disconnected from the Drive
4. Disconnect all option cards and options. Make sure they are intact before reusing them.
5. Replace the drive and wire the main circuit.
Installing the Drive
1. Once the main circuit has been wired, connect the terminal block to the drive as shown in Figure 86. Use the
installation screw to fasten the terminal block into place.
Figure 86

Maintenance
Figure 79 Drive Replacement: Installing the Terminal Board

2. Reconnect all options to the new drive in the same way they were installed in the old drive. Connect option
boards to the same option ports in the new drive that were used in the old drive.
3. Put the terminal cover back into its original place. 6
4. When the power to the drive is first switched on, all parameter settings are transferred from the terminal board
into the drive memory. Should an oPE04 error occur, load the parameter settings that have been saved on the
terminal board onto the new drive by setting parameter A1-03 to 5550. Reset timers used for the Maintenance
Monitor function by setting parameters o4-01 through o4-12 back to 0, and parameter o4-13 to 1.
A Specifications
A Specifications
◆ Heavy Duty and Normal Duty Ratings
The capacity of the drive is based on two types of load characteristics: Heavy Duty (HD) and Normal Duty (ND).
Refer to Selecting the Appropriate Load Rating on page 104 for the differences between HD and ND.
Table 59 Selecting the Appropriate Load Rating
Setting Parameter C6-01 Rated Output Current Overload Tolerance Default Carrier Frequency
0: Heavy Duty (default) HD Rating varies by model <1> 150% rated output current for 60 s 2 kHz
1: Normal Duty ND Rating varies by model <1> 120% rated output current for 60 s varies by model 2 kHz, Swing PWM
<1> Refer to Three-Phase 200 V Class Drives on page 104 and Three-Phase 400 V Class Drives on page 105 for information on rating changes
based on drive model.
HD and ND: HD refers to applications requiring constant torque output, while ND refers to applications with variable torque needs. The drive
TERMS
allows the user to select HD or ND torque depending on the application. Fans, pumps, and blowers should use ND (C6-01 = 1), and other
applications generally use HD (C6-01 = 0).
Swing PWM: Swing PWM equivalent to a 2 kHz audible noise. This function turns the motor noise into a less obtrusive white noise.
Note: Differences between HD ratings and ND ratings for the drive include rated input and output current, overload capacity, carrier
frequency, and current limit. The default setting is for HD (C6-01 = 0).
◆ Three-Phase 200 V Class Drives

Table 60 Power Ratings (Three-Phase 200 V Class)
Item Specification
CIMR-A2A 0004 0006 0008 0010 0012 0018 0021 0030 0040 0056 0069 0081 0110 0138 0169 0211
Maximum Applicable Motor Capacity HD Rating 0.4 0.75 1.1 1.5 2.2 3 3.7 5.5 7.5 11 15 18.5 22 30 37 45
(kW) <1> ND Rating 0.7 1.1 1.5 2.2 3 3.7 5.5 7.5 11 15 18.5 22 30 37 45 55
HD Rating 2.9 5.8 7 7.5 11 15.6 18.9 28 37 52 68 80 82 111 136 164
Input Current (A) <2>
ND Rating 3.9 7.3 8.8 10.8 13.9 18.5 24 37 52 68 80 96 111 136 164 200
Rated Voltage
Three-phase 200 to 240 V 50/60 Hz
Rated Frequency
Input
Allowable Voltage Fluctuation -15 to 10%
Allowable Frequency Fluctuation ±5%
HD Rating 1.3 2.2 3.1 4.1 5.8 7.8 9.5 14 18 27 36 44 37 51 62 75
Input Power (kVA)
ND Rating 2.2 3.1 4.1 5.8 7.8 9.5 14 18 27 36 44 52 51 62 75 91
Rated Output Capacity HD Rating 1.2 1.9 2.6 3 4.2 5.3 6.7 9.5 12.6 17.9 23 29 32 44 55 69
(kVA) <3> ND Rating 1.3 2.3 3 3.7 4.6 6.7 8 11.4 15.2 21 26 31 42 53 64 80
3.2 5 6.9 8 11 14 17.5 25 33 47 60 75 85 115 145 180
HD Rating
Rated Output Current (A) <5> <5> <5> <5> <5> <5> <5> <5> <5> <5> <5> <5> <5> <5> <6> <6>
ND Rating <4> 3.5 6 8 9.6 12 17.5 21 30 40 56 69 81 110 138 169 211
HD Rating: 150% of rated output current for 1 minute
Output Overload Tolerance (Derating may be required for applications that start and stop frequently)
ND Rating: 120% of rated output current for 1 minute
User
adjustable
Carrier Frequency User adjustable between 2 and 15 kHz
between 2 and
10 kHz
Maximum Output Voltage (V) Three-phase 200 to 240 V (proportional to input voltage)
Maxmum Output Frequency (Hz) 400 Hz (user-set)
<1> The motor capacity (kW) refers to a Yaskawa 4-pole motor. The rated output current of the drive output amps should be equal to or greater than
the motor rated current.
<2> Assumes operation at the rated output current. Input current rating varies depending on the power supply transformer, input reactor, wiring
connections, and power supply impedance.
<3> Rated motor capacity is calculated with a rated output voltage of 220 V.
<4> Carrier frequency is set to 2 kHz. Current derating is required in order to raise the carrier frequency.
A Specifications
◆ Three-Phase 400 V Class Drives

Table 61 Power Ratings (Three-Phase 400 V Class)
Item Specification
CIMR-A4A 0002 0004 0005 0007 0009 0011 0018 0023 0031 0038 0044 0058 0072 0088 0103 0139 0165
Maximum Applicable Motor Capacity HD Rating 0.4 0.75 1.5 2.2 3 3.7 5.5 7.5 11 15 18.5 22 30 37 45 55 75
(kW) <1> ND Rating 0.75 1.5 2.2 3 3.7 5.5 7.5 11 15 18.5 22 30 37 45 55 75 90
HD Rating 1.8 3.2 4.4 6 8.2 10.4 15 20 29 39 44 43 58 71 86 105 142
Input Current (A) <2>
ND Rating 2.1 4.3 5.9 8.1 9.4 14 20 24 38 44 52 58 71 86 105 142 170
Rated Voltage
Three-phase: 380 to 480 V 50/60 Hz
Rated Frequency
Input
Allowable Voltage Fluctuation -15 to 10%
Allowable Frequency Fluctuation ±5%
HD Rating 1.4 2.3 4.3 6.1 8.1 10.0 14.6 19.2 28.4 37.5 46.6 39.3 53.0 64.9 78.6 96.0 129.9
Input Power (kVA)
ND Rating 2.3 4.3 6.1 8.1 10.0 14.5 19.4 28.4 37.5 46.6 54.9 53.0 64.9 78.6 96.0 129.9 155.5
Rated Output Capacity HD Rating 1.4 2.6 3.7 4.2 5.5 7 11.3 13.7 18.3 24 30 34 48 57 69 85 114
(kVA) <3> ND Rating <4> 1.6 3.1 4.1 5.3 6.7 8.5 13.3 17.5 24 29 34 44 55 67 78 106 126
1.8 3.4 4.8 5.5 7.2 9.2 14.8 18 24 31 39 45 60 75 91 112 150
HD Rating
Rated Output Current (A) <5> <5> <5> <5> <5> <5> <5> <5> <5> <5> <5> <5> <5> <5> <5> <6> <6>
ND Rating <4> 2.1 4.1 5.4 6.9 8.8 11.1 17.5 23 31 38 44 58 72 88 103 139 165
HD Rating: 150% of rated output current for 60 s
Output Overload Tolerance (Derating may be required for applications that start and stop frequently)
ND Rating: 120% of rated output current for 60 s
User
adjustable
Carrier Frequency User adjustable between 2 and 15 kHz
between 2
and 10 kHz
Maximum Output Voltage (V) Three-phase: 380 to 480 V (proportional to input voltage)
Maximum Output Frequency (Hz) 400 Hz (user-adjustable)
<1> The motor capacity (kW) refers to a Yaskawa 4-pole motor. The rated output current of the drive output amps should be equal to or greater than
the motor rated current.
<2> Assumes operation at the rated output current. Input current rating varies depending on the power supply transformer, input reactor, wiring
conditions, and power supply impedance.
<3> Rated motor capacity is calculated with a rated output voltage of 440 V.
◆ Drive Specifications
Note: 1. Perform rotational Auto-Tuning to obtain the performance specifications given below.
2. For optimum performance life of the drive, install the drive in an environment that meets the required specifications.
Item Specification
The following control methods can be set using drive parameters:
• V/f Control (V/f)
• V/f Control with PG (V/f w/PG)
• Open Loop Vector Control (OLV)
Control Method
• Closed Loop Vector Control (CLV)
• Open Loop Vector Control for PM (OLV/PM)
• Advanced Open Loop Vector Control for PM (AOLV/PM)
• Closed Loop Vector Control for PM (CLV/PM)
Frequency Control Range 0.01 to 400 Hz
Frequency Accuracy Digital input: within ±0.01% of the max output frequency (-10 to +40°C)
(Temperature Fluctuation) Analog input: within ±0.1% of the max output frequency (25°C ±10°C)
Digital inputs: 0.01 Hz
Frequency Setting Resolution
Analog inputs: 1/2048 of the maximum output frequency setting (11 bit plus sign)
Output Frequency Resolution 0.001 Hz
Control -10 to 10 V, 0 to 10 V, 0 to 20 mA, 4 to 20 mA, Pulse Train Input
Frequency Setting Signal
Characteristics
V/f, V/f w/PG: 150% at 3 Hz
OLV: 200% at 0.3 Hz
Starting Torque <1>
Specifications
CLV, AOLV/PM, CLV/PM: 200% at 0 r/min

OLV/PM: 100% at 5% speed
V/f, V/f w/PG: 1:40
OLV: 1:200
Speed Control Range <1> CLV, CLV/PM: 1:1500
OLV/PM: 1:20
AOLV/PM: 1:100
Speed Control Accuracy <1> OLV: ±0.2% (25°C ±10°C) A
OLV, OLV/PM, AOLV/PM: 10 Hz
Speed Response <1>
CLV, CLV/PM: 50 Hz
Torque Limit Parameters setting allow separate limits in four quadrants (available in OLV, CLV, AOLV/PM, CLV/PM)
Accel/Decel Time 0.0 to 6000.0 s (4 selectable combinations of independent acceleration and deceleration settings)
A Specifications
Item Specification
Approx. 20% (approx. 125% when using braking resistor) <3>
c Short-time decel torque <2>: over 100% for 0.4/ 0.75 kW motors, over 50% for 1.5 kW motors, and over 20% for 2.2 kW and
Braking Torque
above motors <4> (over excitation braking/High Slip Braking: approx. 40%)
d Continuous regenerative torque: approx. 20% <4> (approx. 125% with dynamic braking resistor option <3>: 10% ED, 10s)
Braking Transistor Drives of 200/400 V 30 kW or less have a built-in braking transistor.
V/f Characteristics User-selected programs and V/f preset patterns possible
Control
Characteristics Torque Control, Droop Control, Speed/torque Control Switching, Feed Forward Control, Zero Servo Function, Momentary
Power Loss Ride-Thru, Speed Search, Overtorque/Undertorque Detection, Torque Limit, 17 Step Speed (max), Accel/decel
Switch, S-curve Accel/decel, 3-wire Sequence, Auto-tuning (rotational, stationary tuning), Dwell, Cooling Fan on/off Switch,
Slip Compensation, Torque Compensation, Frequency Jump, Upper/lower Limits for Frequency Reference, DC Injection
Main Control Functions
Braking at Start and Stop, Overexcitation Braking, High Slip Braking, PID Control (with sleep function), Energy Saving Control,
MEMOBUS Comm. (RS-422/485 max, 115.2 kbps), Fault Restart, Application Presets, DriveWorksEZ (customized function),
Removable Terminal Block with Parameter Backup Function, Online Tuning, KEB, Overexcitation Deceleration, Inertia (ASR)
Tuning, Overvoltage Suppression, High Frequency Injection...
Motor Protection Electronic thermal overload relay
Momentary Overcurrent Protection Drive stops when output current exceeds 200% of Heavy Duty Rating
Overload Protection Drive stops after 60 s at 150% of rated Heavy Duty output current <5>
200 V class: Stops when DC bus voltage exceeds approx. 410 V
Overvoltage Protection
400 V class: Stops when DC bus voltage exceeds approx. 820 V
200 V class: Stops when DC bus voltage falls below approx. 190 V
Protection Undervoltage Protection
400 V class: Stops when DC bus voltage falls below approx. 380 V
Functions
Momentary Power Loss Ride-Thru Immediately stop after 15 ms or longer power loss <6>. Continuous operation during power loss than 2 s (standard) <7>
Heatsink Overheat Protection Thermistor
Braking Resistor Overheat Protection Overheat input signal for braking resistor (Optional ERF-type, 3% ED)
Stall Prevention Stall Prevention is available during acceleration, deceleration, and during run.
Ground Protection Electronic circuit protection <8>
DC Bus Charge LED Remains lit until DC bus voltage falls below 50 V.
Area of Use Indoors
Ambient Temperature -10 to 40°C (NEMA Type 1), -10 to 50°C (open-chassis), up to 60°C with output current derating <8>
Humidity 95 RH% or less (no condensation)
Environment Storage Temperature -20 to 60°C (short-term temperature during transportation)
Altitude Up to 1000 meters without derating, up to 3000m with output current and voltage derating
10 to 20 Hz: 9.8 m/s2
Vibration / Shock 20 to 55 Hz: 5.9 m/s2 (up to 200 V 45 kW or 400 V 75 kW)
2.0 m/s2 (200 V 55 kW or 400 V 90 kW and above)
Two Safe Disable inputs and 1 EDM output according to EN61800-5-1, EN954-1 Cat. 3, IEC/EN61508 SIL2, Insulation
Safety Standard coordination: class 1
Note: Time from input open to drive output stop is less than 1 ms
Protection Design IP00 open-chassis, IP20 (NEMA Type 1) enclosure <9>
<1> The accuracy of these values depends on motor characteristics, ambient conditions, and drive settings. Specifications may vary with different
motors and with changing motor temperature. Contact Yaskawa for consultation.
<2> Instantaneous average deceleration torque refers to the torque required to decelerate the motor (uncoupled from the load) from the rated motor
speed down to zero in the shortest time.
<3> Ensure that Stall Prevention is disabled during deceleration (L3-04 = 0), when using a regenerative converter, a regenerative unit, a braking
resistor or the Braking Resistor Unit. The default setting for the Stall Prevention function will interfere with the braking resistor.
<4> Overload protection may be triggered when operating with 150% of the rated output current if the output frequency is less than 6 Hz.
<5> May be shorter due to load conditions and motor speed.
<6> A separate Momentary Power Loss Ride-Thru Unit is required for the drives CIMR-A2A0040 through 2A0040 and A4A0002 through
4A0023 if the application needs to continue running during a momentary power loss up to 2 seconds.
<7> Ground protection cannot be provided when the impedance of the ground fault path is too low, or when the drive is powered up while a ground
fault is present at the output.
<8> Model CIMR-A2A0040 has a maximum ambient temperature of 40 degrees when set for Normal Duty.
<9> Removing the top cover from a IP20/NEMA Type 1 drive voids the NEMA Type 1 protection but still keeps IP20 conformity.
B Parameter List
B Parameter List
◆ Parameter Table
■ A: Initialization Parameters
The A parameter group creates the operating environment for the drive. This includes the parameter Access Level, Motor
Control Method, Password, User Parameters and more.
: Indicates that the parameter setting can be changed while the drive is operating the motor.
Motor 2: Refers the second motor when the drive is operating two motors (use input terminals to switch between motors).
A1: Initialization Parameters
No. Name Description Setting

0: English
1: Japanese
A1-00 2: German
Default: 0
3: French
Language Selection Min: 0
4: Italian
Max: 7
<25> 5: Spanish
6: Portuguese
7: Chinese
A1-01
0: View and set A1-01 and A1-04. U- parameters can also be viewed. Default: 2
Access Level Selection 1: User Parameters (access to a set of parameters selected by the user, A2-01 to A2-32) Min: 0
2: Advanced Access (access to view and set all parameters) Max: 2
<16>
0: V/f Control
1: V/f Control with PG
2: Open Loop Vector Control Default: 2
A1-02
Control Method Selection 3: Closed Loop Vector Control Min: 0
<25>
5: Open Loop Vector Control for PM Max: 7
6: Advanced Open Loop Vector Control for PM
7: Closed Loop Vector Control for PM
0: No initialization
1110: User Initialize (parameter values must be stored using parameter o2-03) Default: 0
A1-03 Initialize Parameters 2220: 2-wire initialization Min: 0
3330: 3-wire initialization Max: 5550
5550: oPE04 error reset
A1-04 Password Default: 0000

When the value set into A1-04 does not match the value set into A1-05, parameters A1-01 through A1-
Min: 0000
03, A1-06, and A2-01 through A2-33 cannot be changed.
A1-05 Password Setting Max: 9999
0: General-purpose
1: Water supply pump
2: Conveyor
Default: 0
3: Exhaust fan
A1-06 Application Preset Min: 0
4: HVAC fan
Max: 7
5: Air compressor
6: Elevator
7: Hoist
0: Disabled Default: 0
A1-07 DriveWorksEZ Function Selection 1: Enabled Min: 0
2: Multi-function input (enabled when H1- = 9F) Max: 2
<16> Default setting value is dependent on the Application Preset selected with parameter A1-06.
<25> Parameter setting value is not reset to the default value when the drive is initialized.
A2: User Parameters

Default: – <16>
A2-01 to Parameters that were recently edited are listed here. The user can also select parameters to appear here
User Parameters 1 to 32 Min: b1-01
A2-32 for quick access.
Max: o2-08
0: Parameters A2-01 through A2-32 are reserved for the user to create a list of User Parameters. Default: 1 <4>
A2-33 User Parameter Automatic Selection 1: Save history of recently viewed parameters. Recently edited parameters will be saved to A2-17 Min: 0
through A2-32 for quick access. Max: 1
<4> Default setting value is dependent on parameter A1-06. This setting value is 0 when A1-06 = 0, and 1 when A1-06 does not equal 0.
Parameter List
<16> Default setting value is determined by the Application Preset selected with parameter A1-06.
B Parameter List
■ b: Application
Application parameters configure the source of the Run command, DC Injection Braking, Speed Search, timer functions,
PID control, the Dwell function, Energy Savings, and a variety of other application-related settings.
b1: Operation Mode Selection

0: Digital operator
1: Analog input terminals Default: 1
b1-01 Frequency Reference Selection 1 2: MEMOBUS/Modbus communications Min: 0
3: Option PCB Max: 4
4: Pulse input (terminal RP)
0: Digital operator
Default: 1
1: Digital input terminals
b1-02 Run Command Selection 1 Min: 0
2: MEMOBUS/Modbus communications
Max: 3
3: Option PCB
0: Ramp to stop
Default: 0
1: Coast to stop
b1-03 Stopping Method Selection Min: 0
2: DC Injection Braking to stop
Max: 3 <87>
3: Coast with timer
Default: 0
0: Reverse enabled.
b1-04 Reverse Operation Selection Min: 0
1: Reverse disabled.
Max: 1
0: Operates according to frequency reference (E1-09 is disabled).
Default: 0
Action Selection below Minimum 1: Output shuts off (coast to stop if less than E1-09).
b1-05 Min: 0
Output Frequency 2: Operates according to E1-09 (frequency reference set to E1-09).
Max: 3
3: Zero speed (frequency reference becomes zero when less than E1-09).
0: Input status is read once and processed immediately (for quick response) Default: 1
b1-06 Digital Input Reading 1: Input is read twice and processed only if the status is the same in both readings (robust against noisy Min: 0
signals) Max: 1
Default: 0
0: An external Run command has to be cycled at the new source to be activated.
b1-07 LOCAL/REMOTE Run Selection Min: 0
1: An external Run command at new source is accepted immediately.
Max: 1
0: Run command not accepted while in the Programming Mode. Default: 0
Run Command Selection while in
b1-08 1: Run command accepted while in the Programming Mode. Min: 0
Programming Mode
2: Prohibit entering Programming Mode during run. Max: 2
Default: 0
0: Standard
b1-14 Phase Order Selection Min: 0
1: Switch phase order (reverses the direction of the motor)
Max: 1
Enabled when an input terminal set for “External reference” (H1- = 2) closes.
0: Digital operator
Default: 0
1: Terminals (analog input terminals)
b1-15 Frequency Reference Selection 2 Min: 0
2: MEMOBUS/Modbus communications
Max: 4
3: Option card
4: Pulse train input
Enabled when a terminal set for “External reference” (H1- = 2) closes.
0: Digital operator Default: 0
b1-16 Run Command Selection 2 1: Digital input terminals Min: 0
2: MEMOBUS/Modbus communications Max: 3
3: Option card
Default: 0
0: Disregarded. A new Run command needs to be issued after power up.
b1-17 Run Command at Power Up Min: 0
1: Allowed. Motor will start immediately after power up if a Run command is already enabled.
Max: 1
<87> The setting range is 0 to 1 in CLV.
b2: DC Injection Braking and Short Circuit Braking

Default: <77>
b2-01 DC Injection Braking Start Frequency Sets the frequency at which DC Injection Braking starts when “Ramp to stop” (b1-03 = 0) is selected. Min: 0.0 Hz
Max: 10.0 Hz
Default: 50%
b2-02 DC Injection Braking Current Sets the DC Injection Braking current as a percentage of the drive rated current. Min: 0%
Max: 100%
Default: 0.00 s
Sets DC Injection Braking (Zero Speed Control when in CLV/PM) time at start. Disabled when set to
b2-03 DC Injection Braking Time at Start Min: 0.00 s
0.00 seconds.
Max: 10.00 s
Default: <77>
b2-04 DC Injection Braking Time at Stop Sets DC Injection Braking time at stop. Min: 0.00 s
Max: 10.00 s
Default: 0%
b2-08 Magnetic Flux Compensation Value Sets the magnetic flux compensation as a percentage of the no-load current value (E2-03). Min: 0%
Max: 1000%
Default: 0.00 s
b2-12 Short Circuit Brake Time at Start Sets the time for Short Circuit Braking operation at start. <32> Min: 0.00 s
Max: 25.50 s
Default: 0.50 s
b2-13 Short Circuit Brake Time at Stop Sets the Short Circuit Braking operation time at stop. <32> Min: 0.00 s
Max: 25.50 s
B Parameter List

Default: 100.0%
b2-18 Short Circuit Braking Current Determines the current level for Short Circuit Braking. Set as a percentage of the motor rated current. Min: 0.0%
Max: 200.0%
<32> A coasting motor may require a braking resistor circuit to bring the motor to a stop in the required time.
<77> Default setting is determined by the control mode (A1-02).
b3: Speed Search

Default: <77>
0: Disabled
b3-01 Speed Search Selection at Start Min: 0
1: Enabled
Max: 1
Default: <77>
Sets the current level at which the speed is assumed to be detected and Speed Search is ended. Set as a
b3-02 Speed Search Deactivation Current Min: 0%
percentage of the drive rated current.
Max: 200%
Default: 2.0 s
b3-03 Speed Search Deceleration Time Sets output frequency reduction time during Speed Search. Min: 0.1 s
Max: 10.0 s
Default: <1>
Determines how much to lower the V/f ratio during Speed Search.
b3-04 V/f Gain during Speed Search Min: 10%
Output voltage during Speed Search equals the V/f setting multiplied by b3-04.
Max: 100%
Default: 0.2 s
When using an external contactor on the output side, b3-05 delays executing Speed Search after a
b3-05 Speed Search Delay Time Min: 0.0 s
momentary power loss to allow time for the contactor to close.
Max: 100.0 s
Default: <1>
Output Current 1 during Speed Sets the current injected to the motor at the beginning of Speed Estimation Speed Search. Set as a
b3-06 Min: 0.0
Search coefficient for the motor rated current.
Max: 2.0
Sets the gain which is applied to the speed detected by Speed Estimation Speed Search before the Default: 1.05
Speed Search Detection
b3-10 motor is reaccelerated. Increase this setting if ov occurs when performing Speed Search after a Min: 1.00
Compensation Gain
relatively long period of baseblock. Max: 1.20
Default: <77>
Bi-Directional Speed Search 0: Disabled (uses the direction of the frequency reference)
b3-14 Min: 0
Selection 1: Enabled (drive detects which way the motor is rotating)
Max: 1
Default: 150%
b3-17 Speed Search Restart Current Level Sets the Speed Search restart current level as a percentage of the drive rated current. Min: 0%
Max: 200%
Default: 0.10 s
b3-18 Speed Search Restart Detection Time Sets the time to detect Speed Search restart. Min: 0.00 s
Max: 1.00 s
Default: 3
b3-19 Number of Speed Search Restarts Sets the number of times the drive can attempt to restart when performing Speed Search. Min: 0
Max: 10
Default: 0
0: Current Detection
b3-24 Speed Search Method Selection Min: 0
1: Speed Estimation
Max: 1
Default: 0.5 s
b3-25 Speed Search Wait Time Sets the time the must wait between each Speed Search restart attempt. Min: 0.0 s
Max: 30.0 s
<1> Default setting value varies by the drive model (o2-04).
b4: Timer Function

Default: 0.0 s
b4-01 Timer Function On-Delay Time Min: 0.0 s
Used to set the on-delay and off-delay times for a digital timer output (H2-=12). The output is Max: 3000.0 s
triggered by a digital input programmed to H1-=18) Default: 0.0 s
b4-02 Timer Function Off-Delay Time Min: 0.0 s
Max: 3000.0 s
b5: PID Control

0: Disabled
1: Enabled (PID output becomes output frequency reference, deviation D controlled) Default: 0
b5-01 PID Function Setting 2: Enabled (PID output becomes output frequency reference, feedback D controlled) Min: 0
3: Enabled (PID output added to frequency reference, deviation D controlled) Max: 4
4: Enabled (PID output added to frequency reference, feedback D controlled)
Parameter List
b5-02 Default: 1.00

Proportional Gain Setting (P) Sets the proportional gain of the PID controller. Min: 0.00
Max: 25.00
b5-03 Default: 1.0 s
Integral Time Setting (I) Sets the integral time for the PID controller. Min: 0.0 s
Max: 360.0 s
b5-04 Default: 100.0%
Integral Limit Setting
Sets the maximum output possible from the integrator as a percentage of the maximum output
frequency.
Min: 0.0% B
Max: 100.0%
B Parameter List

Derivative Time (D) Sets D control derivative time. Min: 0.00 s
Max: 10.00 s
b5-06 Default: 100.0%
Sets the maximum output possible from the entire PID controller as a percentage of the maximum
PID Output Limit Min: 0.0%
output frequency.
Max: 100.0%
b5-07 Default: 0.0%
PID Offset Adjustment Applies an offset to the PID controller output. Set as a percentage of the maximum output frequency. Min: -100.0%
Max: 100.0%
PID Primary Delay Time Constant Sets a low pass filter time constant on the output of the PID controller. Min: 0.00 s
Max: 10.00 s
Default: 0
0: Normal output (direct acting)
b5-09 PID Output Level Selection Min: 0
1: Reverse output (reverse acting)
Max: 1
Default: 1.00
b5-10 PID Output Gain Setting Sets the gain applied to the PID output. Min: 0.00
Max: 25.00
0: Negative PID output triggers zero limit. Default: 0
b5-11 PID Output Reverse Selection 1: Rotation direction reverses with negative PID output. Min: 0
When using setting 1, make sure reverse operation is permitted by parameter b1-04. Max: 1
0: No fault. Digital output only.
1: Fault detection. Alarm output, drive continues operation.
2: Fault detection. Fault output, drive output is shut off. Default: 0
PID Feedback Loss Detection
b5-12 3: No fault. Digital output only. No fault detection when PID control is disabled. Min: 0
Selection
4: Fault detection. Alarm is triggered and drive continues to run. Fault detection even when PID is Max: 5
disabled.
5: Fault detection. Drive output shuts off. No fault detection when PID control is disabled.
Default: 0%
b5-13 PID Feedback Low Detection Level Sets the PID feedback loss detection level as a percentage of the maximum output frequency. Min: 0%
Max: 100%
Default: 1.0 s
b5-14 PID Feedback Low Detection Time Sets a delay time for PID feedback loss. Min: 0.0 s
Max: 25.5 s
Default: 0.0 Hz
b5-15 PID Sleep Function Start Level Sets the frequency level that triggers the sleep function. Min: 0.0 Hz
Max: 400.0 Hz
Default: 0.0 s
b5-16 PID Sleep Delay Time Sets a delay time before the sleep function is triggered. Min: 0.0 s
Max: 25.5 s
Default: 0.0 s
b5-17 PID Accel/Decel Time Sets the acceleration and deceleration time to PID setpoint. Min: 0.0 s
Max: 6000.0 s
Default: 0
0: Disabled
b5-18 PID Setpoint Selection Min: 0
1: Enabled
Max: 1
Default: 0.00%
b5-19 PID Setpoint Value Sets the PID target value when b5-18 = 1. Set as a percentage of the maximum output frequency. Min: 0.00%
Max: 100.00%
0: 0.01Hz units
Default: 1
1: 0.01% units (100% = max output frequency)
b5-20 PID Setpoint Scaling Min: 0
2: r/min (number of motor poles must entered)
Max: 3
3: User-set (set scaling to b5-38 and b5-39)
b5-34 Default: 0.00%
Sets the minimum output possible from the PID controller as a percentage of the maximum output
PID Output Lower Limit Min: -100.0%
frequency.
Max: 100.0%
b5-35 Default: 1000.0%
Limits the PID control input (deviation signal) as a percentage of the maximum output frequency. Acts
PID Input Limit Min: 0%
as a bipolar limit.
Max: 1000.0%
Default: 100%
b5-36 PID Feedback High Detection Level Sets the PID feedback high detection level as a percentage of the maximum output frequency. Min: 0%
Max: 100%
Default: 1.0 s
b5-37 PID Feedback High Detection Time Sets the PID feedback high level detection delay time. Min: 0.0 s
Max: 25.5 s
Default: <5>
b5-38 PID Setpoint User Display Sets the display value of U5-01 and U5-04 when the maximum frequency is output. Min: 1
Max: 60000
0: No decimal places
Default: <5>
1: One decimal places
b5-39 PID Setpoint Display Digits Min: 0
2: Two decimal places
Max: 3
3: Three decimal places
Default: 0
Frequency Reference Monitor 0: Display the frequency reference (U1-01) after PID compensation has been added.
b5-40 Min: 0
Content during PID 1: Display the frequency reference (U1-01) before PID compensation has been added.
Max: 1
<5> Default setting is dependent on PID setpoint scaling (b5-20).
B Parameter List
b6: Dwell Function

Default: 0.0 Hz
b6-01 Dwell Reference at Start Min: 0.0 Hz
Max: 400.0 Hz
Default: 0.0 s
b6-02 Dwell Time at Start Min: 0.0 s
Parameters b6-01 and b6-02 set the frequency to hold and the time to maintain that frequency at start. Max: 10.0 s
Parameters b6-03 and b6-04 set the frequency to hold and the time to maintain that frequency at stop. Default: 0.0 Hz
b6-03 Dwell Frequency at Stop Min: 0.0 Hz
Max: 400.0 Hz
Default: 0.0 s
b6-04 Dwell Time at Stop Min: 0.0 s
Max: 10.0 s
b7: Droop Control

b7-01 Default: 0.0%
Sets the speed reduction gain applied at a torque reference of 100%. Set as a percentage of motor base
Droop Control Gain Min: 0.0%
speed.
Max: 100.0%
Droop Control Delay Time. Used to adjust the responsiveness of Droop Control. Min: 0.03 s
Max: 2.00 s
b8: Energy Saving

Default: <77>
0: Disabled
b8-01 Energy Saving Control Selection Min: 0
1: Enabled
Max: 1
b8-02 Default: <77>
Energy Saving Gain Sets the gain used for Energy Saving. Min: 0.0
Max: 10.0
b8-03 Default: <69>
Energy Saving Control Filter Time
Sets a time constant for Energy Saving. Min: 0.00 s
Constant
Max: 10.00 s
Default: <1> <51>
Determines the level of maximum motor efficiency. Setting range is 0.0 to 2000.0 for drives 3.7 kW
b8-04 Energy Saving Coefficient Value Min: 0.00
and smaller.
Max: 655.00
Default: 20 ms
b8-05 Power Detection Filter Time Sets a time constant filter for output power detection. Min: 0 ms
Max: 2000 ms
Default: 0%
b8-06 Search Operation Voltage Limit Sets the limit for the voltage search operation as a percentage of the motor rated voltage. Min: 0%
Max: 100%
<51> Parameter value changes automatically if E2-11 is manually changed or changed by Auto-Tuning.
<69> Default setting is determined by the control mode (A1-02) and the drive model (o2-04).
b9: Zero Servo

Default: 5
b9-01 Zero Servo Gain Sets the position loop gain for the Zero Servo function. Min: 0
Max: 100
Default: 10
b9-02 Zero Servo Completion Width Sets the range to trigger an output terminal set for “Zero Servo Complete” during Zero Servo operation. Min: 0
Max: 16383
■ C: Tuning
C parameters are used to adjust the acceleration and deceleration times, S-curves, slip compensation, torque
compensation, and carrier frequency selections.
C1: Acceleration and Deceleration Times
Parameter List

C1-01
Acceleration Time 1 Sets the time to accelerate from 0 to maximum frequency.
Default: 10.0 s
Min: 0.0 s
C1-02 Max: 6000.0 s <6>
Deceleration Time 1 Sets the time to decelerate from maximum frequency to 0.
B Parameter List

C1-03
Acceleration Time 2 Sets the time to accelerate from 0 to maximum frequency.
Default: 10.0 s
Min: 0.0 s
C1-04 Max: 6000.0 s <6>
Deceleration Time 2 Sets the time to decelerate from maximum frequency to 0.
C1-05
Acceleration Time 3 (Motor 2 Accel
Sets the time to accelerate from 0 to maximum frequency.
Time 1)
C1-06
Deceleration Time 3 (Motor 2 Decel
Sets the time to decelerate from maximum frequency to 0.
Time 1) Default: 10.0 s
Min: 0.0 s
C1-07 Max: 6000.0 s <6>
Acceleration Time 4 (Motor 2 Accel
Sets the time to accelerate from 0 to maximum frequency.
Time 2)
C1-08
Deceleration Time 4 (Motor 2 Decel
Sets the time to decelerate from maximum frequency to 0.
Time 2)
Default: 10.0 s
C1-09 Fast Stop Time Sets the time for the Fast Stop function. Min: 0.0 s
Max: 6000.0 s <6>
Default: 1
0: 0.01 s (0.00 to 600.00 s)
C1-10 Accel/Decel Time Setting Units Min: 0
1: 0.1 s (0.0 to 6000.0 s)
Max: 1
Default: 0.0 Hz
Accel/Decel Time Switching
C1-11 Sets the frequency to switch between accel/decel time settings Min: 0.0 Hz
Frequency
Max: 400.0 Hz
<6> Setting range value is dependent on parameter C1-10, Accel/Decel Time Setting Units. When C1-10 = 0 (units of 0.01 seconds), the setting
range becomes 0.00 to 600.00 seconds.
C2: S-Curve Characteristics

Default: 0.20 s <77>
C2-01 S-Curve Characteristic at Accel Start Min: 0.00 s
Max: 10.00 s
The S-curve can be controlled at the four points shown below.
Default: 0.20 s
C2-02 S-Curve Characteristic at Accel End Run Command
ON OFF Min: 0.00 s
Output Frequency Max: 10.00 s
C2-02 C2-03
Default: 0.20 s
C2-03 S-Curve Characteristic at Decel Start C2-01 C2-04 Min: 0.00 s
Max: 10.00 s
Time
Default: 0.00 s
C2-04 S-Curve Characteristic at Decel End Min: 0.00 s
Max: 10.00 s
C3: Slip Compensation

C3-01 Default: <77>
Slip Compensation Gain Sets the gain for the motor slip compensation function used for motor 1. Min: 0.0
Max: 2.5
C3-02 Default: <77>
Slip Compensation Primary Delay
Adjusts the slip compensation function delay time used for motor 1. Min: 0 ms
Time
Max: 10000 ms
Default: 200%
Sets an upper limit for the slip compensation function as a percentage of motor rated slip for motor 1
C3-03 Slip Compensation Limit Min: 0%
(E2-02).
Max: 250%
0: Disabled. Default: 0
Slip Compensation Selection during
C3-04 1: Enabled above 6 Hz. Min: 0
Regeneration
2: Enabled whenever slip compensation is possible. Max: 2
Default: 0
Output Voltage Limit Operation 0: Disabled.
C3-05 Min: 0
Selection 1: Enabled. Automatically decreases motor flux when output voltage saturation is reached.
Max: 1
C3-21 Default: <67>
Motor 2 Slip Compensation Gain Sets the slip compensation gain used for motor 2. Min: 0.0
Max: 2.5
C3-22 Default: <77>
Motor 2 Slip Compensation Primary
Sets the slip compensation delay time used for motor 2. Min: 0 ms
Delay Time
Max: 10000 ms
Default: 200%
Sets the upper limit for the slip compensation function for motor 2. Set as a percentage of the motor
C3-23 Motor 2 Slip Compensation Limit Min: 0%
rated slip (E4-02).
Max: 250%
0: Disabled. Default: 0
Motor 2 Slip Compensation Selection
C3-24 1: Enabled above 6 Hz. Min: 0
During Regeneration
2: Enabled whenever slip compensation is possible. Max: 2
<67> Default setting is determined by the control mode for motor 2 (E3-01).
B Parameter List

C4: Torque Compensation

C4-01 Default: <77>
Sets the gain for the automatic torque (voltage) boost function and helps to produce better starting
Torque Compensation Gain Min: 0.00
torque. Used for motor 1.
Max: 2.50
C4-02 Default: <67>
Torque Compensation Primary Delay
Sets the torque compensation filter time. Min: 0 ms
Time
Max: 60000 ms
Default: 0.0%
Torque Compensation at Forward
C4-03 Sets torque compensation at forward start as a percentage of motor torque. Min: 0.0%
Start
Max: 200.0%
Default: 0.0%
Torque Compensation at Reverse
C4-04 Sets torque compensation at reverse start as a percentage of motor torque. Min: -200.0%
Start
Max: 0.0%
Default: 10 ms
C4-05 Torque Compensation Time Constant Sets the time constant for torque compensation at forward start and reverse start (C4-03 and C4-04). Min: 0 ms
Max: 200 ms
Default: 150 ms
Torque Compensation Primary Delay
C4-06 Sets the torque compensation time 2. Min: 0 ms
Time 2
Max: 10000 ms
C4-07 Default: 1.00
Motor 2 Torque Compensation Gain Sets the torque compensation gain used for motor 2. Min: 0.00
Max: 2.50
C5: Automatic Speed Regulator (ASR)

C5-01 Default: <77>
ASR Proportional Gain 1 Sets the proportional gain of the speed control loop (ASR). Min: 0.00
Max: 300.00 <71>
C5-02 Default: <77>
ASR Integral Time 1 Sets the integral time of the speed control loop (ASR). Min: 0.000 s
Max: 10.000 s
C5-03 Default: <77>
ASR Proportional Gain 2 Sets the speed control gain 2 of the speed control loop (ASR). Min: 0.00
Max: 300.00 <71>
C5-04 Default: <77>
ASR Integral Time 2 Sets the integral time 2 of the speed control loop (ASR). Min: 0.000 s
Max: 10.000 s
Default: 5.0%
Sets the upper limit for the speed control loop (ASR) as a percentage of the maximum output frequency
C5-05 ASR Limit Min: 0.0%
(E1-04).
Max: 20.0%
Default: <77>
C5-06 ASR Primary Delay Time Constant Sets the filter time constant for the time from the speed loop to the torque command output. Min: 0.000 s
Max: 0.500 s
Default: 0.0 Hz
C5-07 ASR Gain Switching Frequency Sets the frequency for switching between proportional gain 1, 2 and integral time 1, 2. Min: 0.0 Hz
Max: 400.0 Hz
Default: 400%
C5-08 ASR Integral Limit Sets the ASR integral upper limit as a percentage of maximum output frequency (E1-04). Min: 0%
Max: 400%
Default: 0
Integral Operation during Accel/ 0: Disabled. Integral functions are enabled only during constant speed.
C5-12 Min: 0
Decel 1: Enabled. Integral functions are always enabled, during accel/decel and during constant speed.
Max: 1
Default: <10> <57>
C5-17 Motor Inertia Sets the motor inertia. This value is automatically set during ASR or Inertia Auto-Tuning. Min: 0.0001 kgm2
Max: 600.00 kgm2
Default: 1.0
Sets the ratio between the motor and load inertia. This value is automatically set during ASR or Inertia
C5-18 Load Inertia Ratio Min: 0.0
Auto-Tuning.
Max: 6000.0
C5-21 Default: <67>
Motor 2 ASR Proportional Gain 1 Sets the proportional gain of the speed control loop (ASR) for motor 2. Min: 0.00
Max: 300.00 <71>
C5-22 Default: <67>
Motor 2 ASR Integral Time 1 Sets the integral time of the speed control loop (ASR) for motor 2. Min: 0.000 s
Max: 10.000 s
Parameter List
C5-23 Default: <67>

Motor 2 ASR Proportional Gain 2 Sets the speed control gain 2 of the speed control loop (ASR) for motor 2. Min: 0.00
Max: 300.00 <71>
C5-24 Default: <67>
Motor 2 ASR Integral Time 2 Sets the integral time 2 of the speed control loop (ASR) for motor 2. Min: 0.000 s
Max: 10.000 s
Sets the upper limit for the speed control loop (ASR) for motor 2 as a percentage of the maximum
Default: 5.0% B
C5-25 Motor 2 ASR Limit Min: 0.0%
output frequency (E3-04).
Max: 20.0%
B Parameter List

Default: 0.004 s
Motor 2 ASR Primary Delay Time Sets the filter time constant for the time from the speed loop to the torque command output used for
C5-26 Min: 0.000 s
Constant motor 2.
Max: 0.500 s
Default: 0.0 Hz
Motor 2 ASR Gain Switching Sets the frequency for motor 2 used to switch between proportional gain 1 and 2, and between the
C5-27 Min: 0.0 Hz
Frequency integral time 1 and 2.
Max: 400.0 Hz
Default: 400%
C5-28 Motor 2 ASR Integral Limit Sets the ASR integral upper limit for motor 2 as a percentage of maximum output frequency (E3-04). Min: 0%
Max: 400%
0: Disabled. Integral functions for motor 2 are enabled only during constant speed. Default: 0
Integral Operation during Accel/
C5-32 1: Enabled. Integral functions are always enabled for motor 2, during accel/decel and during constant Min: 0
Decel for Motor 2
speed. Max: 1
Default: <57>
Sets the inertia of motor 2 alone without the load. This value is automatically set during ASR or Inertia
C5-37 Motor 2 Inertia Min: 0.0001 kgm2
Auto-Tuning.
Max: 600.00 kgm2
Default: 1.0
Sets the ratio between the motor 2 and machine inertia. This value is automatically set during ASR or
C5-38 Motor 2 Load Inertia Ratio Min: 0.0
Inertia Auto-Tuning.
Max: 6000.0
<10> Default setting value is dependent on the motor code set to E5-01.
<57> Default setting value is dependent on the drive model set to o2-04 and the Drive Duty set to C6-01.
<71> The setting range is 1.00 to 300.0 in CLV and AOLV/PM.
C6: Carrier Frequency

Default: 0
0: Heavy Duty (HD) for constant torque applications.
C6-01 Drive Duty Selection Min: 0
1: Normal Duty (ND) for variable torque applications.
Max: 1
1: 2.0 kHz
2: 5.0 kHz
3: 8.0 kHz
4: 10.0 kHz
5: 12.5 kHz
Default: <3>
6: 15.0 kHz
C6-02 Carrier Frequency Selection Min: 1
7: Swing PWM1 (Audible sound 1)
Max: F
A: Swing PWM4 (Audible sound 4)
B to E: No setting possible
F: User defined (determined by C6-03 through C6-05)
Note: C6-04 and C6-05 are available only in V/f and V/f w/PG control modes. Default: <8>
C6-03 Carrier Frequency Upper Limit Determines the upper and lower limits for the carrier frequency. Min: 1.0 kHz
In OLV, C6-03 determines the upper limit of the carrier frequency. Max: 15.0 kHz
Carrier Frequency
C6-03 Default: <8>

C6-04 Carrier Frequency Lower Limit Min: 1.0 kHz
Max: 15.0 kHz
C6-04 Output Frequency
× (C6-05) × K
Output
E1-04 Frequency Default: <8>
C6-05 Carrier Frequency Proportional Gain Max Output Min: 0
Frequency Max: 99
Default: 0
Carrier Frequency during Rotational 0: Carrier Frequency = 5 kHz
C6-09 Min: 0
Auto-Tuning 1: Setting value for C6-03
Max: 1
<3> Default setting value is dependent on the drive model (o2-04), the control mode (A1-02), and the Drive Duty (C6-01).
<8> Default setting value is dependent on parameter C6-02, Carrier Frequency Selection.
■ d: References
Reference parameters are used to set the various frequency reference values during operation.
d1: Frequency Reference

d1-01
Frequency Reference 1
Default: 0.00 Hz
d1-02
Min: 0.00 Hz
Frequency Reference 2 Sets the frequency reference for the drive. Setting units are determined by parameter o1-03.
Max: 400.00 Hz
<19> <72>
d1-03
B Parameter List

d1-04
d1-05
d1-06
d1-07
d1-08
d1-09
Default: 0.00 Hz
d1-10
Min: 0.00 Hz
Frequency Reference 10 Sets the frequency reference for the drive. Setting units are determined by parameter o1-03.
Max: 400.00 Hz
<19> <72>
d1-11
d1-12
d1-13
d1-14
d1-15
d1-16
Default: 6.00 Hz
d1-17
Min: 0.00 Hz
Jog Frequency Reference Sets the Jog frequency reference. Setting units are determined by parameter o1-03.
Max: 400.00 Hz
<19> <72>
<19> Range upper limit is determined by the maximum output frequency (E1-04) and the upper limit of the frequency reference (d2-01).
<72> The setting range is 0.0 to 66.0 in AOLV/PM.
d2: Frequency Upper/Lower Limits

Default: 100.0%
d2-01 Frequency Reference Upper Limit Sets the frequency reference upper limit as a percentage of the maximum output frequency. Min: 0.0%
Max: 110.0%
Default: 0.0%
d2-02 Frequency Reference Lower Limit Sets the frequency reference lower limit as a percentage of the maximum output frequency. Min: 0.0%
Max: 110.0%
Default: 0.0%
Sets the lower limit for frequency references from analog inputs as a percentage of the maximum
d2-03 Master Speed Reference Lower Limit Min: 0.0
output frequency.
Max: 110.0%
d3: Jump Frequency

d3-01 Jump Frequency 1 Eliminates problems with resonant vibration of the motor/machine by avoiding continuous operation in
predefined frequency ranges. The drive accelerates and decelerates the motor through the prohibited Default: 0.0 Hz
d3-02 Jump Frequency 2 frequency ranges. Min: 0.0 Hz
Setting 0.0 disables this function. Max: 400.0 Hz
d3-03 Jump Frequency 3 Parameters must be set so that d3-01 ≥ d3-02 ≥ d3-03.
Default: 1.0 Hz
d3-04 Jump Frequency Width Sets the dead-band width around each selected prohibited frequency reference point. Min: 0.0 Hz
Parameter List
Max: 20.0 Hz
d4: Frequency Reference Hold and Up/Down 2 Function

Default: 0
Frequency Reference Hold Function 0: Disabled. Drive starts from zero when the power is switched on.
d4-01
Selection 1: Enabled. At power up, the drive starts the motor at the Hold frequency that was saved.
Min: 0
Max: 1
B
B Parameter List

d4-03 Default: 0.00 Hz
Frequency Reference Bias Step (Up/ Sets the bias added to the frequency reference when the Up 2 and Down 2 digital inputs are enabled
Min: 0.00 Hz
Down 2) (H1- = 75, 76).
Max: 99.99 Hz
d4-04 Default: 0
Frequency Reference Bias Accel/ 0: Use selected accel/decel time.
Min: 0
Decel (Up/Down 2) 1: Use accel/decel time 4 (C1-07 and C1-08).
Max: 1
d4-05 0: Bias value is held if no input Up 2 or Down 2 is active. Default: 0
Frequency Reference Bias Operation
1: When the Up 2 reference and Down 2 reference are both on or both off, the applied bias becomes 0. Min: 0
Mode Selection (Up/Down 2)
The specified accel/decel times are used for acceleration or deceleration. Max: 1
Default: 0.0%
Frequency Reference Bias (Up/Down The Up/Down 2 bias value is saved in d4-06 when the frequency reference is not input by the digital
d4-06 Min: -99.9%
2) operator. Set as a percentage of the maximum output frequency.
Max: 100.0%
Limits how much the frequency reference is allowed to change while an input terminal set for Up 2 or
d4-07 Default: 1.0%
Analog Frequency Reference Down 2 is enabled. If the frequency reference changes for more than the set value, then the bias value is
Min: 0.1%
Fluctuation Limit (Up/Down 2) held and the drive accelerates or decelerates to the frequency reference. Set as a percentage of the
Max: 100.0%
maximum output frequency.
d4-08 Default: 0.0%
Frequency Reference Bias Upper Sets the upper limit for the bias and the value that can be saved in d4-06. Set as a percentage of the
Min: 0.0%
Limit (Up/Down 2) maximum output frequency.
Max: 100.0%
d4-09 Default: 0.0%
Frequency Reference Bias Lower Sets the lower limit for the bias and the value that can be saved in d4-06. Set as a percentage of the
Min: -99.9%
Limit (Up/Down 2) maximum output frequency.
Max: 0.0%
Default: 0
Up/Down Frequency Reference Limit 0: The lower limit is determined by d2-02 or an analog input.
d4-10 Min: 0
Selection 1: The lower limit is determined by d2-02.
Max: 1
d5: Torque Control

0: Speed Control Default: 0
d5-01 Torque Control Selection 1: Torque Control Min: 0
Set to 0 when using a digital input to switch between Speed and Torque Control (H1- = 71). Max: 1
Default: 0 ms
Sets a delay time for the torque reference signal. Used to suppress effects by noisy or fluctuating torque
d5-02 Torque Reference Delay Time Min: 0 ms
reference signals.
Max: 1000 ms
Default: 1
1: Limit set by the frequency reference in b1-01.
d5-03 Speed Limit Selection Min: 1
2: Limit set by d5-04.
Max: 2
Default: 0%
Sets the speed limit during Torque Control as a percentage of the maximum output frequency. Enabled
d5-04 Speed Limit Min: -120%
when d5-03 = 2. A negative setting set a limit in the opposite direction of the Run command.
Max: 120%
Default: 10%
Sets the speed limit bias as a percentage of the maximum output frequency.
d5-05 Speed Limit Bias Min: 0%
The bias is applied to the specified speed limit and can adjust the margin for the speed limit.
Max: 120%
Default: 0 ms
Speed/Torque Control Switchover Sets the delay time for switching between Speed and Torque Control using an input terminal (H1-
d5-06 Min: 0 ms
Time = 71). Reference values are held during this switch delay time.
Max: 1000 ms
Default: 1
0: Disabled
d5-08 Unidirectional Speed Limit Bias Min: 0
1: Enabled
Max: 1
d6: Field Weakening and Field Forcing

Sets the drive output voltage for the Field Weakening function as a percentage of the maximum output Default: 80%
d6-01 Field Weakening Level voltage. Min: 0%
Enabled when a multi-function input is set for Field Weakening (H1- = 63). Max: 100%
Sets the lower limit of the frequency range where Field Weakening control is valid. Default: 0.0 Hz
d6-02 Field Weakening Frequency Limit The Field Weakening command is valid only at frequencies above this setting and only when the output Min: 0.0 Hz
frequency matches the frequency reference (speed agree). Max: 400.0 Hz
Default: 0
0: Disabled
d6-03 Field Forcing Selection Min: 0
1: Enabled
Max: 1
Default: 400%
Sets the upper limit of the excitation current command during magnetic field forcing. A setting of 100%
d6-06 Field Forcing Limit Min: 100%
is equal to motor no-load current. Disabled only during DC Injection Braking.
Max: 400%
d7: Offset Frequency

d7-01 Default: 0.0%
Added to the frequency reference when the digital input “Frequency offset 1” (H1- = 44) is
Offset Frequency 1 Min: -100.0%
switched on.
Max: 100.0%
d7-02 Default: 0.0%
switched on.
Max: 100.0%
d7-03 Default: 0.0%
switched on.
Max: 100%
B Parameter List
■ E: Motor Parameters
E1: V/f Pattern for Motor 1

This parameter must be set to the power supply voltage.
Default: 200 V <24>
WARNING! Drive input voltage (not motor voltage) must be set in E1-01 for the protective features of
E1-01 Input Voltage Setting Min: 155 V
the drive to function properly. Failure to do so may result in equipment damage and/or death or
Max: 255 V
personal injury.
0: 50 Hz, Constant torque 1
1: 60 Hz, Constant torque 2
2: 60 Hz, Constant torque 3 (50 Hz base)
3: 72 Hz, Constant torque 4 (60 Hz base)
4: 50 Hz, Variable torque 1
Default: F <25>
E1-03 V/f Pattern Selection Min: 0
8: 50 Hz, High starting torque 1
Max: F
9: 50 Hz, High starting torque 2
A: 60 Hz, High starting torque 3
B: 60 Hz, High starting torque 4
C: 90 Hz (60 Hz base)
D: 120 Hz (60 Hz base)
E: 180 Hz (60 Hz base)
F: Custom V/f, E1-04 through E1-13 settings define the V/f pattern
Default: <2> <10>
E1-04 Maximum Output Frequency Min: 40.0
Max: 400.0 <82>
Default: <2> <24> <10>
E1-05 Maximum Voltage Min: 0.00 V
These parameters are only applicable when E1-03 is set to F. Max: 255.0 V
To set linear V/f characteristics, set the same values for E1-07 and E1-09. In this case, the setting for Default: <2> <10>
E1-06 Base Frequency E1-08 will be disregarded. Ensure that the four frequencies are set according to these rules: Min: 0.0
E1-09 ≤ E1-07 < E1-06 ≤ Ε1−11 ≤ E1-04 Max: E1-04
Output Voltage (V) Default: <2>
E1-07 Middle Output Frequency E1-05 Min: 0.0
E1-12 Max: E1-04
Default: <2> <24>
E1-13
E1-08 Middle Output Frequency Voltage Min: 0.0 V
Max: 255.0 V
Default: <2> <10>
E1-08
E1-09 Minimum Output Frequency Min: 0.0
Max: E1-04 <72> <82>
E1-10 Default: <2> <24>
E1-10 Minimum Output Frequency Voltage E1-09 E1-07 E1-06 E1-11 E1-04
Min: 0.0 V
Frequency (Hz) Max: 255.0 V
Note: Some parameters may not be available depending on the control mode. Default: 0.0 Hz
E1-11
Middle Output Frequency 2 • E1-07, E1-08 and E-10 are available only in the following control modes: V/f Control, V/f with PG, Min: 0.0
<26>
Open Loop Vector. Max: E1-04 <72>
• E1-11, E1-12 and E-13 are available only in the following control modes: V/f Control, V/f with PG, Default: 0.0 V
E1-12 Open Loop Vector, Closed Loop Vector.
Middle Output Frequency Voltage 2 Min: 0.0 V
<26>
Max: 255.0 V <24>
Default: 0.0 V
<24> <79>
E1-13 Base Voltage
Min: 0.0 V
Max: 255.0 V
<2> Default setting value is dependent on the control method (A1-02). The value shown is for V/f Control (A1-02 = 0).
<24> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<26> Parameter ignored when E1-11 (Motor 1 Mid Output Frequency 2) and E1-12 (Motor 1 Mid Output Frequency Voltage 2) are set to 0.0.
<79> When Auto-Tuning is performed, E1-13 and E1-05 will be set to the same value.
<82> Setting range varies according to the motor code entered to E5-01 when using OLV/PM.
E2: Motor 1 Parameters

Default: <57>
Min: 10% of drive rated
E2-01 Motor Rated Current Sets the motor nameplate full load current in Amps. Automatically set during Auto-Tuning. current
Max: 200% of drive rated
current <27>
Parameter List
Default: <57>
E2-02 Motor Rated Slip Sets the motor rated slip. Automatically set during Auto-Tuning. Min: 0.00 Hz
Max: 20.00 Hz
Default: <57>
E2-03 Motor No-Load Current Sets the no-load current for the motor. Automatically set during Auto-Tuning. Min: 0 A
Max: E2-01 <27>
E2-04 Number of Motor Poles Sets the number of motor poles. Automatically set during Auto-Tuning.
Default: 4
Min: 2 B
Max: 48
B Parameter List

Default: <57>
E2-05 Motor Line-to-Line Resistance Sets the phase-to-phase motor resistance. Automatically set during Auto-Tuning. Min: 0.000 Ω
Max: 65.000 Ω
Default: <57>
Sets the voltage drop due to motor leakage inductance as a percentage of motor rated voltage.
E2-06 Motor Leakage Inductance Min: 0.0%
Automatically set during Auto-Tuning.
Max: 40.0%
Default: 0.50
Motor Iron-Core Saturation Sets the motor iron saturation coefficient at 50% of magnetic flux. Automatically set during
E2-07 Min: E2-07
Coefficient 1 Auto-Tuning.
Max: 0.50
Default: 0.75
Motor Iron-Core Saturation Sets the motor iron saturation coefficient at 75% of magnetic flux. Automatically set during
E2-08 Min: E2-07
Coefficient 2 Auto-Tuning.
Max: 0.75
Default: 0.0%
E2-09 Motor Mechanical Loss Sets the motor mechanical loss as a percentage of motor rated power (kW). Min: 0.0%
Max: 10.0%
Default: <57>
Motor Iron Loss for Torque
E2-10 Sets the motor iron loss. Min: 0 W
Compensation
Max: 65535 W
Default: <1>
E2-11 Motor Rated Power Sets the motor rated power in kilowatts (1 HP = 0.746 kW). Automatically set during Auto-Tuning. Min: 0.00 kW
Max: 650.00 kW <80>
<1> Default setting value is dependent on the drive model set to o2-04.
<27> Setting units are determined by the drive model set to o2-04. Less than 11 kW: two decimal points, 11 kW and above: one decimal point.
<57> Default setting value is dependent on the drive model (o2-04) and the Drive Duty (C6-01).
<80> The setting value has two decimal places for drives up to 300 kW, and one decimal place for larger drives.
E3: V/f Pattern for Motor 2
These parameters are hidden when a PM motor control mode has been selected for motor 1 (A1-02 = 5, 6, 7).

0: V/f Control
Default: 0
E3-01 Motor 2 Control Mode Selection Min: 0
2: Open Loop Vector Control
Max: 3
3: Closed Loop Vector Control
Default: <53>
E3-04 Motor 2 Maximum Output Frequency Min: 40.0
Max: 400.0
Default: <24> <53>
E3-05 Motor 2 Maximum Voltage Min: 0.0 V
Max: 255.0 V
These parameters are only applicable when E1-03 is set to F. Default: <53>
E3-06 Motor 2 Base Frequency To set linear V/f characteristics, set the same values for E3-07 and E3-09. In this case, the setting for Min: 0.0
E3-08 will be disregarded. Ensure that the four frequencies are set according to these rules or an oPE10 Max: E3-04
fault will occur:
E3-09 ≤ E3-07 < E3-06 ≤ Ε3−11 ≤ E3-04 Default: <53>
E3-07 Motor 2 Mid Output Frequency Min: 0.0
Output Voltage (V) Max: E3-04
E3-05 Default: <24> <53>
Motor 2 Mid Output Frequency E3-12
E3-08 Min: 0.0 V
Voltage
E3-13 Max: 255.0 V
Default: <53>
E3-09 Motor 2 Minimum Output Frequency Min: 0.0
E3-08 Max: E3-04
Default: <24> <53>
Motor 2 Minimum Output Frequency
E3-10 Min: 0.0 V
Voltage E3-10 Max: 255.0 V
E3-09 E3-07 E3-06 E3-11 E3-04 Default: 0.0 <52>
E3-11 Motor 2 Mid Output Frequency 2 Frequency (Hz) Min: 0.0
Note: E3-07 and E3-08 are only available in the following control modes: V/f, V/f w/PG and OLV. Max: E3-04 <72>
Default: 0.0 V <24>
E3-12 Motor 2 Mid Output Frequency
Min: 0.0 V
<52> Voltage 2
Max: 255.0 V
Default: 0.0 V <24> <79>
E3-13 Motor 2 Base Voltage Min: 0.0 V
Max: 255.0 V
<52> Parameter ignored when E3-11 (Motor 2 Mid Output Frequency 2) and E3-12 (Motor 2 Mid Output Frequency Voltage 2) are set to 0.
<53> Default setting depends on the control mode for motor 2 set in parameter E3-01. The value shown here is for V/f Control.
<79> When Auto-Tuning is performed, E1-13 and E1-05 will be set to the same value.
B Parameter List
E4: Motor 2 Parameters

These parameters are hidden when a PM motor control mode has been selected for motor 1 (A1-02 = 5, 6, 7).

Default: <57>
E4-01 Motor 2 Rated Current Sets the full load current for motor 2. Automatically set during Auto-Tuning. current
current <27>
Default: <57>
E4-02 Motor 2 Rated Slip Sets the rated slip for motor 2. Automatically set during Auto-Tuning. Min: 0.00 Hz
Max: 20.00 Hz <27>
Default: <57>
E4-03 Motor 2 Rated No-Load Current Sets the no-load current for motor 2. Automatically set during Auto-Tuning. Min: 0 A
Max: E4-01 <27>
Default: 4
E4-04 Motor 2 Motor Poles Sets the number of poles of motor 2. Automatically set during Auto-Tuning. Min: 2
Max: 48
Default: <57>
E4-05 Motor 2 Line-to-Line Resistance Sets the phase-to-phase resistance for motor 2. Automatically set during Auto-Tuning. Min: 0.000 Ω
Max: 65.000 Ω
Default: <57>
Sets the voltage drop for motor 2 due to motor leakage inductance as a percentage of rated voltage.
E4-06 Motor 2 Leakage Inductance Min: 0.0%
Automatically set during Auto-Tuning.
Max: 40.0%
Default: 0.50
Motor 2 Motor Iron-Core Saturation Set to the motor iron saturation coefficient at 50% of magnetic flux for motor 2. Automatically set
E4-07 Min: 0.00
Coefficient 1 during Auto-Tuning.
Max: 0.50
Default: 0.75
Motor 2 Motor Iron-Core Saturation Set to the motor iron saturation coefficient at 75% of magnetic flux for motor 2. This value is
E4-08 Min: E4-07
Coefficient 2 automatically set during Auto-Tuning.
Max: 0.75
Default: 0.0%
E4-09 Motor 2 Mechanical Loss Sets the motor mechanical loss for motor 2 as a percentage of motor rated power (kW). Min: 0.0%
Max: 10.0%
Default: <57>
E4-10 Motor 2 Iron Loss Sets the motor iron loss. Min: 0 W
Max: 65535 W
Default: <1>
E4-11 Motor 2 Rated Power Sets the motor rated capacity in kW. Automatically set during Auto-Tuning. Min: 0.00 kW
Max: 650.00 kW <80>
<1> Default setting value is determined by the drive model (o2-04).
<27> Setting units are determined by the drive model (o2-04). Less than 11 kW: two decimal points, 11 kW and above: one decimal point.
<57> Default setting value is dependent on the drive model (o2-04) and the Drive Duty (C6-01).
E5: PM Motor Settings

Enter the Yaskawa motor code for the PM motor being used. Various motor parameters are
Default: <38> <57> <77>
E5-01 automatically set based on the value of this parameter. Setting that were changed manually will be
Motor Code Selection Min: 0000
<25> overwritten by the defaults of the selected motor code.
Max: FFFF <81>
Note: Set to FFFF when using a non-Yaskawa PM motor.
Default: <10>
E5-02
Motor Rated Power Sets the rated capacity of the motor. Min: 0.10 kW
<25>
Max: 650.00 kW <80>
Default: <10>
E5-03
Motor Rated Current Sets the motor rated current. current
<25>
current <27>
Default: <10>
E5-04
Number of Motor Poles Sets the number of motor poles. Min: 2
<25>
Max: 48
Default: <10>
E5-05
Motor Stator Resistance Set the resistance for each motor phase. Min: 0.000 Ω
<25>
Max: 65.000 Ω
Parameter List
Default: <10>
E5-06
Motor d-Axis Inductance Sets the d-axis inductance for the PM motor. Min: 0.00 mH
<25>
Max: 300.00 mH
Default: <10>
E5-07
Motor q-Axis Inductance Sets the q-axis inductance for the PM motor. Min: 0.00 mH
<25>
Max: 600.00 mH
B
B Parameter List

Set the induced phase peak voltage in units of 0.1 mV (rad/s) [electrical angle]. Set this parameter when Default: <10>
E5-09 using a Yaskawa SSR1 Series PM motor with derated torque, or a Yaskawa SST4 Series motor with Min: 0.0 mV/(rad/s)
Motor Induction Voltage Constant 1
<25> constant torque. Max:
When setting this parameter, E5-24 should be set to 0. 2000.0 mV/(rad/s)
Default: 0.0 deg

Sets the offset between the rotor magnetic axis and the Z pulse of an incremental encoder. Set during Z
E5-11 Encoder Z-pulse Offset Min: -180 deg
Pulse Offset Tuning.
Max: 180 deg
Set the induced phase-to-phase rms voltage in units of 0.1 mV/(r/min) [mechanical angle]. Set this Default: <10>
E5-24
Motor Induction Voltage Constant 2 parameter when using a Yaskawa SMRA Series SPM motor. Min: 0.0 mV/(r/min)
<25>
When setting this parameter, E5-24 should be set to 0. Max: 2000.0 mV/(r/min)
<27> Setting units are determined by the drive model (o2-04). Less than 11 kW: two decimal points, 11 kW and above: one decimal point.
<38> If using a Yaskawa SMRA Series SPM Motor, the default setting is 1800 r/min.
<57> Default setting value is determined by the drive model (o2-04) and the Drive Duty (C6-01).
<77> Default setting value is determined by the control mode (A1-02).
<81> Selections may vary depending on the motor code entered to E5-01.
■ F: Options
F parameters are used to program the drive for PG feedback from the motor and to function with option cards.
F1: PG Speed Control Card (PG-B3 / PG-X3)
Parameters F1-01, F1-05, F1-06, F1-12, F1-13, and F1-18 through F1-21 are used to set up a PG option card plugged into
option port CN5-C of the drive. They include “PG 1” in the parameter name.
Parameters F1-21 through F1-37 are used to set up a PG option card plugged into option port CN5-B of the drive. They
include “PG 2” in the parameter name.
Other parameters in the F1 group are used to set operation for PG options plugged into port CN5-C and CN5-B.

Default: 600 ppr
Sets the number of PG (pulse generator or encoder) pulses.
F1-01 PG 1 Pulses Per Revolution Min: 0 ppr
Sets the number of pulses per motor revolution.
Max: 60000 ppr
0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
Default: 1
Operation Selection at PG Open 1: Coast to stop.
F1-02 Min: 0
Circuit (PGo) 2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
Max: 3
3: Alarm only.
Default: 1
Operation Selection at Overspeed 1: Coast to stop.
F1-03 Min: 0
(oS) 2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
Max: 3
3: Alarm only.
Default: 3
1: Coast to stop.
F1-04 Operation Selection at Deviation Min: 0
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
Max: 3
3: Alarm only.
Default: 0
0: Pulse A leads
F1-05 PG 1 Rotation Selection Min: 0
1: Pulse B leads
Max: 1
Sets the division ratio for the pulse monitor used of the PG option card installed to port CN5-C. By Default: 1
PG 1 Division Rate for PG Pulse
F1-06 setting “xyz”, the division ratio becomes = [(1 + x) / yz]. If only using the A pulse for one track input, Min: 1
Monitor
then the input ratio will be 1:1, regardless of what F1-06 is set to. Max: 132
Default: 115%
F1-08 Overspeed Detection Level Sets the overspeed detection level as a percentage of the maximum output frequency. Min: 0%
Max: 120%
Default: <77>
F1-09 Overspeed Detection Delay Time Sets the time in seconds for an overspeed situation to trigger a fault (oS). Min: 0.0 s
Max: 2.0 s
Default: 10%
Excessive Speed Deviation Detection
F1-10 Sets the speed deviation detection level as a percentage of the maximum output frequency. Min: 0%
Level
Max: 50%
Default: 0.5 s
Excessive Speed Deviation Detection
F1-11 Sets the time in seconds for a speed deviation situation to trigger a fault (dEv). Min: 0.0 s
Delay Time
Max: 10.0 s
Default: 0
F1-12 PG 1 Gear Teeth 1 Min: 0
Sets the gear ratio between the motor shaft and the encoder (PG). Max: 1000
A gear ratio of 1 will be used if either of these parameters is set to 0. Default: 0
Max: 1000
B Parameter List

Default: 2.0 s
F1-14 PG Open-Circuit Detection Time Sets the time required to trigger a PG Open fault (PGo). Min: 0.0 s
Max: 10.0 s
Default: 10
0: Disabled
F1-18 dv3 Detection Selection Min: 0
1: Enabled
Max: 10
Default: 128
0: Disabled
F1-19 dv4 Detection Selection Min: 0
n: Number of pulses that the A and B pulse are reversed that triggers dv4 detection.
Max: 5000
Default: 1
PG Option Card Disconnect 0: Disabled
F1-20 Min: 0
Detection 1 1: Enabled
Max: 1
Default: 0
0: A pulse detection
F1-21 PG 1 Signal Selection Min: 0
1: AB pulse detection
Max: 1
Sets the port for the PG option card used by motor 2. Default: 1
PG Card Option Port for Motor 2
F1-30 0: CN5-C Min: 0
Selection
1: CN5-B Max: 1
Default: 600 ppr
F1-31 PG 2 Pulses Per Revolution Sets the number of pulses for a PG option card connected to port CN5-B. Min: 0 ppr
Max: 60000 ppr
Default: 0
0: Pulse A leads
F1-32 PG 2 Rotation Selection Min: 0
1: Pulse B leads
Max: 1
Default: 0
Sets the gear ratio between the motor shaft and the encoder (PG). Max: 1000
A gear ratio of 1 will be used if either of these parameters is set to 0. Default: 0
Max: 1000
Default: 1
Sets the division ratio for the pulse monitor used of the PG option card 2 installed to port CN5-B. By
F1-35 PG 2 Division Rate for Pulse Monitor Min: 1
setting “xyz”, the division ratio becomes = [(1 + x) / yz].
Max: 132
Default: 1
PG Option Card Disconnect 0: Disabled
F1-36 Min: 0
Detection 2 1: Enabled
Max: 1
Default: 0
0: A pulse detection
F1-37 PG 2 Signal Selection Min: 0
1: AB pulse detection
Max: 1
F2: Analog Input Card (AI-A3)

Default: 0
Analog Input Option Card Operation 0: Option card input terminals V1, V2, and V3 replace drive input terminals A1, A2, and A3.
F2-01 Min: 0
Selection 1: Input signals to terminals V1, V2, and V3 are added together to create the frequency reference.
Max: 1
F2-02 Default: 100.0%
Analog Input Option Card Gain Sets the gain for the input signal to the analog card. Min: -999.9%
Max: 999.9%
F2-03 Default: 0.0%
Analog Input Option Card Bias Sets the bias for the input signal to the analog card. Min: -999.9%
Max: 999.9%
F3: Digital Input Card (DI-A3)

0: BCD, 1% units
1: BCD, 0.1% units
2: BCD, 0.01% units
3: BCD, 1 Hz units
Default: 0
Digital Input Option Card Input 4: BCD, 0.1 Hz units
F3-01 Min: 0
Selection 5: BCD, 0.01 Hz units
Max: 7
6: BCD customized setting (5 digit), 0.02 Hz units
7: Binary input
When the digital operator units are set to be displayed in Hertz or user-set units (o1-03 = 2 or 3), the
units for F3-01 are determined by parameter o1-03.
0: 8 bit Default: 2
Digital Input Option DI-A3 Data
F3-03 1: 12 bit Min: 0
Length Selection
2: 16 bit Max: 2
Parameter List
F4: Analog Monitor Card (AO-A3)

Default: 102
Sets the monitor signal for output from terminal V1. Set this parameter to the last three digits of the
F4-01 Terminal V1 Monitor Selection Min: 000
desired U- monitor. Some U parameters are available only in certain control modes.
Max: 999
B
B Parameter List

F4-02 Default: 100.0%
Terminal V1 Monitor Gain Sets the gain for voltage output via terminal V1. Min: -999.9%
Max: 999.9%
Default: 103
Sets the monitor signal for output from terminal V2. Set this parameter to the last three digits of the
F4-03 Terminal V2 Monitor Selection Min: 000
desired U- monitor. Some U parameters are available only in certain control modes.
Max: 999
F4-04 Default: 50.0%
Terminal V2 Monitor Gain Sets the gain for voltage output via terminal V2. Min: -999.9%
Max: 999.9%
F4-05 Default: 0.0%
Terminal V1 Monitor Bias Sets the amount of bias added to the voltage output via terminal V1. Min: -999.9%
Max: 999.9%
F4-06 Default: 0.0%
Terminal V2 Monitor Bias Sets the amount of bias added to the voltage output via terminal V2. Min: -999.9%
Max: 999.9%
Default: 0
F4-07 Terminal V1 Signal Level Min: 0
0: 0 to 10 V Max: 1
1: -10 to 10 V Default: 0
F4-08 Terminal V2 Signal Level Min: 0
Max: 1
F5: Digital Output Card (DO-A3)

Default: 0
F5-01 Terminal M1-M2 Output Selection Min: 0
Max: 192
Default: 1
F5-02 Terminal M3-M4 Output Selection Min: 0
Max: 192
Default: 2
F5-03 Terminal P1-PC Output Selection Min: 0
Max: 192
Default: 4
Sets the function for contact output terminals M1-M2, M3-M4, and photocoupler output terminals P1 Max: 192
through P6. Default: 6
Max: 192
Default: 37
Max: 192
Default: F
Max: 192
Default: F
Max: 192
0: Output terminals are each assigned separate output functions. Default: 0
F5-09 DO-A3 Output Mode Selection 1: Binary code output Min: 0
2: Use output terminal functions selected by parameters F5-01 through F5-08. Max: 2
F6: Communication Option Card

F6-01 through F6-03 and F6-06 through F6-08 are common settings used for CC-Link, CANopen, DeviceNet, and
PROFIBUS-DP option cards. Other parameters in the F6 group are used for communication protocol specific settings.

Default: 1
Communications Error Operation 1: Coast to stop.
F6-01 Min: 0
Selection 2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
Max: 3
3: Alarm only.
Default: 0
External Fault from Comm. Option 0: Always detected
F6-02 Min: 0
Detection Selection 1: Detection during run only
Max: 1
Default: 1
External Fault from Comm. Option 1: Coast to stop.
F6-03 Min: 0
Operation Selection 2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
Max: 3
3: Alarm only.
Default: 2.0 s
F6-04 bUS Error Detection Time Set the delay time for error detection if a bus error occurs. Min: 0.0 s
Max: 5.0 s
Default: 0
Torque Reference/Torque Limit 0: Disabled.Torque reference/limit from option board disabled.
F6-06 Min: 0
Selection from Comm. Option 1: Enabled. Torque reference/limit from option board enabled.
Max: 1
Default: 0
0: Multi-step reference disabled (same as F7)
F6-07 NetRef/ComRef Function Selection Min: 0
1: Multi-step reference enabled (same as V7)
Max: 1
B Parameter List

0: Communication-related parameters (F6- and F7-) are not reset when the drive is initialized
Default: 0
F6-08 using A1-02.
Reset Communication Parameters Min: 0
<25> 1: Reset all communication-related parameters (F6- and F7-) when the drive is initialized
Max: 1
using A1-02.
Default: 0
F6-10 CC-Link Node Address Sets the node address if a CC-Link option card is installed. Min: 0
Max: 64
0: 156 Kbps
1: 625 Kbps Default: 0
F6-11 CC-Link Communication Speed 2: 2.5 Mbps Min: 0
3: 5 Mbps Max: 4
4: 10 Mbps
Default: 0
0: Disabled
F6-14 CC-Link bUS Error Auto Reset Min: 0
1: Enabled
Max: 1
Default: 0
F6-30 PROFIBUS-DP Node Address Sets the node address. Min: 0
Max: 125
Default: 0
PROFIBUS-DP Clear Mode 0: Resets drive operation with a Clear mode command.
F6-31 Min: 0
Selection 1: Maintains the previous operation state when Clear mode command is given.
Max: 1
Default: 0
PROFIBUS-DP Data Format 0: PPO Type
F6-32 Min: 0
Selection 1: Conventional
Max: 1
Default: 0
F6-35 CANopen Node ID Selection Sets the node address. Min: 0
Max: 126
0: Auto-detection
1: 10 kbps
2: 20 kbps
3: 50 kbps Default: 6
F6-36 CANopen Communication Speed 4: 125 kbps Min: 0
5: 250 kbps Max: 8
6: 500 kbps
7: 800 kbps
8: 1 Mbps
Default: 0
F6-50 DeviceNet MAC Address Selects the drives MAC address. Min: 0
Max: 64
0: 125 kbps
1: 250 kbps Default: 0
F6-51 DeviceNet Communication Speed 2: 500 kbps Min: 0
3: Adjustable from network Max: 4
4: Detect automatically
Default: 21
F6-52 DeviceNet PCA Setting Sets the format of the data set from the DeviceNet master to the drive. Min: 0
Max: 255
Default: 71
F6-53 DeviceNet PPA Setting Sets the format of the data set from the drive to the DeviceNet master. Min: 0
Max: 255
Default: 0
0: Enabled
F6-54 DeviceNet Idle Mode Fault Detection Min: 0
1: Disabled, no fault detection
Max: 1
Used to verify the baud rate running on the network.
Default: 0
0: 125 kbps
F6-55 DeviceNet Baud Rate Monitor Min: 0
1: 250 kbps
Max: 2
2: 500 kbps
Default: 0
F6-56 DeviceNet Speed Scaling Sets the scaling factor for the speed monitor in DeviceNet. Min: -15
Max: 15
Default: 0
F6-57 DeviceNet Current Scaling Sets the scaling factor for the output current monitor in DeviceNet. Min: -15
Max: 15
Default: 0
F6-58 DeviceNet Torque Scaling Sets the scaling factor for the torque monitor in DeviceNet. Min: -15
Max: 15
Default: 0
F6-59 DeviceNet Power Scaling Sets the scaling factor for the power monitor in DeviceNet. Min: -15
Max: 15
Default: 0
F6-60 DeviceNet Voltage Scaling Sets the scaling factor for the voltage monitor in DeviceNet. Min: -15
Max: 15
Parameter List
Default: 0
F6-61 DeviceNet Time Scaling Sets the scaling factor for the time monitor in DeviceNet. Min: -15
Max: 15
Default: 0
F6-62 DeviceNet Heartbeat Interval Sets the heartbeat interval for DeviceNet communications. Min: 0
Max: 10
Default: 0
F6-63 DeviceNet Network MAC ID Used to verify the MAC ID the drive has been assigned. Min: 0 B
Max: 63
B Parameter List

F6-64 to
Reserved Reserved for Dynamic I/O Assembly Parameters. –
F6-71
■ H Parameters: Multi-Function Terminals

H parameters assign functions to the multi-function input and output terminals.
H1: Multi-Function Digital Inputs

Default: 40 (F) <18>
Multi-Function Digital Input
H1-01 Min: 1
Terminal S1 Function Selection
Max: 9F
Default: 41 (F) <18>
H1-02 Min: 1
Max: 9F
Default: 24
H1-03 Min: 0
Max: 9F
Default: 14
H1-04 Min: 0
Terminal S4 Function Selection Assigns a function to the multi-function digital inputs. Max: 9F
Refer to page 124 to page 107 for a description of setting values.
Note: Unused terminals should be set to F. Default: 3(0) <18>
H1-05 Min: 0
Max: 9F
Default: 4(3) <18>
H1-06 Min: 0
Max: 9F
Default: 6(4) <18>
H1-07 Min: 0
Max: 9F
Default: 8
H1-08 Min: 0
Max: 9F
<18> Value in parenthesis is the default setting when a 3-wire initialization is performed (A1-03 = 3330).
H1 Multi-Function Digital Input Selections

H1-
Function Description
Setting
Closed: Reverse rotation (only if the drive is set up for 3-wire sequence)
0 3-wire sequence
Terminals S1 and S2 are automatically set up for the Run command and Stop command.
Open: REMOTE (parameter settings determine the source of the frequency Reference 1 or 2 (b1-01, b1-02 or b1-15, b1-16)
1 LOCAL/REMOTE selection
Closed: LOCAL, digital operator is run and reference source
Open: Run command and frequency reference source 1 (determined by b1-01 and b1-02)
2 External reference 1/2 selection
Closed: Run command and frequency reference source 2 (determined by b1-15 and b1-16)
3 Multi-Step Speed Reference 1
When input terminals are set to Multi-Step Speed References 1 through 3, switching combinations of those terminals will
create a multi-step speed sequence using the frequency references set in d1-01 through d1-08.
6 Jog reference selection Closed: Jog frequency reference (d1-17) selected. Jog has priority over all other reference sources.
7 Accel/decel time selection 1 Used to switch between accel/decel time 1 (set in C1-01, C1-02) and accel/decel time 2 (set in C1-03, C1-04).
8 Baseblock command (N.O.) Closed: No drive output
9 Baseblock command (N.C.) Open: No drive output

Open: Accel/decel is not held
A Accel/decel ramp hold
Closed: The drive pauses during acceleration or deceleration and maintains the output frequency.
B Drive overheat alarm (oH2) Closed: Closes when an oH2 alarm occurs
Open: Function assigned by H3-14 is disabled.
C Analog terminal input selection
Closed: Function assigned by H3-14 is enabled.
Open: Speed feedback for V/f Control with PG is enabled.
D PG encoder disable
Closed: Speed feedback disabled.
Open: PI control
E ASR integral reset
Closed: Integral reset
Select this setting when using the terminal in a pass-through mode. The terminal does not trigger a drive function but can be
F Through mode
used as digital input for the controller the drive is connected to.
10 Up command The drive accelerates when the Up command terminal closes, and decelerates when the Down command closes. When both
terminals are closed or both are open, the drive holds the frequency reference. The Up and Down commands must always
11 Down command be used in conjunction with one another.
12 Forward Jog Closed: Runs forward at the Jog frequency d1-17.
13 Reverse Jog Closed: Runs reverse at the Jog frequency d1-17.
14 Fault reset Closed: Resets faults if the cause is cleared and the Run command is removed.
B Parameter List

H1-
Setting
15 Fast Stop (N.O.) Closed: Decelerates at the Fast Stop time set to C1-09.
Open: Motor 1 (E1-, E2-)
16 Motor 2 selection
Closed: Motor 2 (E3-, E4-)
17 Fast Stop (N.C.) Open: Decelerates to stop at the Fast Stop time set to C1-09.
Triggers the timer set up by parameters b4-01 and b4-02. Must be set in conjunction with the timer function output (H2-
18 Timer function input
= 12).
Open: PID control enabled
19 PID disable
Closed: PID control disabled
Used in conjunction with an input terminal set for “Accel/decel time selection 1” (H1- = 7), and allows the drive to
1A Accel/decel time selection 2
switch between accel/decel times 3 and 4.
Open: Parameters cannot be edited (except for U1-01 if the reference source is assigned to the digital operator).
1B Program lockout
Closed: Parameters can be edited and saved.
1E Reference sample hold Closed: Samples the analog frequency reference and operates the drive at that speed.
20: N.O., Always detected, ramp to stop
21: N.C., Always detected, ramp to stop
22: N.O., During run, ramp to stop
23: N.C., During run, ramp to stop
24: N.O., Always detected, coast to stop
25: N.C., Always detected, coast to stop
26: N.O., During run, coast to stop
27: N.C., During run, coast to stop
20 to 2F External fault
28: N.O., Always detected, Fast Stop
29: N.C., Always detected, Fast Stop
2A: N.O., During run, Fast Stop
2B: N.C., During run, Fast Stop
2C: N.O., Always detected, alarm only (continue running)
2D: N.C., Always detected, alarm only (continue running)
2E: N.O., During run, alarm only (continue running)
2F: N.C., During run, alarm only (continue running)
30 PID integral reset Closed: Resets the PID control integral value.
Open: Performs integral operation.
31 PID integral hold
Closed: Maintains the current PID control integral value.
Used in combination with input terminals set to Multi-Step Speed Reference 1, 2, and 3. Use parameters d1-09 to d1-16 to
set reference values.
Open: PID soft starter is enabled.
34 PID soft starter cancel
Closed: Disables the PID soft starter b5-17.
35 PID input level selection Closed: Inverts the PID input signal
Open: Stop
40 Forward run command (2-wire sequence) Closed: Forward run
Note: Cannot be set together with settings 42 or 43.
Open: Stop
41 Reverse run command (2-wire sequence) Closed: Reverse run
Open: Stop
42 Run command (2-wire sequence 2) Closed: Run
Open: Forward
43 FWD/REV command (2-wire sequence 2) Closed: Reverse
Note: Determines motor direction, but does not issue a Run command. Cannot be set together with settings 40 or 41.
44 Offset frequency 1 Closed: Adds d7-01 to the frequency reference.
60 DC Injection Braking command Closed: Triggers DC Injection Braking.
61 External Speed Search command 1 Closed: Activates Current Detection Speed Search from the maximum output frequency (E1-04).
62 External Speed Search command 2 Closed: Activates Current Detection Speed Search from the frequency reference.
63 Field Weakening Closed: The drive performs Field Weakening control as set for d6-01 and d6-02.
65 KEB Ride-Thru 1 (N.C.) Open: KEB Ride-Thru 1 enabled
66 KEB Ride-Thru 1 (N.O.) Closed: KEB Ride-Thru 1 enabled
67 Communications test mode Tests the MEMOBUS/Modbus RS-485/422 interface. Displays “PASS” if the test completes successfully.
68 High Slip Braking Closed: Activates High Slip Braking to stop the drive.
Open: Drive disabled. If this input is opened during run, then the drive will stop as specified by b1-03.
Parameter List
6A Drive enable
Closed: Ready for operation.
Open: Speed Control
71 Speed/Torque Control Switch
Closed: Torque Control
72 Zero Servo Closed: Zero Servo enabled
75 Up 2 command
Used to control the bias added to the frequency reference by the Up/Down 2 function. The Up 2 and Down 2 commands
76 Down 2 command
must always be used in conjunction with one another. B
B Parameter List

H1-
Setting
Open: ASR proportional gain 1 (C5-01)
77 ASR gain switch
Closed: ASR proportional gain 2 (C5-03)
Open: Forward torque reference
78 External torque reference polarity inversion
Closed: Reverse polarity
7A KEB Ride-Thru 2 (N.C.) Open: KEB Ride-Thru 2 enabled. Drive disregards L2-29 and performs Single Drive KEB Ride-Thru 2.
7B KEB Ride-Thru 2 (N.O.) Closed: KEB Ride-Thru 2 enabled. Drive disregards L2-29 and performs Single Drive KEB Ride-Thru 2.
7C Short Circuit Braking (N.O.) Closed: Short Circuit Braking enabled
7D Short Circuit Braking (N.C.) Open: Short Circuit Braking enabled

Forward/reverse detection (V/f Control with
7E Direction of rotation detection (for V/f with Simple PG Feedback)
Simple PG feedback)
90 to 97 DWEZ digital inputs 1 to 8 Reserved for DWEZ input functions
Open: DWEZ enabled
9F DriveWorksEZ disable
Closed: DWEZ disabled
H2: Multi-Function Digital Outputs

Default: 0
Terminal M1-M2 function selection
H2-01 Min: 0
(relay)
Max: 192
Default: 1
Terminal P1-PC function selection
H2-02 Refer to H2 Multi-Function Digital Output Settings on page 107 for a description of setting values. Min: 0
(photocoupler)
Max: 192
Default: 2
Terminal P2-PC function selection
H2-03 Min: 0
(photocoupler)
Max: 192
Outputs a 200 ms pulse signal when the watt-hour counter increases by the units selected.
0: 0.1 kWh units
Default: 0
1: 1 kWh units
H2-06 Watt Hour Output Unit Selection Min: 0
2: 10 kWh units
Max: 4
3: 100 kWh units
4: 1000 kWh units
H2 Multi-Function Digital Output Settings

H2-
Setting
0 During fun Closed: A Run command is active or voltage is output.
Open: Output frequency is above the minimum output frequency set in E1-09.
1 Zero Speed
Closed: Output frequency is below the minimum output frequency set in E1-09.
2 Speed agree 1 Closed: Output frequency equals the speed reference (plus or minus the hysteresis set to L4-02).
3 User-set speed agree 1 Closed: Output frequency and speed reference equal L4-01 (plus or minus the hysteresis set to L4-02).
4 Frequency detection 1 Closed: Output frequency is less than or equal to the value in L4-01 with hysteresis determined by L4-02.
5 Frequency detection 2 Closed: Output frequency is greater than or equal to the value in L4-01 with hysteresis determined by L4-02.
6 Drive ready Closed: Power up is complete and the drive is ready to accept a Run command.
7 DC bus undervoltage Closed: DC bus voltage is below the Uv trip level set in L2-05.
8 During baseblock (N.O.) Closed: Drive has entered the baseblock state (no output voltage).
Open: External Reference 1 or 2 supplies the frequency reference (set in b1-01 or b1-15).
9 Frequency reference source
Closed: Digital operator supplies the frequency reference.
Open: External Reference 1 or 2 supplies the Run command (set in b1-02 or b1-16).
A Run command source
Closed: Digital operator supplies the Run command.
B Torque detection 1 (N.O.) Closed: An overtorque or undertorque situation has been detected.
C Frequency reference loss Closed: Analog frequency reference has been lost.
D Braking resistor fault Closed: Braking resistor or transistor is overheated or faulted out.
E Fault Closed: Fault occurred.
F Through mode Set this value when using the terminal in the pass-through mode.
10 Minor fault Closed: An alarm has been triggered, or the IGBTs have reached 90% of their expected life span.
11 Fault reset command active Closed: A command has been entered to clear a fault via the input terminals or from the serial network.
12 Timer output Closed: Timer output.
13 Speed agree 2 Closed: When drive output frequency equals the frequency reference ±L4-04.
14 User-set speed agree 2 Closed: When the drive output frequency is equal to the value in L4-03 ±L4-04.
15 Frequency detection 3 Closed: When the drive output frequency is less than or equal to the value in L4-03 ±L4-04.
16 Frequency detection 4 Closed: When the output frequency is greater than or equal to the value in L4-03 ±L4-04.
B Parameter List
H2 Multi-Function Digital Output Settings

H2-
Setting
17 Torque detection 1 (N.C.) Open: Overtorque or undertorque has been detected.
18 Torque detection 2 (N.O.) Closed: Overtorque or undertorque has been detected.
19 Torque detection 2 (N.C.) Open: Overtorque or undertorque has been detected.
1A During reverse Closed: Drive is running in the reverse direction.
1B During baseblock (N.C.) Open: Drive has entered the baseblock state (no output voltage).
1C Motor 2 selection Closed: Motor 2 is selected by a digital input (H1- = 16)
1D During regeneration Closed: Motor is regenerating energy into the drive.
1E Restart enabled Closed: An automatic restart is performed
1F Motor overload alarm (oL1) Closed: oL1 is at 90% of its trip point or greater. An oH3 situation also triggers this alarm.
20 Drive overheat pre-alarm (oH) Closed: Heatsink temperature exceeds the parameter L8-02 value.
22 Mechanical Weakening Detection Closed: Mechanical weakening detected.
2F Maintenance period Closed: Cooling fan, electrolytic capacitors, IGBTs, or the soft charge bypass relay may require maintenance.
30 During torque limit Closed: When the torque limit has been reached.
31 During speed limit Closed: Speed limit has been reached.
32 During speed limit in Torque Control Closed: Speed limit has been reached while using Torque Control.
33 Zero Servo complete Closed: Zero Servo operation has finished.
Open: Either the drive has stopped or baseblock, DC Injection Braking, or Initial Excitation is being performed.
37 During frequency output
Closed: Drive is running the motor (not in a baseblock state and DC Injection is not being performed).
38 Drive enabled Closed: Multi-function input set for “Drive enable” is closed (H1- = 6A)
39 Watt hour pulse output Output units are determined by H2-06. Outputs a pulse every 200 ms to indicate the kWh count.
Open: REMOTE
3C LOCAL/REMOTE status
Closed: LOCAL
3D During Speed Search Closed: Speed Search is being executed.
3E PID feedback low Closed: PID feedback level is too low.
3F PID feedback high Closed: The PID feedback level is too high.
4A During KEB Ride-Thru Closed: KEB Ride-Thru is being performed.
4B During Short-Circuit Braking Closed: Short Circuit Braking is active.
4C During Fast Stop Closed: A Fast Stop command has been entered from the operator or input terminals.
4D oH Pre-alarm time limit Closed: oH pre-alarm time limit has passed.
4E Braking transistor fault (rr) Closed: The built-in dynamic braking transistor failed.
4F Braking resistor overheat (oH) Closed: The dynamic braking resistor has overheated.
60 Internal cooling fan alarm Closed: Internal cooling fan alarm
61 Rotor position detection complete Closed: Drive has successfully detected the rotor position of the PM motor.
90 to 92 DWEZ digital outputs 1 to 3 Reserved for DWEZ digital output functions.
Inverts the output switching of the multi-function output functions.
100 to 192 Function 0 to 92 with inverse output
Set the last two digits of 1 to reverse the output signal of that specific function.
H3: Multi-Function Analog Inputs

Default: 0
0: 0 to 10 V
H3-01 Terminal A1 Signal Level Selection Min: 0
1: –10 to 10 V
Max: 1
Default: 0
H3-02 Terminal A1 Function Selection Sets the function of terminal A1. Min: 0
Max: 31
H3-03 Default: 100.0%
Terminal A1 Gain Setting Sets the level of the input value selected in H3-02 when 10 V is input at terminal A1. Min: -999.9%
Max: 999.9%
H3-04 Default: 0.0%
Terminal A1 Bias Setting Sets the level of the input value selected in H3-02 when 0 V is input at terminal A1. Min: -999.9%
Max: 999.9%
Default: 0
0: 0 to 10 V
H3-05 Terminal A3 Signal Level Selection Min: 0
1: –10 to 10 V
Max: 1
Default: 2
Parameter List
Max: 31
H3-07 Default: 100.0%
Terminal A3 Gain Setting Sets the level of the input value selected in H3-06 when 10 V is input at terminal A3. Min: -999.9%
Max: 999.9%
H3-08 Default: 0.0%
Terminal A3 Bias Setting Sets the level of the input value selected in H3-06 when 0 V is input at terminal A3. Min: -999.9%
Max: 999.9% B
B Parameter List

0: 0 to 10 V
1: –10 to 10 V Default: 2
H3-09 Terminal A2 Signal Level Selection 2: 4 to 20 mA Min: 0
3: 0 to 20 mA Max: 3
Note: Use DIP switch S1 to set input terminal A2 for a current or a voltage input signal.
Default: 0
Max: 31
H3-11 Default: 100.0%
Terminal A2 Gain Setting Sets the level of the input value selected in H3-10 when 10 V (20 mA) is input at terminal A2. Min: -999.9%
Max: 999.9%
H3-12 Default: 0.0%
Terminal A2 Bias Setting Sets the level of the input value selected in H3-10 when 0 V (0 or 4 mA) is input at terminal A2. Min: -999.9%
Max: 999.9%
Default: 0.03 s
H3-13 Analog Input Filter Time Constant Sets a primary delay filter time constant for terminals A1, A2, and A3. Used for noise filtering. Min: 0.00 s
Max: 2.00 s
Determines which of the analog input terminals will be enabled when a digital input programmed for
“Analog input enable” (H1- = C) is activated.
1: Terminal A1 only
2: Terminal A2 only Default: 7
Analog Input Terminal Enable
H3-14 3: Terminals A1 and A2 only Min: 1
Selection
4: Terminal A3 only Max: 7
5: Terminals A1 and A3
6: Terminals A2 and A3
7: All terminals enabled
H3 Multi-Function Analog Input Settings

H3-
Setting
0 Frequency bias 10 V = E1-04 (maximum output frequency)
1 Frequency gain 0 to 10 V signal allows a setting of 0 to 100%. -10 to 0 V signal allows a setting of -100 to 0%.
Auxiliary frequency reference 1 (used as a Multi-
2 10 V = E1-04 (maximum output frequency)
Step Speed 2)
3 Auxiliary frequency reference 2 (3rd step analog) 10 V = E1-04 (maximum output frequency)
4 Output voltage bias 10 V = E1-05 (motor rated voltage)
5 Accel/decel time gain 10 V = 100%
6 DC Injection Braking current 10 V = Drive rated current
10 V = Drive rated current (V/f, V/fw/PG, OLV/PM)
7 Overtorque/undertorque detection level
10 V = Motor rated torque (OLV, CLV, AOLV/PM, CLV/PM)
8 Stall Prevention level during run 10 V = Drive rated current
9 Output frequency lower limit level 10 V = E1-04 (maximum output frequency)
B PID feedback 10 V = 100%
C PID setpoint 10 V = 100%
D Frequency bias 10 V = E1-04 (maximum output frequency)
E Motor temperature (PTC input) 10 V = 100%
F Through mode Set this value when using the terminal in the pass-through mode.
10 Forward torque limit 10 V = Motor rated torque
11 Reverse torque limit 10 V = Motor rated torque

12 Regenerative torque limit 10 V = Motor rated torque
13 Torque reference / Torque limit 10 V = Motor rated torque
14 Torque compensation 10 V = Motor rated torque
15 General torque limit 10 V = Motor rated torque
16 Differential PID feedback 10 V = 100%
1F Through mode Set this value when using the terminal in the pass-through mode.
30 to 32 DWEZ analog input 1 to 3 Output is determined by the function selected using DWEZ.
H4: Analog Outputs

Selects the data to be output through multi-function analog output terminal FM. Default: 102
Multi-Function Analog Output
H4-01 Set the desired monitor parameter to the digits available in U-. For example, enter “103” for U1- Min: 000
Terminal FM Monitor Selection
03. Max: 999
H4-02 Default: 100.0%
Sets the signal level at terminal FM that is equal to 100% of the selected monitor value. Min: -999.9%
Terminal FM Gain
Max: 999.9%
H4-03 Default: 0.0%
Sets the bias value added to the terminal FM output signal. Min: -999.9%
Terminal FM Bias
Max: 999.9%
B Parameter List

Selects the data to be output through multi-function analog output terminal AM. Default: 103
H4-04 Set the desired monitor parameter to the digits available in U-. For example, enter “103” for U1- Min: 000
Terminal AM Monitor Selection
03. Max: 999
H4-05 Default: 50.0%
Sets the signal level at terminal AM that is equal to 100% of the selected monitor value. Min: -999.9%
Terminal AM Gain
Max: 999.9%
H4-06 Default: 0.0%
Sets the bias value added to the terminal AM output signal. Min: -999.9%
Terminal AM Bias
Max: 999.9%
Default: 0
Multi-Function Analog Output 0: 0 to 10 V
H4-07 Min: 0
Terminal FM Signal Level Selection 1: –10 to 10 V
Max: 1
Default: 0
Multi-Function Analog Output 0: 0 to 10 V
H4-08 Min: 0
Terminal AM Signal Level Selection 1: –10 to 10 V
Max: 1
H5: MEMOBUS/Modbus Serial Communication

Default: 1F
H5-01 Selects drive station node number (address) for MEMOBUS/Modbus terminals R+, R-, S+, S-. Cycle
Drive Node Address Min: 0
<39> power for the setting to take effect.
Max: FFH
0: 1200 bps
1: 2400 bps
2: 4800 bps
3: 9600 bps
Default: 3
4: 19200 bps
H5-02 Communication Speed Selection Min: 0
5: 38400 bps
Max: 8
6: 57600 bps
7: 76800 bps
8: 115200 bps
Cycle power for the setting to take effect.
0: No parity
Default: 0
1: Even parity
H5-03 Communication Parity Selection Min: 0
2: Odd parity
Max: 2
Cycle power for the setting to take effect.
0: Ramp to stop
Default: 0
Stopping Method After 1: Coast to stop
H5-04 Min: 0
Communication Error (CE) 2: Fast Stop
Max: 3
3: Alarm only
Default: 0
Communication Fault Detection 0: Disabled
H5-05 Min: 0
Selection 1: Enabled. If communication is lost for more than two seconds, a CE fault will occur.
Max: 1
Default: 5 ms
H5-06 Drive Transmit Wait Time Set the wait time between receiving and sending data. Min: 5 ms
Max: 65 ms
Default: 1
0: Disabled. RTS is always on.
H5-07 RTS Control Selection Min: 0
1: Enabled. RTS turns on only when sending.
Max: 1
Default: 2.0 s
Sets the time required to detect a communications error. Adjustment may be needed when networking
H5-09 CE Detection Time Min: 0.0 s
several drives.
Max: 10.0 s
Default: 0
Unit Selection for MEMOBUS/ 0: 0.1 V units
H5-10 Min: 0
Modbus Register 0025H 1: 1 V units
Max: 1
Default: 1
Communications ENTER Function 0: Drive requires an Enter command before accepting any changes to parameter settings.
H5-11 Min: 0
Selection 1: Parameter changes are activated immediately without the Enter command (same as V7).
Max: 1
Default: 0
0: FWD/Stop, REV/Stop
H5-12 Run Command Method Selection Min: 0
1: Run/Stop, FWD/REV
Max: 1
<39> If this parameter is set to 0, the drive will be unable to respond to MEMOBUS/Modbus commands.
H6: Pulse Train Input/Output

0: Frequency reference
Default: 0
Pulse Train Input Terminal RP 1: PID feedback value
H6-01 Min: 0
Function Selection 2: PID setpoint value
Max: 3
3: V/f Control with Simple PG feedback (possible only when using motor 1 in V/f Control)
H6-02 Default: 1440 Hz
Parameter List
Pulse Train Input Scaling Sets the terminal RP input signal frequency that is equal to 100% of the value selected in H6-01. Min: 1000 Hz
Max: 32000 Hz
H6-03 Default: 100.0%
Pulse Train Input Gain Sets the level of the value selected in H6-01 when a frequency with the value set in H6-02 is input. Min: 0.0%
Max: 1000.0%
H6-04 Default: 0.0%
Pulse Train Input Bias Sets the level of the value selected in H6-01 when 0 Hz is input. Min: -100.0%
Max: 100.0% B
B Parameter List

H6-05 Default: 0.10 s
Pulse Train Input Filter Time Sets the pulse train input filter time constant. Min: 0.00 s
Max: 2.00 s
H6-06 Default: 102
Select the pulse train monitor output function (value of the - part of U-).
Pulse Train Monitor Selection Min: 000
Example: To select U5-01, set “501”.
Max: 502
H6-07 Default: 1440 Hz
Sets the terminal MP output signal frequency when the monitor value is 100%. To have the pulse train
Pulse Train Monitor Scaling Min: 0 Hz
monitor output equal the output frequency, set H6-06 to 2 and H6-07 to 0.
Max: 32000 Hz
Default: 0.5 Hz
Pulse Train Input Minimum
H6-08 Sets the minimum frequency for the pulse train input to be detected. Enabled when H6-01 = 0, 1, or 2. Min: 0.1 Hz
Frequency
Max: 1000.0 Hz
■ L: Protection Function
L parameters provide protection to the drive and motor, such as: control during momentary power loss, Stall Prevention,
frequency detection, fault restarts, overtorque detection, torque limits, and other types of hardware protection.
L1: Motor Protection

0: Disabled
1: General purpose motor (standard fan cooled)
2: Drive dedicated motor with a speed range of 1:10
Default: <77>
3: Vector motor with a speed range of 1:100
L1-01 Motor Overload Protection Selection Min: 0
4: PM motor with variable torque
Max: 5
5: PM motor with constant torque control
The drive may not be able to provide protection when multiple motors are used, even if overload is
enabled in L1-01. Set L1-01 to 0 and install separate thermal relay to each motor.
Default: 1.0 min
L1-02 Motor Overload Protection Time Sets the motor thermal overload protection (oL1) time. Min: 0.1 min
Max: 5.0 min
Sets operation when the motor temperature analog input (H3-02, H3-06, or H3-10 = E) exceeds the
oH3 alarm level.
Default: 3
Motor Overheat Alarm Operation 0: Ramp to stop
L1-03 Min: 0
Selection (PTC input) 1: Coast to stop
Max: 3
2: Fast Stop (decelerate to stop using the deceleration time in C1-09)
3: Alarm only (“oH3” will flash)
Sets stopping method when the motor temperature analog input (H3-02, H3-06, or H3-10 = E) exceeds
the oH4 fault level. Default: 1
Motor Overheat Fault Operation
L1-04 0: Ramp to stop Min: 0
Selection (PTC input)
1: Coast to stop Max: 2
2: Fast Stop (decelerate to stop using the deceleration time in C1-09)
Default: 0.20 s
Motor Temperature Input Filter Time
L1-05 Adjusts the filter for the motor temperature analog input (H3-02, H3-06, or H3-10 = E). Min: 0.00 s
(PTC input)
Max: 10.00 s
Default: 1
Continuous Electrothermal Operation 0: Disabled
L1-13 Min: 0
Selection 1: Enabled
Max: 1
L2: Momentary Power Loss Ride-Thru

0: Disabled. Drive trips on (Uv1) fault when power is lost.
1: Recover within the time set in L2-02. Uv1 will be detected if power loss is longer than L2-02.
Default: 0
Momentary Power Loss Operation 2: Recover as long as CPU has power. Uv1 is not detected.
L2-01 Min: 0
Selection 3: KEB deceleration for the time set to L2-02.
Max: 5
4: KEB deceleration as long as CPU has power.
5: KEB deceleration to stop.
Default: <57>
Momentary Power Loss Ride-Thru
L2-02 Sets the Power Loss Ride-Thru time. Enabled only when L2-01 = 1 or 3. Min: 0.0 s
Time
Max: 25.5 s
Sets the minimum wait time for residual motor voltage decay before the drive output reenergizes after
Default: <57>
Momentary Power Loss Minimum performing Power Loss Ride-Thru.
L2-03 Min: 0.1 s
Baseblock Time Increasing the time set to L2-03 may help if overcurrent or overvoltage occur during Speed Search or
Max: 5.0 s
during DC Injection Braking.
Default: <57>
Momentary Power Loss Voltage
L2-04 Sets the time for the output voltage to return to the preset V/f pattern during Speed Search. Min: 0.0 s
Recovery Ramp Time
Max: 5.0 s
Default: <57> <77> <84>
L2-05 Undervoltage Detection Level (Uv1) Sets the DC bus undervoltage trip level. Min: 150 Vdc
Max: 210 Vdc <24>
Default: 0.00 s
L2-06 KEB Deceleration Time Sets the time required to decelerate from the speed when KEB was activated to zero speed. Min: 0.00 s
Max: 6000.0 s <6>
Default: 0.00 s
Sets the time to accelerate to the frequency reference when momentary power loss is over. If set to 0.0,
L2-07 KEB Acceleration Time Min: 0.00 s
the active acceleration time is used.
Max: 6000.0 s <6>
B Parameter List

Sets the percentage of output frequency reduction at the beginning of deceleration when the KEB Ride- Default: 100%
L2-08 Frequency Gain at KEB Start Thru function is started. Min: 0%
Reduction = (slip frequency before KEB) × L2-08 × 2 Max: 300%
Default: 50 ms
KEB Detection Time (Minimum KEB
L2-10 Sets the time to perform KEB Ride-Thru. Min: 0 ms
Time)
Max: 2000 ms
Default: <24> <84>
[E1-01] × 1.22
L2-11 DC Bus Voltage Setpoint during KEB Sets the desired value of the DC bus voltage during KEB Ride-Thru.
Min: 150 Vdc
Max: 400 Vdc
0: Single Drive KEB Ride-Thru 1
Default: 0
1: Single Drive KEB Ride-Thru 2
L2-29 KEB Method Selection Min: 0
2: System KEB Ride-Thru 1
Max: 3
3: System KEB Ride-Thru 2
<6> Setting range value is dependent on the units selected for the accel/decel time (C1-10). When C1-10 = 0 (units of 0.01 seconds), the setting
range becomes 0.00 to 600.00 seconds.
<57> Default setting is determined by the drive model (o2-04) and duty selection (C6-01).
<78> The upper limit of the setting range is determined by the values set to C6-01 and L8-38.
<84> Reset to its default value when E1-01 is changed.
L3: Stall Prevention

0: Disabled.
Default: 1
Stall Prevention Selection during 1: General purpose. Acceleration is paused as long as the current is above the L3-02 setting.
L3-01 Min: 0
Acceleration 2: Intelligent. Accelerate in the shortest possible time without exceeding the L3-02 level.
Max: 2
Note: Setting 2 is not available when using OLV/PM.
Default: <78>
Stall Prevention Level during
L3-02 Used when L3-01 = 1 or 2. 100% is equal to the drive rated current. Min: 0%
Acceleration
Max: 150%
Default: 50%
Stall Prevention Limit during Sets Stall Prevention lower limit during acceleration when operating in the constant power range. Set as
L3-03 Min: 0%
Acceleration a percentage of the drive’s rated current.
Max: 100%
0: Disabled. Deceleration at the active deceleration rate. An ov fault may occur.
1: General purpose. Deceleration is paused when the DC bus voltage exceeds the Stall Prevention level.
2: Intelligent. Decelerate as fast as possible while avoiding ov faults. Default: 1
Stall Prevention Selection during
L3-04 3: Stall Prevention with braking resistor. Stall Prevention during deceleration is enabled in coordination Min: 0
Deceleration
with dynamic braking. Max: 5 <68>
4: Overexcitation Deceleration. Decelerates while increasing the motor flux.
5: Overexcitation Deceleration 2. Adjust the deceleration rate according to the DC bus voltage.
0: Disabled. Drive runs at a set frequency. A heavy load may cause speed loss. Default: 1
L3-05 Stall Prevention Selection during Run 1: Decel time 1. Uses the deceleration time set to C1-02 while Stall Prevention is performed. Min: 0
2: Decel time 2. Uses the deceleration time set to C1-04 while Stall Prevention is performed. Max: 2
Default: <78>
L3-06 Stall Prevention Level during Run Enabled when L3-05 is set to 1 or 2. 100% is equal to the drive rated current. Min: 30%
Max: 150%
Enables or disables the ov suppression function, which allows the drive to change the output frequency
Default: 0
Overvoltage Suppression Function as the load changes to prevent an ov fault.
L3-11 Min: 0
Selection 0: Disabled
Max: 1
1: Enabled
Default: 370 Vdc
Target DC Bus Voltage for <9> <24>
Sets the desired value for the DC bus voltage during overvoltage suppression and Stall Prevention
L3-17 Overvoltage Suppression and Stall Min: 150 Vdc
during deceleration.
Prevention Max: 400 Vdc
<84>
Default: <77>
L3-20 DC Bus Voltage Adjustment Gain Sets the proportional gain for KEB Ride-Thru, Stall Prevention, and overvoltage suppression. Min: 0.00
Max: 5.00
Default: <77>
Sets the proportional gain used to calculate the deceleration rate during KEB Ride-Thru, ov suppression
L3-21 Accel/Decel Rate Calculation Gain Min: 0.10
function, and Stall Prevention during deceleration (L3-04 = 2).
Max: 10.00
Default: 0.0 s
Deceleration Time at Stall Prevention
L3-22 Sets the deceleration time used for Stall Prevention during acceleration in OLV/PM. Min: 0.0 s
during Acceleration
Max: 6000 s
0: Sets the Stall Prevention level set in L3-04 that is used throughout the entire frequency range. Default: 0
Automatic Reduction Selection for
L3-23 1: Automatic Stall Prevention level reduction in the constant output range. The lower limit value is 40% Min: 0
Stall Prevention during Run
of L3-06. Max: 1
Default: <10> <51> <57>
Motor Acceleration Time for Inertia Sets the time needed to accelerate the uncoupled motor at rated torque from stop to the maximum
L3-24 Min: 0.001 s
Calculations frequency.
Max: 10.000 s
Parameter List
Default: 1.0
L3-25 Load Inertia Ratio Sets the ratio between the motor and machine inertia. Min: 1.0
Max: 1000.0
Default: 0 μF
When DC bus capacitors have been added externally, be sure to add those values to the internal
L3-26 Additional DC Bus Capacitors Min: 0 μF
capacitor table for proper DC bus calculations.
Max: 65000 μF
Default: 50 ms B
L3-27 Stall Prevention Detection Time Sets the time the current must exceed the Stall Prevention level to activate Stall Prevention. Min: 0 ms
Max: 5000 ms
B Parameter List
<9> Default setting value is dependent on the setting for the input voltage (E1-01).
<10> Default setting value is dependent on the motor code set to parameter E5-01.
<51> Parameter value is changed if E2-11 is manually changed or changed by Auto-Tuning.
<68> Setting range is dependent on the control mode (A1-02). When using CLV, OLV/PM, or AOLV/PM, the setting range is 0 to 2 seconds.
<78> The upper limit of the setting range is determined by the values set to C6-01 and L8-38.
<84> Reset to its default value when E1-01 is changed.
L4: Speed Detection

Default: 0.0 Hz
L4-01 Speed Agreement Detection Level Min: 0.0 Hz
L4-01 sets the frequency detection level for digital output functions H2- = 2, 3, 4, 5. Max: 400.0 Hz
L4-02 sets the hysteresis or allowable margin for speed detection. Default: 2.0 Hz
L4-02 Speed Agreement Detection Width Min: 0.0 Hz
Max: 20.0 Hz
Default: 0.0 Hz
Speed Agreement Detection Level (+/
L4-03 Min: -400.0 Hz
-)
Max: 400.0 Hz
L4-03 sets the frequency detection level for digital output functions H2- = 2, 3, 4, 5.
L4-04 sets the hysteresis or allowable margin for speed detection.
Default: 2.0 Hz
Speed Agreement Detection Width
L4-04 Min: 0.0 Hz
(+/-)
Max: 20.0 Hz
Default: 0
Frequency Reference Loss Detection 0: Stop. Drive stops when the frequency reference is lost.
L4-05 Min: 0
Selection 1: Run. Drive runs at a reduced speed when the frequency reference is lost.
Max: 1
Default: 80%
Frequency Reference at Reference Sets the percentage of the frequency reference that the drive should run with when the frequency
L4-06 Min: 0.0%
Loss reference is lost.
Max: 100.0%
Default: 0
0: No detection during baseblock.
L4-07 Speed Agreement Detection Selection Min: 0
1: Detection always enabled.
Max: 1
L5: Fault Restart

Default: 0
Sets the number of times the drive may attempt to restart after the following faults occur: GF, LF, oC,
L5-01 Number of Auto Restart Attempts Min: 0
ov, PF, rH, rr, oL1, oL2, oL3, oL4, STo, Uv1.
Max: 10
Default: 0
Auto Restart Fault Output Operation 0: Fault output not active.
L5-02 Min: 0
Selection 1: Fault output active during restart attempt.
Max: 1
Default: 10.0 s
L5-04 Fault Reset Interval Time Sets the amount of time to wait between performing fault restarts. Min: 0.5 s
Max: 600.0 s
0: Continuously attempt to restart while incrementing restart counter only at a successful restarts (same
Default: 0
as F7 and G7).
L5-05 Fault Reset Operation Selection Min: 0
1: Attempt to restart with the interval time set in L5-04 and increment the restart counter with each
Max: 1
attempt (same V7).
L6: Torque Detection

0: Disabled
1: oL3 detection only active during speed agree, operation continues after detection
2: oL3 detection always active during run, operation continues after detection
3: oL3 detection only active during speed agree, output shuts down on an oL3 fault Default: 0
L6-01 Torque Detection Selection 1 4: oL3 detection always active during run, output shuts down on an oL3 fault Min: 0
5: UL3 detection only active during speed agree, operation continues after detection Max: 8
6: UL3 detection always active during run, operation continues after detection
7: UL3 detection only active during speed agree, output shuts down on an oL3 fault
8: UL3 detection always active during run, output shuts down on an oL3 fault
Default: 150%
L6-02 Torque Detection Level 1 Sets the overtorque and undertorque detection level. Min: 0%
Max: 300%
Default: 0.1 s
L6-03 Torque Detection Time 1 Sets the time an overtorque or undertorque condition must exist to trigger torque detection 1. Min: 0.0 s
Max: 10.0 s
0: Disabled
1: oL4 detection only active during speed agree, operation continues after detection
2: oL4 detection always active during run, operation continues after detection
3: oL4 detection only active during speed agree, output shuts down on an oL4 fault Default: 0
L6-04 Torque Detection Selection 2 4: oL4 detection always active during run, output shuts down on an oL4 fault Min: 0
5: UL4 detection only active during speed agree, operation continues after detection Max: 8
6: UL4 detection always active during run, operation continues after detection
7: UL4 detection only active during speed agree, output shuts down on an oL4 fault
8: UL4 detection always active during run, output shuts down on an oL4 fault
B Parameter List

Default: 150%
L6-05 Torque Detection Level 2 Sets the overtorque and undertorque detection level. Min: 0%
Max: 300%
Default: 0.1 s
L6-06 Torque Detection Time 2 Sets the time an overtorque or undertorque condition must exist to trigger torque detection 2. Min: 0.0 s
Max: 10.0 s
This function can detect an overtorque or undertorque in a certain speed range as a result of machine
fatigue. It is triggered by a specified operation time and uses the oL1 detection settings (L6-01 and L6-
03)
0: Mechanical Weakening Detection disabled.
1: Continue running (alarm only). Detected when the speed (signed) is greater than L6-09.
Default: 0
Mechanical Weakening Detection 2: Continue running (alarm only). Detected when the speed (not signed) is greater than L6-09.
L6-08 Min: 0
Operation 3: Interrupt drive output (fault). Detected when the speed (signed) is greater than L6-09.
Max: 8
4: Interrupt drive output (fault). Detected when the speed (not signed) is greater than L6-09.
5: Continue running (alarm only). Detected when the speed (signed) is less than L6-09.
6: Continue running (alarm only). Detected when the speed (not signed) is less than L6-09.
7: Interrupt drive output (fault). Detected when the speed (signed) is less than L6-09.
8: Interrupt drive output (fault). Detected when the speed (not signed) is less than L6-09.
Default: 110.0%
Mechanical Weakening Detection Sets the speed that triggers Mechanical Weakening Detection. When L6-08 is set for an unsigned value,
L6-09 Min: -110.0%
Speed Level the absolute value is used if the setting is negative.
Max: 110.0%
Default: 0.1 s
Mechanical Weakening Detection
L6-10 Sets the time mechanical weakening has to be detected before an alarm or fault is triggered. Min: 0.0 s
Time
Max: 10.0 s
Default: 0
Mechanical Weakening Detection
L6-11 Sets the operation time (U1-04) required before Mechanical Weakening Detection is active. Min: 0
Start Time
Max: 65535
L7: Torque Limit

Sets the torque limit value as a percentage of the motor rated torque. Four individual quadrants can be Default: 200%
L7-01 Forward Torque Limit set. Min: 0%
Max: 300%
Output Torque
Positive Torque Default: 200%
L7-02 Reverse Torque Limit L7-01 Min: 0%
L7-04 Motor Max: 300%
Regeneration r/min Default: 200%
L7-03 Forward Regenerative Torque Limit REV FWD Min: 0%
Regeneration Max: 300%
L7-03 Default: 200%
L7-04 Reverse Regenerative Torque Limit L7-02 Min: 0%
Negative Torque
Max: 300%
Default: 200 ms
L7-06 Torque Limit Integral Time Constant Sets the integral time constant for the torque limit. Min: 5 ms
Max: 10000 ms
0: Proportional control (changes to integral control at constant speed). Use this setting when Default: 0
Torque Limit Control Method
L7-07 acceleration to the desired speed should take precedence over the torque limit. Min: 0
Selection during Accel/Decel
1: Integral control. Set L7-07 to 1 if the torque limit should take precedence. Max: 1
L8: Drive Protection

Default: <57>
Internal Dynamic Braking Resistor 0: Resistor overheat protection disabled
L8-01 Min: 0
Protection Selection (ERF type) 1: Resistor overheat protection enabled
Max: 1
Default: <57>
L8-02 Overheat Alarm Level An overheat alarm will occur if the heatsink temperature exceeds the level set in L8-02. Min: 50°C
Max: 130°C
0: Ramp to stop. A fault is triggered.
1: Coast to stop. A fault is triggered. Default: 3
Overheat Pre-Alarm Operation
L8-03 2: Fast Stop. Decelerate to stop using the deceleration time in C1-09. A fault is triggered. Min: 0
Selection
3: Continue operation. An alarm is triggered. Max: 4
4: Continue operation at reduced speed as set in L8-19.
Selects the detection of input current phase loss, power supply voltage imbalance, or main circuit
Default: 0
electrolytic capacitor deterioration.
L8-05 Input Phase Loss Protection Selection Min: 0
0: Disabled
Max: 1
1: Enabled
Output Phase Loss Protection
L8-07 1: Enabled (triggered by a single phase loss) Min: 0
Selection
2: Enabled (triggered when two phases are lost) Max: 2
Parameter List
Default: <57>
Output Ground Fault Detection 0: Disabled
L8-09 Min: 0
Selection 1: Enabled
Max: 1
Default: 0
Heatsink Cooling Fan Operation 0: During run only. Fan operates only during run and for L8-11 seconds after stop.
L8-10 Min: 0
Selection 1: Fan always on. Cooling fan operates whenever the drive is powered up.
Max: 1
L8-11 Heatsink Cooling Fan Off Delay Time Sets a delay time to shut off the cooling fan after the Run command is removed when L8-10 = 0.
Default: 60 s
Min: 0 s
B
Max: 300 s
B Parameter List

Default: 40°C
L8-12 Ambient Temperature Setting Enter the ambient temperature. This value adjusts the oL2 detection level. Min: -10°C
Max: 50°C
Default: 1
oL2 Characteristics Selection at Low 0: No oL2 level reduction below 6 Hz.
L8-15 Min: 0
Speeds 1: oL2 level is reduced linearly below 6 Hz. It is halved at 0 Hz.
Max: 1
Default: 0
0: Disabled
L8-18 Software Current Limit Selection Min: 0
1: Enabled
Max: 1
Default: 0.8
Frequency Reduction Rate during
L8-19 Specifies the frequency reference reduction gain at overheat pre-alarm when L8-03 = 4. Min: 0.1
Overheat Pre-Alarm
Max: 0.9
Default: 300.0%
Sets the gain for overcurrent detection as a percentage of the motor rated current. Overcurrent is
L8-27 Overcurrent Detection Gain Min: 0.0%
detected using the drive’s overcurrent level or the value set to L8-27, whichever is lower.
Max: 300.0%
Default: 1
0: Disabled
L8-29 Current Unbalance Detection (LF2) Min: 0
1: Enabled
Max: 1
0: IP00/Open-chassis drive
Default: <25> <57>
1: Side-by-Side mounting
L8-35 Installation Method Selection Min: 0
2: NEMA Type 1
Max: 3
3: Finless model drive or external heatsink installation
0: Disabled Default: <69>
Carrier Frequency Reduction
L8-38 1: Enabled below 6 Hz Min: 0
Selection
2: Enabled for the entire speed range Max: 2
Default: 0.50 s
Carrier Frequency Reduction Off Sets the time that the drive continues running with reduced carrier frequency after the carrier reduction
L8-40 Min: 0.00 s
Delay Time condition is gone. Setting 0.00 s disables the carrier frequency reduction time.
Max: 2.00 s
Default: 0
0: Disabled
L8-41 High Current Alarm Selection Min: 0
1: Enabled. An alarm is triggered at output currents above 150% of the drives rated current.
Max: 1
Default: 1
0: Disabled. L8-55 should be disabled when using a regen converter or an optional braking unit.
L8-55 Internal Braking Transistor Protection Min: 0
1: Protection enabled.
Max: 1
■ n: Advanced Performance Set-Up

The n parameters are used to adjust more advanced performance characteristics such as Hunting Prevention, speed
feedback detection, High Slip Braking, and Online Tuning for motor line-to-line resistance.
n1: Hunting Prevention

Default: 1
0: Disabled
n1-01 Hunting Prevention Selection Min: 0
1: Enabled
Max: 1
Default: 1.00
If the motor vibrates while lightly loaded, increase the gain by 0.1 until vibration ceases. If the motor
n1-02 Hunting Prevention Gain Setting Min: 0.00
stalls, decrease the gain by 0.1 until the stalling ceases.
Max: 2.50
Default: <1>
n1-03 Hunting Prevention Time Constant Sets the time constant used for Hunting Prevention. Min: 0 ms
Max: 500 ms
Default: 0.00
Hunting Prevention Gain while in Sets the gain used for Hunting Prevention. If set to 0, the gain set to n1-02 is used for operation in
n1-05 Min: 0.00
Reverse reverse.
Max: 2.50
n2: Speed Feedback Detection Contol (AFR) Tuning

Default: 1.00
Speed Feedback Detection Control Sets the internal speed feedback detection control gain in the automatic frequency regulator (AFR).
n2-01 Min: 0.00
(AFR) Gain If hunting occurs, increase the set value. If response is low, decrease the set value.
Max: 10.00
Default: 50 ms
Speed Feedback Detection Control
n2-02 Sets the time constant used for speed feedback detection control (AFR). Min: 0 ms
(AFR) Time Constant 1
Max: 2000 ms
Default: 750 ms
n2-03 Sets the AFR time constant to be used during Speed Search and during regen. Min: 0 ms
(AFR) Time Constant 2
Max: 2000 ms
B Parameter List
n3: High Slip Braking (HSB) and Overexcitation Braking

Default: 5%
High-Slip Braking Deceleration Sets the output frequency reduction step width for when the drive stops the motor using HSB. Set as a
n3-01 Min: 1%
Frequency Width percentage of the maximum output frequency. Increase this setting if overvoltage occurs during HSB.
Max: 20%
Default: <86>
n3-02 High-Slip Braking Current Limit Sets the current limit during HSB as a percentage of the motor rated current. Min: 100%
Max: 200%
Default: 1.0 s
High-Slip Braking Dwell Time at Sets the time the drive will run with minimum frequency (E1-09) at the end of deceleration.
n3-03 Min: 0.0 s
Stop If this time is set too low, the machine inertia can cause the motor to rotate slightly after HSB.
Max: 10.0 s
Default: 40 s
Sets the time required for an HSB overload fault (oL7) to occur when the drive output frequency does
n3-04 High-Slip Braking Overload Time Min: 30 s
not change during an HSB stop. This parameter does not typically require adjustment.
Max: 1200 s
Default: 1.10
n3-13 Overexcitation Deceleration Gain Sets the gain applied to the V/f pattern during Overexcitation Deceleration (L3-04 = 4). Min: 1.00
Max: 1.40
Default: 0
High Frequency Injection during 0: Disabled
n3-14 Min: 0
Overexcitation Deceleration 1: Enabled
Max: 1
Sets output current level at which the drive will start reducing the overexcitation gain in order to Default: 100%
n3-21 High-Slip Suppression Current Level prevent a too high motor slip during Overexcitation Deceleration. Set as a percentage of the drive rated Min: 0%
current. Max: 150%
0: Enabled in both directions Default: 0
n3-23 Overexcitation Operation Selection 1: Enabled only when rotating forward Min: 0
2: Enabled only when in reverse Max: 2
<86> Default setting value is dependent on the Drive Duty (C6-01) and the carrier frequency reduction selection (L8-38).
n5: Feed Forward Control

Default: 0
0: Disabled
n5-01 Feed Forward Control Selection Min: 0
1: Enabled
Max: 1
Default: <10> <57>
n5-02 Motor Acceleration Time Sets the time required to accelerate the motor at the rated torque from stop to rated speed. Min: 0.001 s
Max: 10.000 s
Default: 1.00
Sets the ratio between motor and load inertia. Lower this setting if overshoot occurs at the end of
n5-03 Feed Forward Control Gain Min: 0.00
acceleration.
Max: 100.00
n6: Online Tuning

n6-01 Online Tuning Selection 1: Line-to-line resistance tuning Min: 0
2: Voltage correction. Setting not possible when Energy Saving is enabled (b8-01). Max: 2
Default: 1.00
Decrease this setting for motors with a relatively large rotor time constant.
n6-05 Online Tuning Gain Min: 0.10
If overload occurs, increase this setting slowly in increments of 0.10.
Max: 5.00
n8: PM Motor Control Tuning

Default: 50%
Initial Rotor Position Estimation Sets the current used for initial rotor position estimation as a percentage of the motor rated current (E5-
n8-01 Min: 0%
Current 03). If the motor nameplate lists an “Si” value, that value should be entered here.
Max: 100%
Default: 80%
Sets the current during initial polar attraction as a percentage of the motor rated current. Enter a high
n8-02 Pole Attraction Current Min: 0%
value when attempting to increase starting torque.
Max: 150%
0: Pull-in Default: 1
Initial Rotor Position Detection
n8-35 1: High frequency injection Min: 0
Selection
2: Pulse injection Max: 2
Default: 0.80
n8-45 Increase this setting if hunting occurs. Decrease to lower the response. Min: 0.00
Gain
Max: 10.00
Sets the time constant to make the pull-in current reference and actual current value agree. Decrease the Default: 5.0 s
Parameter List
Pull-In Current Compensation Time

n8-47 value if the motor begins to oscillate, and increase the value if it takes too long for the current reference Min: 0.0 s
Constant
to equal the output current. Max: 100.0 s
Default: 30%
Defines the d-axis current reference during no-load operation at a constant speed. Set as a percentage of
n8-48 Pull-In Current Min: 20%
the motor rated current. Increase this setting if hunting occurs while running at constant speed.
Max: 200%
Default: <10>
d-Axis Current for High Efficiency Sets the d-axis current reference when running a high load at constant speed. Set as a percentage of the
n8-49
Control motor rated current.
Min: -200.0%
Max: 0.0% B
B Parameter List

Default: 50%
Acceleration/Deceleration Pull-In Sets the d-axis current reference during acceleration/deceleration as a percentage of the motor rated
n8-51 Min: 0%
Current current. Set to a high value when more starting torque is needed.
Max: 200%
Default: 1.00 s
Voltage Error Compensation Time Adjusts the value when hunting occurs at low speed. If hunting occurs with sudden load changes,
n8-54 Min: 0.00 s
Constant increase n8-54 in increments of 0.1. Reduce this setting if oscillation occurs at start.
Max: 10.00 s
Default: 0
For large inertia loads or to increase the speed control response, increase this setting. Too high of a
n8-55 Load Inertia Min: 0
setting when driving a very light load or load with very low inertia can result in oscillation.
Max: 3
Default: 0
0: Disabled. Disable when using an SPM motor.
n8-57 High Frequency Injection Min: 0
1: Enabled. Use this setting to enhance the speed control range when using an IPM motor.
Max: 1
Default: 200.0 V <24>
Prevents output voltage saturation. Should be set just below the voltage provided by the input power
n8-62 Output Voltage Limit Min: 0.0 V
supply.
Max: 230.0 V
Default: 1.50
n8-65 Sets the gain used for internal speed feedback detection during ov suppression Min: 0.00
Gain during ov Suppression
Max: 10.00
■ o: Operator Related Parameters

The o parameters are used to set up the digital operator displays.
o1: Digital Operator Display Selection

Default: 106 (Monitor
o1-01
Selects the content of the last monitor that is shown when scrolling through Drive Mode display. Enter U1-06)
Drive Mode Unit Monitor Selection
the last three digits of the monitor parameter number to be displayed: U-. Min: 104
Max: 809
1: Frequency reference (U1-01)
o1-02 2: Direction Default: 1
User Monitor Selection after Power
3: Output frequency (U1-02) Min: 1
Up
4: Output current (U1-03) Max: 5
5: User-selected monitor (set by o1-01)
Sets the units the drive should use to display the frequency reference and motor speed monitors.
0: 0.01 Hz Default: 0
o1-03 Digital Operator Display Selection 1: 0.01% (100% = E1-04) Min: 0
2: r/min (calculated using the number of motor poles setting in E2-04, E4-04, or E5-04) Max: 3
3: User-selected units (set by o1-10 and o1-11)
Default: 0
0: Hz
o1-04 V/f Pattern Display Unit Min: 0
1: r/min
Max: 1
Default: <11>
User-Set Display Units Maximum
o1-10 Min: 1
Value These settings define the display values when o1-03 is set to 3. Max: 60000
o1-10 sets the display value that is equal to the maximum output frequency.
o1-11 sets the position of the decimal position. Default: <11>
User-Set Display Units Decimal
o1-11 Min: 0
Display
Max: 3
<11> Default setting value is determined by the digital operator display selection (o1-03).
o2: Digital Operator Keypad Functions

Default: 1
0: Disabled
o2-01 LO/RE Key Function Selection Min: 0
1: Enabled. LO/RE key switches between LOCAL and REMOTE operation.
Max: 1
Default: 1
0: Disabled. STOP key is disabled in REMOTE operation.
o2-02 STOP Key Function Selection Min: 0
1: Enabled. STOP key is always enabled.
Max: 1
0: No change. Default: 0
o2-03 User Parameter Default Value 1: Set defaults. Saves parameter settings as default values for a User Initialization. Min: 0
2: Clear all. Clears the default settings that have been saved for a User Initialization. Max: 2
Default: Determined by
drive capacity
o2-04 Drive Model Selection Enter the drive model. Setting required only if installing a new control board.
Min: –
Max: –
0: ENTER key must be pressed to enter a frequency reference. Default: 0
Frequency Reference Setting Method
o2-05 1: ENTER key is not required. The frequency reference can be adjusted using the up and down arrow Min: 0
Selection
keys only. Max: 1
Default: 0
Operation Selection when Digital 0: The drive continues operating if the digital operator is disconnected.
o2-06 Min: 0
Operator is Disconnected 1: A fault is triggered (oPr) and the motor coasts to stop.
Max: 1
0: Forward Default: 0
Motor Direction at Power Up when
o2-07 1: Reverse Min: 0
Using Operator
This parameter requires that drive operation be assigned to the digital operator. Max: 1
o2-09 Reserved – –
B Parameter List
o3: Copy Function

0: No action
Default: 0
1: Read parameters from the drive, saving them onto the digital operator.
o3-01 Copy Function Selection Min: 0
2: Copy parameters from the digital operator, writing them to the drive.
Max: 3
3: Verify parameter settings on the drive to check if they match the data saved on the operator.
Default: 0
0: Read operation prohibited
o3-02 Copy Allowed Selection Min: 0
1: Read operation allowed
Max: 1
o4: Maintenance Monitor Settings

Default: 0 H
o4-01 Cumulative Operation Time Setting Sets the value for the cumulative operation time of the drive in units of 10 h. Min: 0 H
Max: 9999 H
Default: 0
0: Logs power-on time
o4-02 Cumulative Operation Time Selection Min: 0
1: Logs operation time when the drive output is active (output operation time).
Max: 1
Default: 0 H
o4-03 Cooling Fan Operation Time Setting Sets the value of the fan operation time monitor U4-03 in units of 10 h. Min: 0 H
Max: 9999 H
Default: 0%
Sets the value of the Maintenance Monitor for the capacitors. See U4-05 to check when the capacitors
o4-05 Capacitor Maintenance Setting Min: 0%
may need to be replaced.
Max: 150%
Default: 0%
DC Bus Pre-charge Relay Sets the value of the Maintenance Monitor for the soft charge bypass relay. See U4-06 to check when
o4-07 Min: 0%
Maintenance Setting the bypass relay may need to be replaced.
Max: 150%
Default: 0%
Sets the value of the Maintenance Monitor for the IGBTs. See U4-07 to check when the IGBTs may
o4-09 IGBT Maintenance Setting Min: 0%
need to be replaced.
Max: 150%
Default: 0
0: U2- and U3- monitor data is not reset when the drive is initialized (A1-03).
o4-11 U2, U3 Initialize Selection Min: 0
1: U2- and U3- monitor data is reset when the drive is initialized (A1-03).
Max: 1
Default: 0
0: U4-10 and U4-11 monitor data is not reset when the drive is initialized (A1-03).
o4-12 kWh Monitor Initialization Min: 0
1: U4-10 and U4-11 monitor data is reset when the drive is initialized (A1-03).
Max: 1
Default: 0
Number of Run Commands Counter 0: Number of Run commands counter is not reset when the drive is initialized (A1-03).
o4-13 Min: 0
Initialization 1: Number of Run commands counter is reset when the drive is initialized (A1-03).
Max: 1
■ q: DWEZ Parameters

q1-01 to Refer to Help in the
DWEZ Parameters Reserved for DriveWorksEZ
q6-07 DWEZ software.
■ r: DWEZ Connection Parameters

Default: 0
r1-01 to DWEZ Connection Parameters 1 to
DWEZ Connection Parameters 1 to 20 (upper/lower) Min: 0
r1-40 20 (upper/lower)
Max: FFFFH
■ T: Motor Tuning
Enter data into the following parameters to tune the motor and drive for optimal performance
T1: Induction Motor Auto-Tuning

Default: 1
1: Motor 1 (sets E1-, E2-)
T1-00 Motor 1 / Motor 2 Selection Min: 1
2: Motor 2 (sets E3-, E4-)
Max: 2
0: Rotational Auto-Tuning
1: Stationary Auto-Tuning 1
2: Stationary Auto-Tuning for Line-to-Line Resistance
Default: 0
T1-01 3: Rotational Auto-Tuning for V/f Control (necessary for Energy Savings and Speed Estimation Speed
Auto-Tuning Mode Selection Min: 0
<70> Search)
Parameter List
Max: 4, 8, 9 <77>
4: Stationary Auto-Tuning 2
8: Inertia Tuning (perform Rotational Auto-Tuning prior to Inertia Tuning)
9: ASR Gain Tuning (perform Rotational Auto-Tuning prior to ASR Gain Auto-Tuning)
Default: <1>
Sets the motor rated power as specified on the motor nameplate.
T1-02 Motor Rated Power Min: 0.00 kW
Note: Use the following formula to convert horsepower into kilowatts: kW = HP x 0.746.
Max: 650.00 kW
T1-03 Motor Rated Voltage Sets the motor rated voltage as specified on the motor nameplate.
Default: 200.0 V <24>
Min: 0.0 V B
Max: 255.0 V
B Parameter List

Default: <1>
T1-04 Motor Rated Current Sets the motor rated current as specified on the motor nameplate. current
current
Default: 60.0 Hz
T1-05 Motor Base Frequency Sets the rated frequency of the motor as specified on the motor nameplate. Min: 0.0 Hz
Max: 400.0 Hz
Default: 4
T1-06 Number of Motor Poles Sets the number of motor poles as specified on the motor nameplate. Min: 2
Max: 48
Default: 1750 r/min
T1-07 Motor Base Speed Sets the rated speed of the motor as specified on the motor nameplate. Min: 0 r/min
Max: 24000 r/min
Default: 600 ppr
T1-08 PG Number of Pulses Per Revolution Set the number of pulses per revolution for the PG being used (pulse generator or encoder). Min: 0 ppr
Max: 60000 ppr
Sets the no-load current for the motor.
Default: –
Motor No-Load Current After setting the motor capacity to T1-02 and the motor rated current to T1-04, this parameter will
T1-09 Min: 0 A
(Stationary Auto-Tuning) automatically display the no-load current for a standard 4 pole Yaskawa motor. Enter the no-load
Max: T1-04
current as indicated on the motor test report.
Sets the motor rated slip. Default: –
Motor Rated Slip
T1-10 After setting the motor capacity to T1-02, this parameter will automatically display the motor slip for a Min: 0.00 Hz
(Stationary Auto-Tuning)
standard 4 pole Yaskawa motor. Enter the motor slip as indicated on the motor test report. Max: 20.00 Hz
Sets the iron loss for determining the Energy Saving coefficient. Default: 14 W <73>
T1-11 Motor Iron Loss The value is set to E2-10 (motor iron loss) set when the power is cycled. If T1-02 is changed, a default Min: 0 W
value appropriate for the motor capacity that was entered will appear. Max: 65535 W
<70> The availability of certain Auto-Tuning methods depends on the control mode selected for the drive.
<73> Default setting value differs depending on the motor code value and motor parameter settings.
T2: PM Motor Auto-Tuning

0: PM Motor Parameter Settings
1: PM Stationary Auto-Tuning
2: PM Stationary Auto-Tuning for Stator Resistance
3: Z Pulse Offset Tuning Default: 0
PM Motor Auto-Tuning Mode
T2-01 8: Inertia Tuning Min: 0
Selection
9: ASR Gain Auto-Tuning Max: 3, 8, 9 <77>
Prior to executing Inertia Tuning or ASR Gain Auto-Tuning, be sure to take the following steps:
• perform Auto-Tuning for motor data (T2-01 = 0, 1, or 2) or set the motor code to E5-01.
• verify all motor data entered to the drive with the motor nameplate or the motor test report.
Enter the motor code when using a Yaskawa PM motor. Once the motor code is entered, the drive
Default: <69>
automatically sets parameters T2-03 through T2-14. When using a motor that is not supported motor
T2-02 PM Motor Code Selection Min: 0000
code or a non-Yaskawa motor, set FFFF here and then adjust the other T2 parameters according the
Max: FFFF
motor nameplate or the motor test report.
Default: 1
0: IPM motor
T2-03 PM Motor Type Min: 0
1: SPM motor. Parameter T2-17 will not be displayed with this setting.
Max: 1
Default: <1>
Sets the motor rated power.
T2-04 PM Motor Rated Power Min: 0.00 kW
Note: Use the following formula to convert horsepower into kilowatts: kW = HP x 0.746.
Max: 650.00 kW
Default: 200.0 V <24>
T2-05
PM Motor Rated Voltage Enter the motor rated voltage as indicated on the motor nameplate. Min: 0.0 V
<24>
Max: 255.0 V
Default: <1>
T2-06 PM Motor Rated Current Enter the motor rated current as indicated on the motor nameplate. current
current
Default: 87.5 Hz
T2-07 PM Motor Base Frequency Enter the motor base frequency as indicated on the motor nameplate. Min: 0.0 Hz
Max: 400.0 Hz
Default: 6
T2-08 Number of PM Motor Poles Enter the number of motor poles for the PM motor as indicated on the motor nameplate. Min: 2
Max: 48
Default: 1750 r/min
T2-09 PM Motor Base Speed Enter the base speed for the PM motor as indicated on the motor nameplate. Min: 0 r/min
Max: 24000 r/min
Default: <24>
T2-10 PM Motor Stator Resistance Enter the rotor resistance for the PM motor as indicated on the motor nameplate. Min: 0.000 Ω
Max: 65.000 Ω
Default: <74>
T2-11 PM Motor d-Axis Inductance Enter the d-axis inductance for the PM motor as indicated on the motor nameplate. Min: 0.00 mH
Max: 600.00 mH
Default: <74>
T2-12 PM Motor q-Axis Inductance Enter the q-axis inductance for the PM motor as indicated on the motor nameplate. Min: 0.00 mH
Max: 600.00 mH
B Parameter List

Default: 1
Induced Voltage Constant Unit 0: mV/(r/min). E5-09 will automatically be set to 0.0, and E5-24 will be used.
T2-13 Min: 0
Selection 1: mV/(rad/sec). E5-24 will automatically be set to 0.0, and E5-09 will be used
Max: 1
Default: <74>
T2-14 PM Motor Induced Voltage Constant Enter the induced voltage coefficient for the PM motor as indicated on the motor nameplate. Min: 0.1
Max: 2000.0
Default: 30%
Pull-In Current Level for PM Motor Sets the amount of pull-in current to use for Auto-Tuning as a percentage of the motor rated current.
T2-15 Min: 0%
Tuning Increase this setting for high inertia loads.
Max: 120%
Default: 1024 ppr
PG Number of Pulses Per Revolution
T2-16 Sets the number of pulses per revolution for the PG being used (pulse generator or encoder). Min: 0 ppr
for PM Motor Tuning
Max: 60000 ppr
Default: 0.0 deg
T2-17 Encoder Z-Pulse Offset Sets the offset between encoder offset and the rotor magnetic axis. Min: -180.0 deg
Max: 180.0 deg
<74> Default setting is determined by the drive capacity and the motor code selected in T2-02.
T3: ASR and Inertia Tuning

Default: 3.0 Hz
T3-01 Sets the frequency of the test signal used during Inertia Tuning and ASR Gain Auto-Tuning. Reduce
Test Signal Frequency Min: 0.1 Hz
<75> this value if the inertia is large or if a fault occurs.
Max: 20.0 Hz
Default: 0.5 rad
T3-02 Sets the amplitude of the test signal used during Inertia and ASR Gain Auto-Tuning. Reduce this value
Test Signal Amplitude Min: 0.1 rad
<75> if the inertia is too large or if a fault occurs.
Max: 10.0 rad
Default: <10> <57>
T3-03
Motor Inertia Sets the motor inertia. Default setting is the inertia of a Yaskawa motor. Min: 0.0001 kgm2
<75>
Max: 600.00 kgm2
Default: 10.0 Hz
T3-04 Sets the response frequency of the mechanical system connected to the motor. Oscillation may result if
System Response Frequency Min: 0.1 Hz
<75> set too high.
Max: 50.0 Hz
<75> Displayed only when performing Inertia Tuning or ASR Gain Auto-Tuning (T1-01 = 8 or T2-01 = 9).
■ U: Monitors
Monitor parameters allow the user to view drive status, fault information, and other data concerning drive operation.
U1: Operation Status Monitors
Analog Output
No. Name Description Unit
Level
U1-01 Frequency Reference Monitors the frequency reference. Display units are determined by o1-03. 10 V: Max frequency 0.01 Hz
U1-02 Output Frequency Displays the output frequency. Display units are determined by o1-03. 10 V: Max frequency 0.01 Hz
10 V: Drive rated
U1-03 Output Current Displays the output current. <27>
current
0: V/f Control
2: Open Loop Vector Control
No signal output
U1-04 Control Method 3: Closed Loop Vector Control –
available
5: Open Loop Vector Control for PM
6: Advanced Open Loop Vector Control for PM
7: Closed Loop Vector Control for PM
U1-05 Motor Speed Displays the motor speed feedback. Display units are determined by o1-03. 10 V: Max Frequency 0.01 Hz
U1-06 Output Voltage Reference Displays the output voltage. 10 V: 200 Vrms <24> 0.1 Vac
U1-07 DC Bus Voltage Displays the DC bus voltage. 10 V: 400 V <24> 1 Vdc
10 V: Drive rated
U1-08 Output Power Displays the output power (this value is calculated internally). <27>
power (kW)
10 V: Motor rated
U1-09 Torque Reference Monitors the internal torque reference. 0.1%
torque
Parameter List
B Parameter List
No. Name Description Analog Output Unit

Level
Displays the input terminal status.
Digital input 1
(terminal S1 enabled)
Digital input 2
Digital input 3
No signal output
U1-10 Input Terminal Status Digital input 4 –
available
Digital input 5
Digital input 6
Digital input 7
Digital input 8
Displays the output terminal status.
Multi-Function
Digital Output
(terminal M1-M2)
Multi-Function
No signal output
U1-11 Output Terminal Status Photocoupler Output 1 –
(terminal P1) enabled available
Multi-Function
Photocoupler Output 2
(terminal P2) enabled
Not Used
Fault Relay
(terminal MA-MC closed
MA-MC open)
Verifies the drive operation status.
During run
During zero-speed
During REV
No signal output
U1-12 Drive Status During fault reset –
available
signal input
During speed agree
Drive ready
During alarm
detection
During fault detection
U1-13 Terminal A1 Input Level Displays the signal level to analog input terminal A1. 10 V: 100% 0.1%
Output Frequency after Soft
U1-16 Displays output frequency with ramp time and S-curves. Units determined by o1-03. 10 V: Max frequency 0.01 Hz
Starter
Displays the reference value input from the DI-A3 option card.
No signal output
U1-17 DI-A3 Input Status Display will appear in hexadecimal as determined by the digital card input selection in F3-01. –
available
3FFFF: Set (1 bit) + sign (1 bit) + 16 bit
No signal output
U1-18 oPE Fault Parameter Displays the parameter number that caused the oPE or Err (EEPROM write error) error. –
available
Displays the contents of a MEMOBUS/Modbus error.
CRC Error
Data Length Error
MEMOBUS/Modbus Error Not Used No signal output
U1-19 –
Code available
Parity Error
Overrun Error
Framing Error
Timed Out
Not Used
AI-A3 Terminal V1 Input

U1-21 Displays the input voltage to terminal V1 on analog input card AI-A3. 10 V: 100% 0.1%
Voltage Monitor
B Parameter List
Analog Output
Level
Voltage Monitor
Voltage Monitor
U1-24 Input Pulse Monitor Displays the frequency to pulse train input terminal RP. Determined by H6-02 1 Hz
No signal output
U1-25 Software Number (Flash) FLASH ID –
available
No signal output
U1-26 Software No. (ROM) ROM ID –
available
<27> Display is determined by the drive model (o2-04). Less than 11 kW: two decimal points, 11 kW and above: one decimal point.
U2: Fault Trace

Level
No signal output
U2-01 Current Fault Displays the current fault. –
available
No signal output
U2-02 Previous Fault Displays the previous fault. –
available
Frequency Reference at No signal output
U2-03 Displays the frequency reference at the previous fault. 0.01 Hz
Previous Fault available
Output Frequency at Previous No signal output
U2-04 Displays the output frequency at the previous fault. 0.01 Hz
Fault available
No signal output
U2-05 Output Current at Previous Fault Displays the output current at the previous fault. <27>
available
No signal output
U2-06 Motor Speed at Previous Fault Displays the motor speed at the previous fault. 0.01 Hz
available
No signal output
U2-07 Output Voltage at Previous Fault Displays the output voltage at the previous fault. 0.1 Vac
available
DC Bus Voltage at Previous No signal output
U2-08 Displays the DC bus voltage at the previous fault. 1 Vdc
Fault available
No signal output
U2-09 Output Power at Previous Fault Displays the output power at the previous fault. 0.1 kW
available
Torque Reference at Previous No signal output
U2-10 Displays the torque reference at the previous fault. 0.1%
Fault available
Input Terminal Status at No signal output
U2-11 Displays the input terminal status at the previous fault. Displayed as in U1-10. –
Output Terminal Status at No signal output
U2-12 Displays the output status at the previous fault. Displays the same status displayed in U1-11. –
Drive Operation Status at Displays the operation status of the drive at the previous fault. Displays the same status displayed in No signal output
U2-13 –
Previous Fault U1-12. available
Cumulative Operation Time at No signal output
U2-14 Displays the cumulative operation time at the previous fault. 1h
Soft Starter Speed Reference at No signal output
U2-15 Displays the speed reference for the soft starter at the previous fault. 0.01 Hz
Motor q-Axis Current at No signal output
U2-16 Displays the q-axis current for the motor at the previous fault. 0.10%
Motor d-Axis Current at No signal output
U2-17 Displays the d-axis current for the motor at the previous fault. 0.10%
Rotor Deviation at Previous Displays the degree of rotor deviation when the most recent fault occurred (same status will appear No signal output
U2-19 0.1 deg
Fault as shown in U6-10). available
Heatsink Temperature at No signal output
U2-20 Displays the temperature of the heatsink when the most recent fault occurred. 1°C
<27> Display is determined by the drive model (o2-04). Less than 11 kW: two decimal points, 11 kW and above: one decimal point.
U3: Fault History
Analog Output
Level
U3-01 to No signal output
First to 4th Most Recent Fault Displays the first to the fourth most recent faults. –
U3-04 available
U3-05 to No signal output
5th to 10th Most Recent Fault Displays the fifth to the tenth most recent faults. –
U3-10 available
U3-11 to Cumulative Operation Time at No signal output
Displays the cumulative operation time when the first to the fourth most recent faults occurred. 1h
U3-14 1st to 4th Most Recent Fault available
Parameter List
U3-15 to Cumulative Operation Time at No signal output

Displays the cumulative operation time when the fifth to the tenth most recent faults occurred. 1h
U3-20 5th to 10th Most Recent Fault available
B Parameter List
U4: Maintenance Monitors
Analog Output
Level
Displays the cumulative operation time of the drive. The value for the cumulative operation time
counter can be reset in parameter o4-01. Use parameter o4-02 to determine if the operation time No signal output
U4-01 Cumulative Operation Time 1h
should start as soon as the power is switched on or only while the Run command is present. The available
maximum number displayed is 99999, after which the value is reset to 0.
Displays the number of times the Run command is entered. Reset the number of Run commands No signal output
U4-02 Number of Run Commands 1 Time
using parameter o4-13. This value will reset to 0 and start counting again after reaching 65535. available
Displays the cumulative operation time of the cooling fan. The default value for the fan operation
No signal output
U4-03 Cooling Fan Operation Time time is reset in parameter o4-03. This value will reset to 0 and start counting again after reaching 1h
available
99999.
Displays main cooling fan usage time in as a percentage of its expected performance life. Parameter No signal output
U4-04 Cooling Fan Maintenance 1%
o4-03 can be used to reset this monitor. available
Displays main circuit capacitor usage time in as a percentage of their expected performance life. No signal output
U4-05 Capacitor Maintenance 1%
Parameter o4-05 can be used to reset this monitor. available
Soft Charge Bypass Relay Displays the soft charge bypass relay maintenance time as a percentage of its estimated performance No signal output
U4-06 1%
Maintenance life. Parameter o4-07 can be used to reset this monitor. available
Displays IGBT usage time as a percentage of the expected performance life. Parameter o4-09 can be No signal output
U4-07 IGBT Maintenance 1%
used to reset this monitor. available
U4-08 Heatsink Temperature Displays the heatsink temperature. 10 V: 100°C 1°C
No signal output
U4-09 LED Check Lights all segments of the LED to verify that the display is working properly. –
available
Monitors the drive output power. The value is shown as a 9 digit number displayed across two No signal output
U4-10 kWh, Lower 4 Digits monitor parameters, U4-10 and U4-11. 1 kWh
available
Example:
12345678.9 kWh is displayed as:
U4-10: 678.9 kWh No signal output
U4-11 kWh, Upper 5 Digits 1 MWh
U4-11: 12345 MWh available
No signal output
U4-13 Peak Hold Current Displays the highest current value that occurred during run. 0.01 A
available
No signal output
U4-14 Peak Hold Output Frequency Displays the output frequency when the current value shown in U4-13 occurred. 0.01 Hz
available
Shows the value of the motor overload detection accumulator. 100% is equal to the oL1 detection
U4-16 Motor Overload Estimate (oL1) 10 V: 100% 0.1%
level.
Displays the source for the frequency reference as XY-nn.
X: indicates which reference is used:
1 = Reference 1 (b1-01)
Y-nn: indicates the reference source
0-01 = Digital operator
Frequency Reference Source 1-01 = Analog (terminal A1) No signal output
U4-18 –
Selection 1-02 = Analog (terminal A2) available
1-03 = Analog (terminal A3)
2-02 to 17 = Multi-step speed (d1-02 to 17)
3-01 = MEMOBUS/Modbus communications
4-01 = Communication option card
5-01 = Pulse input
7-01 = DWEZ
Frequency Reference from No signal output
U4-19 Displays the frequency reference provided by MEMOBUS/Modbus (decimal). 0.01%
MEMOBUS/Modbus Comm. available
No signal output
U4-20 Option Frequency Reference Displays the frequency reference input by an option card (decimal). –
available
Displays the source for the Run command as XY-nn.
X: Indicates which Run source is used:
Y: Input power supply data
0 = Digital operator
1 = External terminals
3 = MEMOBUS/Modbus communications
4 = Communication option card
7 = DWEZ
No signal output
U4-21 Run Command Source Selection nn: Run command limit status data –
available
00: No limit status.
01: Run command was left on when stopped in the PRG mode
02: Run command was left on when switching from LOCAL to REMOTE operation
03: Waiting for soft charge bypass contactor after power up (Uv or Uv1 flashes after 10 s)
04: Waiting for “Run command prohibited” time period to end
05: Fast Stop (digital input, digital operator)
06: b1-17 (Run command given at power-up)
07: During baseblock while coast to stop with timer
08: Frequency reference is below minimal reference during baseblock
09: Waiting for Enter command
MEMOBUS/Modbus Displays the drive control data set by MEMOBUS/Modbus communications register no. 0001H as a No signal output
U4-22 –
Communications Reference four-digit hexadecimal number. available
Communication Option Card No signal output
U4-23 Displays drive control data set by an option card as a four-digit hexadecimal number. –
Reference available
B Parameter List
U5: PID Monitors
Analog Output
Level
U5-01 PID Feedback Displays the PID feedback value. 10 V: 100% 0.01%
U5-02 PID Input Displays the amount of PID input (deviation between PID setpoint and feedback). 10 V: 100% 0.01%
U5-03 PID Output Displays PID control output. 10 V: 100% 0.01%
U5-04 PID Setpoint Displays the PID setpoint. 10 V: 100% 0.01%
U5-05 PID Differential Feedback Displays the 2nd PID feedback value if differential feedback is used (H3- = 16). 10 V: 100% 0.01%
Displays the difference of both feedback values if differential feedback is used (U5-01 - U5-05). If
U5-06 PID Adjusted Feedback 10 V: 100% 0.01%
differential feedback is not used, then U5-01 and U5-06 will be the same.
U6: Operation Status Monitors
Analog Output
Level
10 V: Motor secondary
U6-01 Motor Secondary Current (Iq) Displays the value of the motor secondary current (Iq). Motor rated secondary current is 100%. 0.1%
rated current
Displays the value calculated for the motor excitation current (Id). Motor rated secondary current is 10 V: Motor secondary
U6-02 Motor Excitation Current (Id) 0.1%
100%. rated current
U6-03 ASR Input 10 V: Max frequency
Displays the input and output values when using ASR control. 10 V: Motor secondary 0.01%
U6-04 ASR Output
rated current
U6-05 Output Voltage Reference (Vq) Output voltage reference (Vq) for the q-axis. 10 V: 200 Vrms <24> 0.1 Vac
U6-06 Output Voltage Reference (Vd) Output voltage reference (Vd) for the d-axis. 10 V: 200 Vrms <24> 0.1 Vac
U6-07 q-Axis ACR Output Displays the output value for current control relative to motor secondary current (q-axis). 10 V: 200 Vrms <24> 0.1%
U6-08 d-Axis ACR Output Displays the output value for current control relative to motor secondary current (d-axis). 10 V: 200 Vrms <24> 0.1%
Advance Phase Compensation 10 V: 180 deg
U6-09 Displays the degree of forward phase correction after calculating the deviation of Δθcmp. 0.1 deg
(Δ θ) –10 V: –180 deg
Displays the amount of deviation between the actual d-axis / q-axis and the γ-axis / δ-axis used for 10 V: 180 deg
U6-10 Control Axis Deviation (Δθ) 0.1 deg
motor control. –10 V: –180 deg
10 V: 180 deg
U6-13 Flux Position Detection (sensor) Monitors the value of the flux position detection (sensor). 0.1 deg
–10 V: –180 deg
Flux Position Estimation 10 V: 180 deg
U6-14 Monitors the value of the flux position estimation. 0.1 deg
(observer) –10 V: –180 deg
U6-18 Speed Detection PG1 Counter Monitors the number of pulses for speed detection (PG1). 10 V: 65536 1 pulse
U6-19 Speed Detection PG2 Counter Monitors the number of pulses for speed detection (PG2). 10 V: 65536 1 pulse
Frequency Reference Bias (Up/
U6-20 Displays the bias value used to adjust the frequency reference. 10 V: Max frequency 0.1%
Down 2)
U6-21 Offset Frequency Displays the frequency added to the main frequency reference. – 0.1%
10 V: No. of pulses per
U6-22 Zero Servo Pulse Movement Displays how far the rotor has moved from its last position in PG pulses (multiplied by 4). 1
revolution
U6-25 Feedback Control Output Output monitor for the ASR speed loop. 0.01%
rated current
U6-26 Feed Forward Control Output Output monitor for Feed Forward control. 0.01%
rated current
U8: DriveWorksEZ Monitors

Level
U8-01 to DriveWorksEZ Custom Monitor
DriveWorksEZ Custom Monitor 1 to 10 10 V: 100% 0.01%
U8-10 1 to 10
U8-11 to DWEZ Version Control Monitor No signal output
DWEZ Version Control Monitor 1 to 3 –
U8-13 1 to 3 available
Parameter List
C Standards Compliance
◆ European Standards
Figure 87
Figure 80 CE Mark
The CE mark indicates compliance with European safety and environmental regulations. It is required for engaging in
business and commerce in Europe.
European standards include the Machinery Directive for machine manufacturers, the Low Voltage Directive for
electronics manufacturers, and the EMC guidelines for controlling noise.
This drive displays the CE mark based on the EMC guidelines and the Low Voltage Directive.
• Low Voltage Directive: 2006/95/EC
• EMC Guidelines: 2004/108/EC
Devices used in combination with this drive must also be CE certified and display the CE mark. When using drives
displaying the CE mark in combination with other devices, it is ultimately the responsibility of the user to ensure
compliance with CE standards. After setting up the device, verify that conditions meet European standards.
■ CE Low Voltage Directive Compliance
This drive has been tested according to European standard IEC61800-5-1, and it fully complies with the Low Voltage
Directive.
To comply with the Low Voltage Directive, be sure to meet the following conditions when combining this drive with
other devices:
Area of Use
Do not use drives in areas with pollution higher than severity 2 and overvoltage category 3 in accordance with IEC664.
Installing Fuses on the Input Side
Always install input fuses. Select fuses according to Table 62.
Table 62 Recommended Input Fuse Selection
Fuse Type
Model
Manufacturer: Bussmann
CIMR-A
Model Fuse Ampere Rating (A)
2A0004 FWH500V70 70
2A0006 FWH500V70 70
2A0008 FWH500V70 70
2A0010 FWH500V70 70
2A0012 FWH500V70 70
2A0018 FWH500V90 90
2A0021 FWH500V90 90
2A0030 FWH500V100 100
2A0040 FWH500V200 200
2A0056 FWH500V200 200
2A0069 FWH500V200 200
2A0081 FWH500V300 300
2A0110 FWH500V300 300
2A0138 FWH500V350 350
2A0169 FWH500V400 400
2A0211 FWH500V400 400
4A0002 FWH500V40 40
4A0004 FWH500V50 50
4A0005 FWH500V70 70
4A0007 FWH500V70 70
Fuse Type
Model
CIMR-A
4A0009 FWH500V90 90
4A0011 FWH500V90 90
4A0018 FWH500V80 80
4A0023 FWH500V100 100
4A0031 FWH500V125 125
4A0038 FWH500V200 200
4A0044 FWH500V250 250
4A0058 FWH500V250 250
4A0072 FWH500V250 250
4A0088 FWH500V250 250
4A0103 FWH500V250 250
4A0139 FWH500V350 350
4A0165 FWH500V400 400
Guarding Against Harmful Materials

When installing IP00/Open-Chassis drives, use an enclosure that prevents foreign material from entering the drive from
above or below.
Grounding
The drive is designed to be used in T-N (grounded neutral point) networks. If installing the drive in other types of
grounded systems, contact your Yaskawa representative for instructions.
■ EMC Guidelines Compliance
This drive is tested according to European standards EN61800-3: 2004, and complies with the EMC guidelines.
EMC Filter Installation
The following conditions must be met to ensure continued compliance with guidelines. Refer to EMC Filters on
page 147 for EMC filter selection.
Installation Method
Verify the following installation conditions to ensure that other devices and machinery used in combination with this
drive also comply with EMC guidelines.
1. Install an EMC noise filter to the input side specified by Yaskawa for compliance with European standards.
2. Place the drive and EMC noise filter in the same enclosure.
3. Use braided shield cable for the drive and motor wiring, or run the wiring through a metal conduit.
4. Keep wiring as short as possible. Ground the shield on both the drive side and the motor side.
Figure 88
A D C
U/T1 U
V/T2 V
M
W/T3 W
E
A – Drive D – Metal conduit
B – 10 m max cable length between drive and motor E – Ground wire should be as short as possible.
C – Motor
Figure 81 Installation Method
Compliance
Standards
C
5. Ground the largest possible surface area of the shield to the metal conduit when using braided shield cable.
Yaskawa recommends using a cable clamp.
Figure 89
C B
A – Braided shield cable C – Cable clamp (conductive)

B – Metal panel
Figure 82 Ground Area
6. Connect a DC reactor to minimize harmonic distortion. See page 148.
Three-Phase 200 V / 400 V Class
Figure 90
L3
L2 K
L1
PE
B
C
D
L3 L2 L1
J
E
D
I
H F
A
G
A – Ground the cable shield G – Motor

B – Enclosure panel H – Cable clamp
C – Metal plate I – Ground plate (scrape off any visible paint)
D – Grounding surface (remove any paint or sealant) J – EMC noise filter
E – Drive K – Make sure the ground wire is grounded
F – Motor cable (braided shield cable, max. 10 m)
Figure 83 EMC Filter and Drive Installation for CE Compliance (Three-Phase 200 V / 400 V Class)
EMC Filters
The drive should be installed with the EMC filters listed below in order to comply with the EN61800-3, category C2
requirements.
Note: If the Safe Disable function of the drive is part of the safety concept of a machine or installation and used for a safe stop
according to EN60204-1, stop category 0, use only filters manufactured by Schaffner as listed below.
Table 63 EN61800-3 C2 Filters
Filter Data (Manufacturer: Schaffner)
Model Dimensions
CIMR-A Weight
Type Rated Current (A) [W x L x H] YxX
(kg) (mm)
2A0004
2A0006
FS5972-10-07 10 1.1 141 × 46 × 330 115 × 313
2A0008
2A0010
2A0012
2A0018 FS5972-18-07 18 1.7 141 × 46 × 330 115 × 313
2A0021
2A0030
2A0040 FS5972-35-07 35 2.1 206 × 50 × 355 175 × 336
2A0056
2A0069
FS5972-60-07 60 4 236 × 6 × 408 202 × 390
2A0081
2A0110
FS5972-100-07 100 3.4 90 × 150 × 330 65 × 255
2A0138
2A0169
FS5972-170-40 170 4.7 120 × 170 × 451 102 × 365
2A0211
4A0002
4A0004
FS5972-10-07 10 1.1 141 × 46 × 330 115 × 313
4A0005
4A0007
4A0009
FS5972-18-07 18 1.7 141 × 46 × 330 115 × 313
4A0011
4A0018
4A0023 FS5972-35-07 35 2.1 206 × 50 × 355 175 × 336
4A0031
4A0038
4A0044 FS5972-60-07 60 4 236 × 65 × 408 202 × 390
4A0058
4A0072
FS5972-100-35 100 3.4 90 × 150 × 330 65 × 255
4A0088
4A0103
4A0139 FS5972-170-35 170 4.7 120 × 170 × 451 102 × 365
4A0165
Figure 91
W D
Y
Power-Supply Side LINE

H
X
Drive Side LOAD
PE
Compliance
Standards
Figure 84 EMC Filter Dimensions
C
DC Reactors for EN 61000-3-2 Compliance

Table 64 DC Reactors for Harmonics Reduction
Drive Model DC Reactor
CIMR-A Model Rating
200V Three-Phase Units
2A0004 5.4 A
UZDA-B
2A0006 8 mH
400 V Three-Phase Units
4A0002 3.2 A
UZDA-B
4A0004 28 mH
Note: Contact Yaskawa for information about DC reactors for other models.
◆ UL Standards
The UL/cUL mark applies to products in the United States and Canada. It indicates that UL has performed product
testing and evaluation, and determined that their stringent standards for product safety have been met. For a product to
receive UL certification, all components inside that product must also receive UL certification.
Figure 92
Figure 85 UL/cUL Mark
■ UL Standards Compliance
This drive is tested in accordance with UL standard UL508C and complies with UL requirements. The conditions
described below must be met to maintain compliance when using this drive in combination with other equipment:
Installation Area
Do not install the drive to an area greater than pollution severity 2 (UL standard).
Main Circuit Terminal Wiring
Yaskawa recommends using UL-listed copper wires (rated at 75°C), and closed-loop connectors or CSA-certified ring
connectors sized for the selected wire gauge to maintain proper clearances when wiring the drive. Use the correct crimp
tool to install connectors per manufacturer recommendation. Table 65 lists a suitable closed-loop connector
manufactured by JST Corporation.
Table 65 Closed-Loop Crimp Terminal Size (JIS C 2805) (same for 200 V and 400 V)
Wire Gauge Terminal Crimp Terminal Tightening Torque
mm2 (AWG) Screws Model Numbers N m (lb to in.)
M3.5 R1.25-3.5 0.8 to 1.0 (7.1 to 8.9)
0.75 (18)
M4 R1.25-4 1.2 to 1.5 (10.6 to 13.3)
M3.5 R1.25-3.5 0.8 to 1.0 (7.1 to 8.9)
1.25 (16)
M4 R1.25-4 1.2 to 1.5 (10.6 to 13.3)
M3.5 R2-3.5 0.8 to 1.0 (7.1 to 8.9)
M4 R2-4 1.2 to 1.5 (10.6 to 13.3)
2 (14)
M5 R2-5 2.0 to 2.5 (17.7 to 22.1)
M6 R2-6 4.0 to 5.0 (35.4 to 44.3)
M4 R5.5-4 1.2 to 1.5 (10.6 to 13.3)
M5 R5.5-5 2.0 to 2.5 (17.7 to 22.1)
3.5/5.5 (12/10)
M6 R5.5-6 4.0 to 5.0 (35.4 to 44.3)
M8 R5.5-8 9.0 to 11.0 (79.7 to 97.4)
M4 8-4 1.2 to 1.5 (10.6 to 13.3)
M5 R8-5 2.0 to 2.5 (17.7 to 22.1)
8 (8)
M6 R8-6 4.0 to 5.0 (35.4 to 44.3)
M8 R8-8 9.0 to 11.0 (79.7 to 97.4)
M4 14-4 <1> 1.2 to 1.5 (10.6 to 13.3)
M5 R14-5 2.0 to 2.5 (17.7 to 22.1)
14 (6)
M6 R14-6 4.0 to 5.0 (35.4 to 44.3)
M8 R14-8 9.0 to 11.0 (79.7 to 97.4)
Wire Gauge Terminal Crimp Terminal Tightening Torque

mm2 (AWG) Screws Model Numbers N m (lb to in.)
M6 R22-6 4.0 to 5.0 (35.4 to 44.3)
22 (4)
M8 R22-8 9.0 to 11.0 (79.7 to 97.4)
30/38 (3/2) M8 R38-8 9.0 to 11.0 (79.7 to 97.4)
M8 R60-8 9 to 11 (79.7 to 97.4)
50/60 (1/ 1/0)
M10 R60-10 18 to 23 (159 to 204)
80 (2/0) M10 80-10 18 to 23 (159 to 204)
100 (4/0) M10 R100-10 18 to 23 (159 to 204)
<1> Use the specified crimp terminals (Model 14–NK4) when using CIMR-A2A0030, A2A0040, 44A0018, and A4A0023 with 14 mm2 (6
AWG).
Note: Use crimp insulated terminals or insulated shrink tubing for wiring connections. Wires should have a continuous maximum
allowable temperature of 75°C 600 Vac UL-approved vinyl-sheathed insulation.
The installation manual specifies that branch circuit protection should be provided by any of the following:
• Non-time delay Class J, T, or CC fuses sized at 300% of the drive input rating
• Time delay Class J, T, or CC fuses sized at 175% of the drive input rating
• Time-delay Class RK5 fuses sized at 225% of the drive input rating
Table 66 Recommended Input Fuse Selection
Fuse Type
Model
CIMR-A
2A0004 FWH500V70 70
2A0006 FWH500V70 70
2A0008 FWH500V70 70
2A0010 FWH500V70 70
2A0012 FWH500V70 70
2A0018 FWH500V90 90
2A0021 FWH500V90 90
2A0030 FWH500V100 100
2A0040 FWH500V200 200
2A0056 FWH500V200 200
2A0069 FWH500V200 200
2A0081 FWH500V300 300
2A0110 FWH500V300 300
2A0138 FWH500V350 350
2A0169 FWH500V400 400
2A0211 FWH500V400 400
4A0002 FWH500V40 40
4A0004 FWH500V50 50
4A0005 FWH500V70 70
4A0007 FWH500V70 70
4A0009 FWH500V90 90
4A0011 FWH500V90 90
4A0018 FWH500V80 80
4A0023 FWH500V100 100
4A0031 FWH500V125 125
4A0038 FWH500V200 200
4A0044 FWH500V250 250
4A0058 FWH500V250 250
4A0072 FWH500V250 250
4A0088 FWH500V250 250
4A0103 FWH500V250 250
4A0139 FWH500V350 350
4A0165 FWH500V400 400
Compliance
Standards
C
Low Voltage Wiring for Control Circuit Terminals

Wire low voltage wires with NEC Class 1 circuit conductors. Refer to national state or local codes for wiring. Use a class
2 (UL regulations) power supply for the control circuit terminal when not using the drives internal control power supply.
Table 67 Control Circuit Terminal Power Supply
Input / Output Terminal Signal Power Supply Specifications
Multi-function photocoupler output P1, P2, PC Requires class 2 power supply
Multi-function digital inputs S1, S2, S3, S4, S5, S6, S7, S8, SC
Multi-function analog inputs A1, A2, A3, AC Use the internal control power supply of the drive or an external class 2
Pulse train input RP, AC power supply.
Pulse train output MP, AC
Drive Short-Circuit Rating

This drive has undergone the UL short-circuit test, which certifies that during a short circuit in the power supply, the
current flow will not rise above 100,000 amps at 240 V for 200 V class drives and 480 V for 400 V class drives.
• The MCCB, breaker protection, and fuse ratings shall be equal to or greater than the short-circuit tolerance of the
power supply being used.
• Suitable for use on a circuit capable of delivering not more than 100,000 RMS symmetrical amperes for 240 V in 200
V class drives (up to 480 V for 400 V class drives) motor overload protection.
■ Drive Motor Overload Protection
Set parameter E2-01 (motor rated current) to the appropriate value to enable motor overload protection. The internal
motor overload protection is UL listed and in accordance with the NEC and CEC.
E2-01 Motor Rated Current
Setting Range: Model Dependent
Default Setting: Model Dependent
Parameter E2-01 (motor rated current) protects the motor if parameter L1-01 is not set to 0 (default is 1, enabling
protection for standard induction motors).
If Auto-Tuning has been performed successfully, the motor data entered to T1-04 is automatically written into parameter
E2-01. If Auto-Tuning has not been performed, manually enter the correct motor rated current to parameter E2-01.
L1-01 Motor Overload Protection Selection
The drive has an electronic overload protection function (oL1) based on time, output current, and output frequency,
which protects the motor from overheating. The electronic thermal overload function is UL-recognized, so it does not
require an external thermal relay for single motor operation.
This parameter selects the motor overload curve used according to the type of motor applied.
Table 68 Overload Protection Settings
Setting Description
0 Disabled Disabled the drive’s internal motor overload protection.
Selects protection characteristics for a standard self cooled motor with limited cooling capabilities when running below
1 Standard fan cooled motor (default) the rated speed. The motor overload detection level (oL1) is automatically reduces when running below the motor rated
speed.
Selects protection characteristics for a motor with self-cooling capability within a speed range of 10:1. The motor
2 Drive duty motor with a speed range of 1:10
overload detection level (oL1) is automatically reduced when running below 1/10 of the motor rated speed.
Selects protection characteristics for a motor capable of cooling itself at any speed — including zero speed (externally
3 Vector motor with a speed range of 1:100
cooled motor). The motor overload detection level (oL1) is constant over the entire speed range.
Selects protection characteristics for a variable torque PM motor. The motor overload detection level (oL1) is
4 Permanent Magnet motor with variable torque
automatically reduces when running below the motor rated speed.
Selects protection characteristics for a constant torque PM motor. The motor overload detection level (oL1) is constant
5 Permanent Magnet motor with constant torque
over the whole speed range.
When connecting the drive to more than one motor for simultaneous operation, disable the electronic overload protection
(L1-01 = 0) and wire each motor with its own motor thermal overload relay.
Enable the motor overload protection (L1-01 = 1 to 5) when connecting the drive to a single motor, unless another motor
overload preventing device is installed. The drive electronic thermal overload function causes an oL1 fault, which shuts
off the output of the drive and prevents additional overheating of the motor. The motor temperature is continually
calculated as long as the drive is powered up.
L1-02 Motor Overload Protection Time

Setting Range: 0.1 to 5.0 min
Factory Default: 1.0 min
Parameter L1-02 determines how long the motor is allowed to operate before the oL1 fault occurs when the drive is
running at 60 Hz and at 150% of the full load amp rating (E2-01) of the motor. Adjusting the value of L1-02 can shift the
set of oL1 curves up the y axis of the diagram below, but will not change the shape of the curves.
Figure 93
Time (min)
10
7
3
Cold Start
1
0.4
Hot Start
0.1 Motor Current (%)

0 100 150 200 (E2-01=100 %)
Figure 86 Motor Overload Protection Time
◆ Safe Disable Input Function

■ Precautions
DANGER! Improper use of the Safe Disable function can result in serious injury or even death.
Make sure the whole system or machinery that the Safe Disable function is used in complies with safety requirements. When
implementing the Safe Disable function into the safety system of a machine, a thorough risk assessment for the whole system has to
be carried out to assure it complies with relevant safety norms (e.g., EN954/ISO13849, IEC61508, EN/IEC62061,...).
DANGER! When using a PM motor, even if the drive output is shut off by the Safe Disable function, a break down of two output
transistors can cause current to flow through the motor winding, resulting in a rotor movement for a maximum angle of 180 degree
(electrically). Make sure such a situation would have no effect on the safety of the application when using the Safe Disable function.
This is not a concern with induction motors.
DANGER! The Safe Disable function can switch off the drive output, but does not cut the drive power supply and cannot electrically
isolate the drive output from the input. Always shut off the drive power supply when performing maintenance or installations on the
drive input side as well as the drive output side.
When using the Safe Disable inputs, make sure to remove the wire links between terminals H1, H2, and HC that were
installed prior to shipment. Failing to do so will keep the Safe Disable circuit from operating properly and can cause
injury or even death.
All safety features (including Safe Disable) should be inspected daily and periodically. If the system is not operating
normally, there is a risk of serious personal injury.
Only a qualified technician with a thorough understanding of the drive, the instruction manual, and safety standards
should be permitted to wire, inspect, and maintain the Safe Disable input.
From the moment terminal inputs H1 and H2 have opened, it takes up to 1 ms for drive output to shut off completely. The
sequence set up to trigger terminals H1 and H2 should make sure that both terminals remain open for at least 1 ms in
order to properly interrupt drive output.
NOTICE: The Safe Disable Monitor (output terminals DM+ and DM-) should not be used for any other purpose than to monitor the
Safe Disable status or to discover a malfunction in the Safe Disable inputs. The monitor output is not considered a safe output.
When utilizing the Safe Disable function, use only the EMC filters recommended in EMC Filter Installation on
page 145.
Compliance
Standards
C
■ Using the Safe Disable Function

The Safe Disable inputs provide a stop function in compliance with Stop Category 0 as defined in the EN60204-1
(uncontrolled stop by power removal), and “Safe Torque Off” as defined in the IEC61800-5-2. Safe Disable inputs have
been designed to meet the requirements of the EN954-1/ISO13849-1, Safety Category 3 and EN61508, SIL2.
A Safe Disable Status Monitor for error detection in the safety circuit is also provided.
Failure Probabilities of the Safety Disable Inputs
Table 69 Overview of the Failure Probabilities
Demand Rate Failure Probability
Low PFD = 5.16E-6
High/continuous PFH = 1.2E-9
Performance Level of the Safety Disable Inputs

The Safety Disable Inputs satisfies all requirements of Performance Level d to ISO13849-1. (Note DC from EDM
considered.)
Safe Disable Circuit
The Safe Disable circuit consists of two independent input channels that can block the output transistors. In addition, it
provides a monitoring channel that indicates the status of those two input channels.
The input can either use the drive internal power supply or an external power supply. Both modes, Sink mode and Source
mode are supported. The mode that is selected for the digital input terminals S1 to S8 by switch S3 will also be used for
the Safe Disable inputs. Refer to Sinking/Sourcing Mode Switch for Digital Inputs on page 37.
The Safe Disable Monitor uses a single channel photocoupler output. Refer to Control Circuit Input Terminals on
page 32 for signal specifications when using this output.
Figure 94
Main Power
24 V Control
Safety Relay or PLC HC Circuit
with safety functionality
Safety Jumper S3
Outputs Setting:
Feedback
SOURCE
H1 Gate Block 1
N Power Module P
H2 Gate Block 2
DM+
>=1
DM-
Drive
Figure 87 Safe Disable Function Wiring Example (Source Mode)
Disabling and Enabling the Drive Output (“Safe Torque Off”)

Figure 95 illustrates the Safe Disable input operation.
Figure 95
Motor coasts
Output to stop
Frequency Run Command must be
released to deactivate
Safe Disable Drive is ready for
operation
Run Command Run Stop
H1, H2 Input ON (Safe Disable off) OFF (Safe Disable activated)
Drive Output Normal operation Safe Torque-Off Baseblock (Not Safe!)
Figure 88 Safe Disable Operation

Entering the “Safe Torque Off” State
Whenever either one Safe Disable input or both inputs open, the motor torque is shut off by switching off the drive
output. If the motor was running before the Safe Disable inputs opened, then the motor will coast to stop, regardless of
the stopping method set in parameter b1-03.
Notice that the “Safe Torque Off” state can only be achieved using the Safe Disable function. Removing the Run
command stops the drive and shuts the output off (baseblock), but does not create a “Safe Torque Off” status.
Note: To avoid an uncontrolled stop during normal operation, make sure that the Safe Disable inputs are opened first when the motor
has completely stopped.
Returning to Normal Operation after Safe Disable
The Safe Disable function can only be deactivated when a Run command is not active.
When Safe Disable was activated during stop, normal operation can be resumed by simply turning on both Safe Disable
inputs (i.e., by deactivating “Safe Torque Off”).
When Safe Disable was activated during run, first the Run command has to be removed and then the Safe Disable inputs
have to be turned on before the drive can be restarted.
Safe Disable Monitor Output Function and Digital Operator Display
Table 70 explains the drive output and Safe Disable monitor state depending on the Safe Disable inputs.
Table 70 Safety Input and EDM Terminal Status
Safe Disable Input Status Safe Disable Status Monitor, Drive Output Status Digital Operator Display
Input 1, H1-HC Input 2, H2-HC DM+ - DM-
OFF OFF OFF Safely disabled, “Safe Torque Off” Hbb (flashes)
ON OFF ON Safely disabled, “Safe Torque Off” HbbF (flashes)
OFF ON ON Safely disabled, “Safe Torque Off” HbbF (flashes)
ON ON ON Baseblock, ready for operation Normal display
Safe Disable Status Monitor

With the Safe Disable monitor output (terminals DM+ and DM-), the drive provides a safety status feedback signal. This
signal should be read by the device that controls the Safe Disable inputs (PLC or a safety relay) in order to prohibit
leaving the “Safe Torque Off” status in case the safety circuit malfunctions. Refer to the instruction manual of the safety
device for details on this function.
Digital Operator Display
When both Safe Disable inputs are open, “Hbb” will flash in the digital operator display.
Should only one of the Safe Disable channels be on while the other is off, “HbbF” will flash in the display to indicate that
there is a problem in the safety circuit or in the drive. This display should not appear under normal conditions if the Safe
Disable circuit is utilized properly. Refer to Alarm Codes, Causes, and Possible Solutions on page 91 to resolve
possible errors.
Compliance
Standards
C
Revision History
The revision dates and the numbers of the revised manuals appear on the bottom of the back cover.
MANUAL NO. TOEP C710616 21A‫ޓ‬

Published in Japan September 2008 08-9
Date of
publication Date of original
publication
Date of Publication Revision Number Section Revised Content

September 2008 − − First Edition
YASKAWA AC Drive A1000
High Performance Vector Control Drive
Quick Start Guide
IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5696 Fax 81-4-2962-6138
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-847-887-7000 Fax 1-847-887-7370
YASKAWA ELETRICO DO BRASIL LTDA.
Avenida Fagundes Filho, 620 Sao Paulo-SP CEP 04304-000, Brazil
Phone 55-11-3585-1100 Fax 55-11-5581-8795
YASKAWA ELECTRIC EUROPE GmbH
Hauptstraβe 185, 65760 Eschborn, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul 150-877, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,
Dong Cheng District, Beijing 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC CORPORATION
YASKAWA
In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture
thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure
to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2008 YASKAWA ELECTRIC CORPORATION. All rights reserved.
MANUAL NO. TOEP C710616 21A

Published in Japan September 2008 08-9
08-5-3

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YASKAWA AC Drive A1000

High Performance Vector Control Drive

Run a Motor One-Frame Larger

Drive a Synchronous PM Motor

Maintenance Check Using Drive Monitors

Fault Display and Troubleshooting

Table of Contents ............................................................................................................ 5

i Preface & General Safety

A1000 Series AC Drive Technical Manual

REV DRV FOUT

WARNING AVERTISSMENT NPJT31470-1

A1000 Series AC Drive Quick Start Guide

■ Drive Label Warnings

Figure 1 Warning Information

DIGITAL OPERATOR JVOP-182 ALM

REV DRV FOUT

WARNING AVERTISSMENT NPJT31470-1

Figure 2 Warning Information Position

Normal Duty Amps / Heavy Duty Amps

AC drive model MODEL : CIMR-AA2A0021FAA

FILE NO : E131457 IP20

Figure 3 Nameplate Information

Normal Duty Heavy Duty

Normal Duty Heavy Duty

■ Installation Orientation and Spacing

Figure 4 Correct Installation Orientation

Single Drive Installation

Side Clearance Top/Bottom Clearance

A – 50 mm minimum C – 120 mm minimum

Line up the tops of the drives.

Figure 7 IP20/NEMA 1 Side-by-Side Mounting in Enclosure

IP20/NEMA Type 1 Drives

Table 2 Dimensions for IP20/NEMA Type 1: 200 V Class

Table 3 Dimensions for IP20/NEMA Type 1: 400 V Class

Table 4 Dimensions for IP00/Open-Chassis: 200 V Class

Table 5 Dimensions for IP00/Open-Chassis: 400 V Class

◆ Main Circuit Connection Diagram

■ Three-Phase 200 V Class (CIMR-A 2A0004 to 0081)

Braking Resistor Unit

3 Phase power supply R/L1 U/T1

Figure 9 Connecting Main Circuit Terminals

■ Three-Phase 200 V Class (CIMR-A 2A0110, 0138)

Braking Resistor Unit

3 Phase power supply R/L1 U/T1

Figure 10 Connecting Main Circuit Terminals

■ Three-Phase 200 V Class (CIMR-A 2A0169, 0211)

Braking Resistor Unit

Figure 11 Connecting Main Circuit Terminals

Figure 12 Removing the Terminal Cover on an IP20/NEMA Type 1 Drive

Figure 13 Removing the Terminal Cover on an IP20/NEMA Type 1 Drive 3

Reattaching the Terminal Cover

Connect ground wiring first,

Figure 14 Reattaching the Terminal Cover on an IP20/NEMA Type 1 Drive

■ CIMR-A 2A0110 to 0211, 4A0058 to 0165 (IP00/Open-Chassis)

Figure 15 Removing the Terminal Cover on an IP00/Open-Chassis Drive

Figure 16 Removing the Terminal Cover on an IP00/Open-Chassis Drive

Reattaching the Terminal Cover

Connect ground wiring first,

Figure 17 Reattaching the Terminal Cover on an IP00/Open-Chassis Drive

◆ Digital Operator and Front Cover