A1000_TM_EN_SIEP_C710616_27J_9_0

YASKAWA AC Drive A1000
High Performance Vector Control Drive

Technical Manual
Type: CIMR-AC
Models: 200 V Class: 0.55 to 110 kW
400 V Class: 0.55 to 630 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 1
2
Electrical Installation 2
3
Start-Up Programming &
Operation 3
4
Parameter Details 4
5
Troubleshooting 5
6
Periodic Inspection &
Maintenance 6
7
Peripheral Devices &
Options 7
8
Disposal 8
9
Specifications A
Parameter List B
MEMOBUS/Modbus
Communications C
Standards Compliance D
MANUAL NO. SIEP C710616 27J Quick Reference Sheet E
SIEP_C710616_27J_9_0.book 2 ページ２０２２年３月２４日木曜日午後７時１分
Copyright © 2008 YASKAWA ELECTRIC CORPORATION.

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted,
in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of Yaskawa. No patent liability is assumed with respect to the use of the information
contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the
information contained in this manual is subject to change without notice. Every precaution has been taken in
the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions.
Neither is any liability assumed for damages resulting from the use of the information contained in this
publication.
2 YASKAWA ELECTRIC SIEP C710616 27J YASKAWA AC Drive A1000 Technical Manual
 Quick Reference
Easily Set Parameters for Specific Applications
Preset parameter defaults are available for setting up applications. Refer to Application Selection on page 112.
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 195.
Drive a Synchronous PM Motor
A1000 can operate synchronous PM motors. Refer to Subchart A-3: Operation with Permanent Magnet Motors on page 108.
Perform Auto-Tuning
Automatic tuning sets motor parameters. Refer to Auto-Tuning on page 118.
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 383.
Fault Display and Troubleshooting

Refer to Drive Alarms, Faults, and Errors on page 330 and Refer to Troubleshooting without Fault Display on page 370.
Standards Compliance
Refer to European Standards on page 584.

Refer to UL Standards on page 600.
YASKAWA ELECTRIC SIEP C710616 27J YASKAWA AC Drive A1000 Technical Manual 3
Table of Contents
Quick Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
i. PREFACE & GENERAL SAFETY............................................................................ 15

i.1 Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Applicable Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Terms and Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Trademarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
i.2 General Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Supplemental Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Safety Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Application Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Notes on Motor Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Applications with Specialized Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Drive Label Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Warranty Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1. RECEIVING .............................................................................................................. 27
1.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.2 General Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
A1000 Model Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
1.3 Model Number and Nameplate Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Model Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
1.4 Drive Models and Enclosure Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
1.5 Component Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
IP20/UL Type 1 Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
IP00 Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Front Views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
2. MECHANICAL INSTALLATION............................................................................... 43
2.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.2 Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Installation Orientation and Spacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Instructions on Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Digital Operator Remote Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Exterior and Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3. ELECTRICAL INSTALLATION ................................................................................ 57

3.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.2 Standard Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3.3 Main Circuit Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.4 Terminal Block Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
3.5 Terminal Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
CIMR-A2A0004 to 0081, 4A0002 to 0044 (IP20/UL Type 1 Enclosure) . . . . . . . . . . 66
CIMR-A2A0110 to 2A0415, 4A0058 to 4A1200 (IP00 Enclosure) . . . . . . . . . . . . . . 67
3.6 Digital Operator and Front Cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Removing/Reattaching the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Removing/Reattaching the Front Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
3.7 Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Removing the Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Reattaching the Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
3.8 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Main Circuit Terminal Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Protecting Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Wire Gauges and Tightening Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Main Circuit Terminal and Motor Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
3.9 Control Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Control Circuit Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Control Circuit Terminal Block Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Terminal Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Wiring the Control Circuit Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Switches and Jumpers on the Terminal Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
3.10 Control I/O Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Sinking/Sourcing Mode for Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Sinking/Sourcing Mode Selection for Safe Disable Inputs . . . . . . . . . . . . . . . . . . . . . . 85
Using the Pulse Train Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Terminal A2 Input Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Terminal A3 Analog/PTC Input Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Terminal AM/FM Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
MEMOBUS/Modbus Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Terminal DM+ and DM- Output Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
3.11 Connect to a PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
3.12 External Interlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Drive Ready . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
3.13 Wiring Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
4. START-UP PROGRAMMING & OPERATION ........................................................ 93

4.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
4.2 Using the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Keys and Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
LCD Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
ALARM (ALM) LED Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
LO/RE LED and RUN LED Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Menu Structure for Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
4.3 The Drive and Programming Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Navigating the Drive and Programming Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Changing Parameter Settings or Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Verifying Parameter Changes: Verify Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Simplified Setup Using the Setup Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Switching Between LOCAL and REMOTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4.4 Start-Up Flowcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Flowchart A: Basic Start-up and Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Subchart A-1: Simple Motor Setup Using V/f Control . . . . . . . . . . . . . . . . . . . . . . . . 106
Subchart A-2: High Performance Operation Using OLV or CLV . . . . . . . . . . . . . . . . 107
Subchart A-3: Operation with Permanent Magnet Motors . . . . . . . . . . . . . . . . . . . . . 108
4.5 Powering Up the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Powering Up the Drive and Operation Status Display . . . . . . . . . . . . . . . . . . . . . . . . 111
4.6 Application Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
0: General Applications (Default Settings) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Setting 1: Water Supply Pump Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Setting 2: Conveyor Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Setting 3: Exhaust Fan Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Setting 4: HVAC Fan Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Setting 5: Compressor Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Setting 6: Hoist Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Notes on Controlling the Brake when Using the Hoist Application Preset . . . . . . . . . 115
Setting 7: Traveling Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
4.7 Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Types of Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Before Auto-Tuning the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Auto-Tuning Interruption and Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Auto-Tuning Operation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Parameter Settings during Induction Motor Auto-Tuning: T1 . . . . . . . . . . . . . . . . . . . 127
Parameter Settings during PM Motor Auto-Tuning: T2 . . . . . . . . . . . . . . . . . . . . . . . 130
Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3 . . . . . . 132
4.8 No-Load Operation Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
No-Load Operation Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
4.9 Test Run with Load Connected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Test Run with the Load Connected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
4.10 Verifying Parameter Settings and Backing Up Changes . . . . . . . . . . . . . . . . . . . 137
Backing Up Parameter Values: o2-03 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Parameter Access Level: A1-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Password Settings: A1-04, A1-05 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Copy Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
4.11 Test Run Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
5. PARAMETER DETAILS......................................................................................... 141

5.1 A: Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
A1: Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
A2: User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
5.2 b: Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
b1: Operation Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
b2: DC Injection Braking and Short Circuit Braking . . . . . . . . . . . . . . . . . . . . . . . . . . 158
b3: Speed Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
b4: Delay Timers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
b5: PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
b6: Dwell Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
b7: Droop Control (CLV, CLV/PM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
b8: Energy Saving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
b9: Zero Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
5.3 C: Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
C1: Acceleration and Deceleration Times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
C2: S-Curve Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
C3: Slip Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
C4: Torque Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
C5: Automatic Speed Regulator (ASR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

C6: Carrier Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
5.4 d: Reference Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
d1: Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
d2: Frequency Upper/Lower Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
d3: Jump Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
d4: Frequency Reference Hold and Up/Down 2 Function . . . . . . . . . . . . . . . . . . . . . 201
d5: Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
d6: Field Weakening and Field Forcing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
d7: Offset Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
5.5 E: Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
E1: V/f Pattern for Motor 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
E2: Motor 1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
E3: V/f Pattern for Motor 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
E4: Motor 2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
E5: PM Motor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
5.6 F: Option Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
F1: PG Speed Control Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
F2: Analog Input Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
F3: Digital Input Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
F4: Analog Monitor Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
F5: Digital Output Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
F6 and F7: Communication Option Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
5.7 H: Terminal Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
H1: Multi-Function Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
H2: Multi-Function Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
H3: Multi-Function Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
H4: Multi-Function Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
H5: MEMOBUS/Modbus Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
H6: Pulse Train Input/Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
5.8 L: Protection Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
L1: Motor Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
L2: Momentary Power Loss Ride-Thru . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
L3: Stall Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
L4: Speed Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
L5: Fault Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
L6: Torque Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
L7: Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
L8: Drive Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
L9: Drive Protection 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
5.9 n: Special Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
n1: Hunting Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
n2: Speed Feedback Detection Control (AFR) Tuning . . . . . . . . . . . . . . . . . . . . . . . . 303
n3: High Slip Braking (HSB) and Overexcitation Braking . . . . . . . . . . . . . . . . . . . . . . 303
n5: Feed Forward Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
n6: Online Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
n8: PM Motor Control Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
5.10 o: Operator Related Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
o1: Digital Operator Display Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
o2: Digital Operator Keypad Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
o3: Copy Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
o4: Maintenance Monitor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
q: DriveWorksEZ Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
r: DriveWorksEZ Connection Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
T: Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
5.11 U: Monitor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

U1: Operation Status Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
U2: Fault Trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
U3: Fault History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
U4: Maintenance Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
U5: PID Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
U6: Control Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
U8: DriveWorksEZ Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
6. TROUBLESHOOTING ........................................................................................... 323

6.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
6.2 Motor Performance Fine-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
Fine-Tuning V/f Control and V/f Control with PG . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
Fine-Tuning Open Loop Vector Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
Fine-Tuning Closed Loop Vector Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
Fine-Tuning Open Loop Vector Control for PM Motors . . . . . . . . . . . . . . . . . . . . . . . 327
Fine-Tuning Advanced Open Loop Vector Control for PM Motors . . . . . . . . . . . . . . 328
Fine-Tuning Closed Loop Vector Control for PM Motors . . . . . . . . . . . . . . . . . . . . . . 329
Parameters to Minimize Motor Hunting and Oscillation . . . . . . . . . . . . . . . . . . . . . . . 329
6.3 Drive Alarms, Faults, and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
Types of Alarms, Faults, and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
Alarm and Error Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
6.4 Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Fault Displays, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
6.5 Alarm Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
Alarm Codes, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
6.6 Operator Programming Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
oPE Codes, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
Causes and Possible Solutions for a Blank and Unresponsive Digital Operator . . . . 361
6.7 Auto-Tuning Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
Auto-Tuning Codes, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . 362
6.8 Copy Function Related Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Tasks, Errors, and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
6.9 Diagnosing and Resetting Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
Fault Occurs Simultaneously with Power Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
If the Drive Still has Power After a Fault Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
Viewing Fault Trace Data After Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
Fault Reset Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
6.10 Troubleshooting without Fault Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
Common Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
Cannot Change Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
Motor Does Not Rotate Properly after Pressing RUN Button or after Entering
External Run Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
Motor is Too Hot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
Drive Does Not Allow Selection the Desired Auto-Tuning Mode . . . . . . . . . . . . . . . . 372
oPE02 Error Occurs When Lowering the Motor Rated Current Setting . . . . . . . . . . . 372
Motor Stalls during Acceleration or Acceleration Time is Too Long . . . . . . . . . . . . . 373
Drive Frequency Reference Differs from the Controller Frequency Reference
Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
Excessive Motor Oscillation and Erratic Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
Deceleration Takes Longer Than Expected with Dynamic Braking Enabled . . . . . . . 374
Load Falls When Brake is Applied (Hoist-Type Applications) . . . . . . . . . . . . . . . . . . 374
Noise From Drive or Motor Cables When the Drive is Powered On . . . . . . . . . . . . . 374
Equipment for Residual Current Monitoring/Detection (RCM/RCD) Trips
During Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
Connected Machinery Vibrates When Motor Rotates . . . . . . . . . . . . . . . . . . . . . . . . 374

PID Output Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
Insufficient Starting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
Motor Rotates After the Drive Output is Shut Off (Motor Rotates During DC
Injection Braking) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
Output Frequency is not as High as Frequency Reference . . . . . . . . . . . . . . . . . . . . 375
Buzzing Sound from Motor at 2 kHz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
Unstable Motor Speed when Using PM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
Motor Does Not Restart after Power Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
7. PERIODIC INSPECTION & MAINTENANCE ........................................................ 377

7.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
7.2 Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Recommended Daily Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Recommended Periodic Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
Storage Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
7.3 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
7.4 Cooling Fan and Circulation Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
Number of Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
Cooling Fan Component Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
Cooling Fan Replacement: 2A0021 to 2A0081 and 4A0007 to 4A0044 . . . . . . . . . . 387
Cooling Fan Replacement: 2A0110 and 2A0138, 4A0058 and 4A0072 . . . . . . . . . . 389
Cooling Fan Replacement: 4A0088 and 4A0103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
Cooling Fan Replacement: 2A0169 to 2A0415, 4A0139 to 4A0362 . . . . . . . . . . . . . 393
Cooling Fan Replacement: 4A0414 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
7.5 Replacing the Air Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
Air Filter Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
7.6 Drive Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409
Serviceable Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409
Terminal Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409
Replacing the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
8. PERIPHERAL DEVICES & OPTIONS ................................................................... 413

8.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
8.2 Drive Options and Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
8.3 Connecting Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418
8.4 Option Card Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
Prior to Installing the Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
Installing the Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420
8.5 Installing Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
Dynamic Braking Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
Installing a Molded Case Circuit Breaker (MCCB) and Equipment for Residual
Current Monitoring/Detection (RCM/RCD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
Installing a Magnetic Contactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
Connecting an AC or DC Reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
Connecting a Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
Installing Input Fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436
Attachment for External Heatsink (IP00 Enclosure) . . . . . . . . . . . . . . . . . . . . . . . . . . 436
EMC Filter Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436
Installing a Motor Thermal Overload (oL) Relay on the Drive Output . . . . . . . . . . . . . 437
9. DISPOSAL ............................................................................................................. 439

9.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440
9.2 Disposal Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
9.3 WEEE Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
A. SPECIFICATIONS.................................................................................................. 443
A.1 Heavy Duty and Normal Duty Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
A.2 Three-Phase 200 V Class Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
A.3 Three-Phase 400 V Class Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
A.4 Drive Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
A.5 Drive Watt Loss Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
A.6 Drive Derating Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
Rated Current Depending on Carrier Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
Carrier Frequency Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
Temperature Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
Altitude Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454
B. PARAMETER LIST ................................................................................................ 455

B.1 Understanding the Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
Control Modes, Symbols, and Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
B.2 Parameter Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
Parameter Differences for models CIMR-A4A0930 and 4A1200 . . . . . . . . . . . . . . 458
B.3 Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
A: Initialization Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
b: Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
C: Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467
d: References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472
E: Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
F: Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480
H: Multi-Function Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
L: Protection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
n: Special Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
o: Operator Related Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
q: DriveWorksEZ Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
r: DriveWorksEZ Connection Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
T: Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
U: Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
B.4 Control Mode Dependent Parameter Default Values. . . . . . . . . . . . . . . . . . . . . . . 525
A1-02 (Motor 1 Control Mode) Dependent Parameters . . . . . . . . . . . . . . . . . . . . . . . 525
E3-01 (Motor 2 Control Mode) Dependent Parameters . . . . . . . . . . . . . . . . . . . . . . . 527
B.5 V/f Pattern Default Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01) . . . . . . . . . . . . . . 529
B.7 Parameters that Change with the Motor Code Selection (for PM Motors) . . . . . 536
YASKAWA SMRA Series SPM Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536
YASKAWA SSR1 Series IPM Motor (For Derated Torque) . . . . . . . . . . . . . . . . . . . . 537
YASKAWA SST4 Series IPM Motor (For Constant Torque) . . . . . . . . . . . . . . . . . . . 543
C. MEMOBUS/MODBUS COMMUNICATIONS ......................................................... 551

C.1 MEMOBUS/Modbus Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 552
C.2 Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
C.3 Connecting to a Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554
Network Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554
Wiring Diagram for Multiple Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554
Network Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555
C.4 MEMOBUS/Modbus Setup Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556

MEMOBUS/Modbus Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556
C.5 Drive Operations by MEMOBUS/Modbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559
Observing the Drive Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559
Controlling the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559
C.6 Communications Timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
Command Messages from Master to Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
Response Messages from Drive to Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
C.7 Message Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561
Message Content . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561
Slave Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561
Function Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561
Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561
Error Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561
C.8 Message Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
Reading Drive MEMOBUS/Modbus Register Contents . . . . . . . . . . . . . . . . . . . . . . . 563
Loopback Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
Writing to Multiple Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 564
C.9 MEMOBUS/Modbus Data Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 565
Command Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 565
Monitor Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566
Broadcast Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574
Fault Trace Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574
Alarm Register Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
C.10 Enter Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
Enter Command Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
Enter Command Settings when Upgrading the Drive . . . . . . . . . . . . . . . . . . . . . . . . . 577
C.11 Communication Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
MEMOBUS/Modbus Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
Slave Not Responding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
C.12 Self-Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579
D. STANDARDS COMPLIANCE................................................................................. 581

D.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582
D.2 European Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
EU Declaration of Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585
CE Low Voltage Directive Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591
EMC Guidelines Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594
D.3 UL Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600
UL Standards Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600
Installing Input Fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 608
Drive Motor Overload Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610
Precautionary Notes on External Heatsink (IP00 Enclosure) . . . . . . . . . . . . . . . . . . . 612
D.4 Safe Disable Input Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614
Using the Safe Disable Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614
E. QUICK REFERENCE SHEET................................................................................. 617

E.1 Drive and Motor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618
Drive Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618
Motor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618
E.2 Basic Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619

Basic Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
V/f Pattern Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
Motor Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
Multi-Function Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
Pulse Train Input/Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
Multi-Function Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
Monitor Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
E.3 User Setting Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620
Index ............................................................................................................................. 626
Revision History ............................................................................................................ 640
i
Preface & General Safety
This section provides safety messages pertinent to this product that, if not heeded, may result
in fatality, personal injury, or equipment damage. Yaskawa is not responsible for the
consequences of ignoring these instructions.
i.1 PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
i.2 GENERAL SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
i.1 Preface
i.1 Preface
Yaskawa manufactures products used as components in a wide variety of industrial systems and equipment. The selection
and application of Yaskawa products remain the responsibility of the equipment manufacturer or end user. Yaskawa
accepts no responsibility for the way its products are incorporated into the final system design. Under no circumstances
should any Yaskawa product be incorporated into any product or design as the exclusive or sole safety control. Without
exception, all controls should be designed to detect faults dynamically and fail safely under all circumstances. All
systems or equipment designed to incorporate a product manufactured by Yaskawa must be supplied to the end user with
appropriate warnings and instructions as to the safe use and operation of that part. Any warnings provided by Yaskawa
must be promptly provided to the end user. Yaskawa offers an express warranty only as to the quality of its products in
conforming to standards and specifications published in the Yaskawa manual. NO OTHER WARRANTY, EXPRESS OR
IMPLIED, IS OFFERED. Yaskawa assumes no liability for any personal injury, property damage, losses, or claims
arising from misapplication of its products.
This manual is designed to ensure correct and suitable application of 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 Quick Start Guide
DIGITAL OPERATOR JVOP-180 ALM
F1 F2
LO
This guide is packaged together with the product. It contains basic information on safety precautions, model list, and wiring. It is
meant to get the drive ready for a trial run with the application and for basic 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 Technical Manual (this book)

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.
400V
This manual contains information required to install and wire the drive, in addition to an overview of fault diagnostics,
maintenance safety, and parameter settings. Contact Yaskawa or a Yaskawa representative to obtain the manual.
 Symbols
Note: Indicates a supplement or precaution that does not cause drive damage.
TERMS : Indicates a term or definition used in this manual.
 Terms and Abbreviations

• Drive: Yaskawa A1000 Series Drive
TERMS • V/f: V/f Control
• V/f w/PG: V/f Control with PG
• OLV: Open Loop Vector Control
• CLV: Closed Loop Vector Control
• OLV/PM: Open Loop Vector Control for PM
• AOLV/PM: Advanced Open Loop Vector Control for PM
• CLV/PM: Closed Loop Vector Control for PM
• PM motor: Permanent Magnet Synchronous motor (an abbreviation for IPM motor or SPM motor)
• IPM motor: Interior Permanent Magnet Motor (such as Yaskawa’s SSR1 Series and SST4 Series motors)
• SPM motor: Surface mounted Permanent Magnet Motor (such as Yaskawa’s SMRA Series motors)
 Trademarks
• CANopen is a trademark of CAN in Automation (CiA).
• CC-Link is a trademark of CC-Link Partner Association (CLPA).
• DeviceNet is a trademark of Open DeviceNet Vendor Association, Inc. (ODVA).
• PROFIBUS-DP is a trademark of PROFIBUS International (PI).
• MECHATROLINK-I, MECHATROLINK-II, and MECHATROLINK-III are a trademark of MECHATROLINK
Members Association (MMA).
• LONWORKS is a trademark of ECHELON USA.
• Modbus TCP/IP is a trademark of Modbus-IDA.
• EtherNet/IP is a trademark of the ODVA.
• Other companies and product names mentioned in this manual are trademarks of those companies.
i.2 General Safety
i.2 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 Yaskawa or a Yaskawa representative and
provide the manual number shown on the front cover.
• If nameplate becomes worn or damaged, order a replacement from Yaskawa or a Yaskawa representative.
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.
i.2 General Safety
 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.
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.
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.
Make sure the protective earthing conductor complies with technical standards and local safety regulations.
When an EMC filter is installed or with models CIMR-A4A0414 and larger, the leakage current exceeds 3.5 mA.
Therefore according to IEC/EN 61800-5-1 automatic power supply interruption in case of discontinuity of the
protective earthing conductor must be provided or a protective earthing conductor with a cross section of at least 10
mm2 (Cu) or 16 mm2 (Al) must be used.
Use appropriate equipment for residual current monitoring/detection (RCM/RCD).
This drive can cause a residual current with a DC component in the protective earthing conductor. Where a residual
current operated protective or monitoring device is used for protection in case of direct or indirect contact, always use
an RCM or RCD of type B according to IEC/EN 60755.
i.2 General Safety
WARNING
Fire Hazard
Do not use an improper voltage source.
Failure to comply could result in death or serious injury by fire.
Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.
Crush Hazard
Do not use this drive in lifting applications without installing external safety circuitry to prevent accidental
dropping of the load.
The drive does not possess built-in load drop protection for lifting applications.
Failure to comply could result in death or serious injury from falling loads.
Install electrical and/or mechanical safety circuit mechanisms independent of drive circuitry.
If using a crane or a lifter to transport the drive, make sure that only qualified personnel are allowed operating.
Incorrect operation may cause the drive to suddenly drop, resulting in serious injury.
Only allow qualified personnel to operate a crane or hoist to transport the drive.
Failure to comply could result in death or serious injury from falling equipment.
CAUTION
Crush Hazard
Do not carry the drive by the front cover.
Failure to comply may result in minor or moderate injury from the main body of the drive falling.
i.2 General Safety
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 or megger test on any part of the drive.
Failure to comply could result in damage to the sensitive devices within the drive.
Do not operate damaged equipment.
Failure to comply could result in further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
If a fuse is blown or equipment for residual current monitoring/detection (RCM/RCD) is tripped, check the
wiring and the selection of the peripheral devices.
Check for short circuits or ground faults on the secondary side of fuses and RCM/RCDs and check the wiring and the
selection of peripheral devices. Remove the cause of the problem and then turn the power supply off and on again. If
the cause cannot be identified, do not turn on the power supply or attempt to operate the equipment.
Do not restart the drive or immediately operate the peripheral devices if a fuse is blown or equipment for
residual current monitoring/detection (RCM/RCD) is tripped.
Check the wiring and the selection of peripheral devices to identify the cause.
Contact Yaskawa or a Yaskawa representative before restarting the drive or the peripheral devices if the cause cannot
be identified.
Install adequate branch circuit short circuit protection per applicable codes.
Failure to comply could result in damage to the drive.
The drive is suitable for circuits capable of delivering not more than 100,000 RMS symmetrical Amperes, 240 Vac
maximum (200 V Class) 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.
i.2 General Safety
 Application Notes
 Life of the Motor Bearing
In applications involving constant speed over long periods, such as fans, pumps, extruders, and textile machinery, the life
of the motor bearing may be shortened. This is called bearing electrolytic corrosion. The installation of a zero-phase
reactor between the drive and motor, and the utilization of a motor with insulated bearings are effective countermeasures.
Details can be found in the technical documentation. Contact Yaskawa or a Yaskawa representative for more information.
 Selection
Installing a Reactor
An AC or DC reactor can be used for the following:
• to suppress harmonic current.
• to smooth peak current that results from capacitor switching.
• when the power supply is above 600 kVA.
• when the drive is running from a power supply system with thyristor converters.
Note: A DC reactor is built in to the drive models 2A0110 to 2A0415 and 4A0058 to 4A1200.
Figure i.1
4000 Power supply harmonics

reactor required
Power Supply
Capacity (kVA)
600
Reactor
unnecessary
0
60 400
Drive Capacity (kVA)
Figure i.1 Installing a Reactor

Drive Capacity
For specialized motors, make sure that the motor rated current is less than rated output current for the drive. When
running more than one motor in parallel from a single drive, the capacity of the drive should be larger than 1.1 times of
the total motor rated current.
Starting Torque
The overload rating for the drive determines the starting and accelerating characteristics of the motor. Expect lower
torque than when running from line power. To get more starting torque, use a larger drive or increase both the motor and
drive capacity.
Emergency Stop
When the drive faults out, the output is shut off. This, however, does not stop the motor immediately. Some type of
mechanical brake may be needed if it is necessary to halt the motor faster than the Fast Stop function is able to.
Options
The B1, B2, -, +1, +2, and +3 terminals are used to connect optional devices. Connect only A1000-compatible devices.
Repetitive Starting/Stopping
Cranes (hoists), elevators, punching presses, and other such applications with frequent starts and stops often exceed
150% of their rated current values. Heat stress generated from repetitive high current can shorten the life span of the
IGBTs. The expected lifesaving for the IGBTs is about 8 million start and stop cycles with a 2 kHz carrier frequency and
a 150% peak current.
Yaskawa recommends lowering the carrier frequency, particularly when audible noise is not a concern. The user can also
choose to reduce the load, increase the acceleration and deceleration times, or switch to a larger drive. This will help keep
peak current levels under 150%. Be sure to check the peak current levels when starting and stopping repeatedly during
the initial test run, and make adjustments accordingly.
For crane-type applications using an inching function in which the motor is quickly started and stopped, Yaskawa
recommends the following to ensure motor torque levels:
i.2 General Safety
• Select a large enough drive so that peak current levels remain below 150% of the drive rated current.
• The drive should be one frame size larger than the motor.
 Installation
Enclosure Panels
Keep the drive in a clean environment by either selecting an area free of airborne dust, lint, and oil mist, or install the
drive in an enclosure panel. Be sure to leave the required space between drives to provide for cooling, and that proper
measures are taken so that the ambient temperature remains within allowable limits. Keep flammable materials away
from the drive. If the drive must be used in an area where it is subjected to oil mist and excessive vibration, protective
designs are available. Contact Yaskawa or a Yaskawa representative for details.
Installation Direction
The drive should be installed upright as specified in the manual. For more information on installation, refer to
Mechanical Installation on page 46.
 Settings
Upper Limits
The drive is capable of running the motor up to 400 Hz. Due to the danger of accidentally of operating at high speed, be
sure to set the upper limit for the frequency. The default setting for the maximum output frequency is 50 Hz.
DC Injection Braking
Motor overheat can result if there is too much current used during DC Injection Braking, or if the time for DC Injection
Braking is too long.
Acceleration/Deceleration Times
Acceleration and deceleration times are affected by how much torque the motor generates, the load torque, and the inertia
moment. Set a longer accel/decel time when Stall Prevention is enabled. The accel/decel times are lengthened for as long
as the Stall Prevention function is operating. For faster acceleration and deceleration, install one of the braking options
available or increase the capacity of the drive.
 General Handling
Wiring Check
Never connect the power supply lines to output terminals U/T1, V/T2, or W/T3. Doing so will destroy the drive. Be sure
to perform a final check of all sequence wiring and other connections before turning the power on. Make sure there are
no short circuits on the control terminals (+V, AC, etc.), as this could damage the drive.
Selecting a Circuit Breaker or Leakage Circuit Breaker
Always install equipment for residual current monitoring/detection (RCM/RCD) on the power supply side to protect
drive wiring and to prevent secondary damage if a failure occurs. The RCM/RCD should be designed for use with an AC
drive (e.g. Type B according to IEC/EN 60755).
Select a MCCB (Molded Case Circuit Breaker) or RCM/RCD with a rated current that is 1.5 to 2 times higher than the
rated current of the drive in order to avoid nuisance trips caused by harmonics in the drive input current. Also refer to
Installing a Molded Case Circuit Breaker (MCCB) and Equipment for Residual Current Monitoring/Detection
(RCM/RCD) on page 432.
NOTICE: Prevent Equipment Damage. For models CIMR-A4A0930 and 4A1200, make sure to install a fuse and equipment for
residual current monitoring/detection (RCM/RCD). Failure to comply may result in serious damage to the facilities in case the drive is
defected. Refer to Wiring Fuses for the CIMR-A4A0930 and 4A1200 on page 72.
Magnetic Contactor Installation

Use a magnetic contactor (MC) to ensure that power to the drive can be completely shut off when necessary. The MC
should be wired so that it opens when a fault output terminal is triggered.
Avoid switching a MC on the power supply side more frequently than once every 30 minutes. Frequent switching can
cause damage to the drive.
i.2 General Safety
Inspection and Maintenance

Capacitors in the drive take time to discharge even after the power has been shut off. After shutting off the power, wait
for at least the amount of time specified on the drive before touching any components.
The heatsink can become quite hot during operation, and proper precautions should be taken to prevent burns. When
replacing the cooling fan, shut off the power and wait at least 15 minutes to be sure that the heatsink has cooled down.
Even when the power has been shut off for a drive running a PM motor, voltage continues to be generated at the motor
terminals while the motor coasts to stop. Take the precautions described below to prevent shock and injury:
• In Applications where the machine can still rotate even though the drive has fully stopped a load switch for
disconnecting motor and drive should be installed to the output side of the drive.
• Do not allow an external force to rotate the motor beyond the maximum allowable speed, also when the drive has been
shut off.
• Wait for at least the time specified on the warning label after opening the load switch on the output side before
inspecting the drive or performing any maintenance.
• Do not open and close the load switch while the motor is running, as this can damage the drive.
• If the motor is coasting, make sure the power to the drive is turned on and the drive output has completely stopped
before closing the load switch.
Wiring
All wire ends should use ring terminals for UL/cUL compliance. Use only the tools recommended by the terminal
manufacturer for crimping.
Transporting the Drive
Never steam clean the drive.
During transport, keep the drive from coming into contact with salts, fluorine, bromine, phthalate ester, and other such
harmful chemicals.
 Notes on Motor Operation

 Using a Standard Motor
Low Speed Range
The cooling fan of a standard motor is usually designed to sufficiently cool the motor at the rated speed. As the
self-cooling capability of such a motor reduces with the speed, applying full torque at low speed will possibly damage the
motor. To prevent motor damage from overheat, reduce the load torque as the motor slows.
Insulation Tolerance
Consider voltage tolerance levels and insulation in applications with an input voltage of over 440 V or particularly long
wiring distances. Contact Yaskawa or a Yaskawa representative for consultation.
High Speed Operation
Problems may occur with the motor bearings and dynamic balance of the machine when operating a motor beyond its
rated speed. Contact the motor or machine manufacturer.
Torque Characteristics
Torque characteristics differ compared to operating the motor directly from line power. The user should have a full
understanding of the load torque characteristics for the application.
Vibration and Shock
A1000 lets the user choose between high carrier PWM control and low carrier PWM. Selecting high carrier PWM can
help reduce motor oscillation.
• Take particular caution when using a variable speed drive for an application that is conventionally run from line power
at a constant speed. If resonance occurs shock-absorbing rubber should be installed around the base of the motor and
the Jump frequency function should be enabled to prevent continuous operation in the resonant frequency range.
• Mechanical resonance can occur with long motor shafts and in applications such as turbines, blowers, and fans with
high inertia loads. Use Closed Loop Vector Control when these applications experience mechanical resonance
problems.
i.2 General Safety
Audible Noise
Noise created during run varies by the carrier frequency setting. When using a high carrier frequency, audible noise from
the motor is comparable to the motor noise generated when running from line power. Operating above the rated min-1,
however, can create unpleasant motor noise.
 Using a Synchronous Motor
• Contact Yaskawa or a Yaskawa representative if you plan to use any other synchronous motor not endorsed by
Yaskawa.
• A single drive is not capable of running multiple synchronous motors at the same time. Use a standard induction motor
for such setups.
• At start, a synchronous motor may rotate slightly in the opposite direction of the Run command depending on
parameter settings and rotor position.
• The amount of starting torque that can be generated differs by each control mode and by the type of motor being used.
Set up the motor with the drive after verifying the starting torque, allowable load characteristics, impact load tolerance,
and speed control range.
Contact Yaskawa or a Yaskawa representative if you plan to use a motor that does not fall within these specifications.
• In Open Loop Vector Control for PM motors, braking torque is less than 125% when running between 20% to 100%
speed, even with a braking resistor. Braking torque drops to less than half when running at less than 20% speed.
• In Open Loop Vector Control for PM motors, the allowable load inertia moment is approximately 50 times higher than
the motor inertia moment or less. Contact Yaskawa or a Yaskawa representative concerning applications with a larger
inertia moment.
• When using a holding brake in Open Loop Vector Control for PM motors, release the brake prior to starting the motor.
Failure to set the proper timing can result in speed loss. Not for use with conveyor, transport, or hoist type applications.
• To restart a coasting motor rotating at over 200 Hz while in the V/f control mode, use the Short Circuit Braking
function to first bring the motor to a stop. Short Circuit Braking requires a special braking resistor. Contact Yaskawa or
a Yaskawa representative for details.
Speed Search can be used to restart a coasting motor rotating slower than 200 Hz. If the motor cable is relatively long,
however, the motor should instead be stopped using Short Circuit Braking, which forces the motor to stop by creating a
short-circuit in the motor windings.
• If oC (Overcurrent), STo (Pull-Out Detection) or LSo (LSo Fault) occurs, adjust the motor by retrying Speed Search
and using the Short Circuit Braking function on starting.
 Applications with Specialized Motors

 Applications with Specialized Motors
Multi-Pole Motor
Because the rated current will differ from a standard motor, be sure to check the maximum current when selecting a
drive. Always stop the motor before switching between the number of motor poles. If a regenerative overvoltage fault
occurs or if overcurrent protection is triggered, the motor will coast to stop.
Submersible Motor
Because motor rated current is greater than a standard motor, select the drive capacity accordingly. Be sure to use a large
enough motor cable to avoid decreasing the maximum torque level on account of voltage drop caused by a long motor
cable.
Explosion-Proof Motor
Both the motor and drive need to be tested together to be certified as explosion-proof. The drive is not designed for
explosion proof areas.
Furthermore, if an encoder is attached to an explosion-proof motor make sure the encoder is explosion-proof too. Use an
insulating signal converter for connecting the encoder signal lines to the drives speed feedback option card.
Geared Motor
To avoid gear damage when operating at low speeds or very high speeds, make sure that both the gear and lubricant are
rated for the desired speed range. Consult with the manufacturer for applications that require operation outside the rated
speed range of the motor or gear box.
i.2 General Safety
Single-Phase Motor
Variable speed drives are not designed to operate with single phase motors. Using capacitors to start the motor causes a
high-frequency current to flow to the capacitors and can damage the capacitors. A split-phase start or a repulsion start can
burn out the starter coils because the internal centrifugal switch is not activated. The drive is for use with three-phase
motors only.
Motor with Brake
Caution should be taken when using a drive to operate a motor with a built-in holding brake. If the brake is connected to
the output side of the drive, it may not release at start due to low voltage levels. A separate power supply should be
installed for the motor brake. Motors with a built-in brake tend to generate a fair amount of noise when running at low
speeds.
 Notes on Power Transmission Parts (belts, chains, gear boxes, ...)
Installing a drive in a machine that was directly connected to the power supply allows to adjust the machine speed.
Continuous operation above or below the rated speed can wear on lubrication material in gear boxes and other power
transmission parts. In order to avoid machine damage make sure lubrication is sufficient within the whole speed range.
Note that operation above the rated speed can increase the noise generated by the machine.
i.2 General Safety
 Drive Label Warnings

Always heed the warning information listed in Figure i.2 in the position shown in Figure i.3.
Figure i.2
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 i.2 Warning Information
Figure i.3
F1 F2
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.
400V
Figure i.3 Warning Information Position
 Warranty Information
 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 Yaskawa or a
Yaskawa representative.
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
This chapter explains how to inspect the drive upon receipt, and gives and overview of the
different enclosure types and components.
1.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

1.2 GENERAL DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
1.3 MODEL NUMBER AND NAMEPLATE CHECK. . . . . . . . . . . . . . . . . . . . . . . . . . . 32
1.4 DRIVE MODELS AND ENCLOSURE TYPES . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
1.5 COMPONENT NAMES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
1.1 Section Safety
1.1 Section Safety

CAUTION
Do not carry the drive by the front cover or the terminal cover.
Failure to comply may cause the main body of the drive to fall, resulting in minor or moderate injury.
NOTICE
A motor connected to a PWM drive may operate at a higher temperature than a utility-fed motor and the
operating speed range may reduce motor cooling capacity.
Ensure that the motor is suitable for drive duty and/or the motor service factor is adequate to accommodate the
additional heating with the intended operating conditions.
1.2 General Description

 A1000 Model Selection
Table 1.1 gives a reference for drive selection depending on the motor power and Normal or Heavy Duty rating.
Note: The models and capacities in shown here are based on standard settings and operation conditions. Derating is required for higher
carrier frequencies and higher ambient temperatures.
Table 1.1 A1000 Models
3-Phase 200 V Class 3-Phase 400 V Class
Motor Power Heavy Duty Rating (HD) Normal Duty Rating (ND) Heavy Duty Rating (HD) Normal Duty Rating (ND)
(kW) Rated Output Rated Output Rated Output Rated Output
Model CIMR-A Model CIMR-A Model CIMR-A Model CIMR-A
Current (A) Current (A) <3> Current (A) Current (A) <3>
0.55 2A0004 3.2 <1> – – 4A0002 1.8 <1> – –
0.75 2A0006 5 <1> 2A0004 3.5 4A0004 3.4 <1> 4A0002 2.1
1.1 – – 2A0006 6 – – – –
1.5 2A0010 8 <1> – – 4A0005 4.8 <1> 4A0004 4.1
2.2 2A0012 11 <1> 2A0010 9.6 4A0007 5.5 <1> 4A0005 5.4
3.0 – – 2A0012 12 4A0009 7.2 <1> 4A0007 6.9
4.0 2A0021 17.5 <1> – – 4A0011 9.2 <1> 4A0009 8.8
5.5 2A0030 25 <1> 2A0021 21 4A0018 14.8 <1> 4A0011 11.1
7.5 2A0040 33 <1> 2A0030 30 4A0023 18 <1> 4A0018 17.5
11 2A0056 47 <1> 2A0040 40 4A0031 24 <1> 4A0023 23
15 2A0069 60 <1> 2A0056 56 4A0038 31 <1> 4A0031 31
18.5 2A0081 75 <1> 2A0069 69 4A0044 39 <1> 4A0038 38
22 2A0110 85 <1> 2A0081 81 4A0058 45 <1> 4A0044 44
30 2A0138 115 <1> 2A0110 110 4A0072 60 <1> 4A0058 58
37 2A0169 145 <1> 2A0138 138 4A0088 75 <1> 4A0072 72
45 2A0211 180 <2> 2A0169 169 4A0103 91 <1> 4A0088 88
55 2A0250 215 <2> 2A0211 211 4A0139 112 <2> 4A0103 103
75 2A0312 283 <2> 2A0250 250 4A0165 150 <2> 4A0139 139
90 2A0360 346 <2> 2A0312 312 4A0208 180 <2> 4A0165 165
2A0415 415 <2> 2A0360 360 4A0250 216 <2> 4A0208 208
110
– – 2A0415 415 – – – –
132 – – – – 4A0296 260 <2> 4A0250 250
160 – – – – 4A0362 304 <2> 4A0296 296
185 – – – – 4A0414 370 <2> 4A0362 362
Receiving
220 – – – – 4A0515 450 <3> 4A0414 414
250 – – – – – – 4A0515 515
315 – – – – 4A0675 605 <3> – –
355 – – – – – – 4A0675 675
450 – – – – 4A0930 810 <3> – – 1
500 – – – – – – 4A0930 930
560 – – – – 4A1200 1090 <3> – –
630 – – – – – – 4A1200 1200
<1> These values assume the carrier frequency is not set higher than 8 kHz.
<2> These values assume the carrier frequency is not set higher than 5 kHz.
<3> These values assume the carrier frequency is set to 2 kHz.
Note: Current derating is required when setting the carrier frequency higher. Refer to Carrier Frequency Derating on page 452 for
details.
 Control Mode Selection

Table 1.2 gives an overview of the A1000 control modes and their various features.
Table 1.2 Control Modes and their Features
Motor Type Induction Motors Permanent Magnet Motors Comments
Control Mode V/f V/f w/PG OLV CLV OLV/PM AOLV/PM CLV/PM –
Parameter Setting A1-02 = 0 A1-02 = 1 A1-02 = 2 A1-02 = 3 A1-02 = 5 A1-02 = 6 A1-02 = 7 Default Setting is V/f Control.
V/f control Open Loop
Open Loop Closed Loop
using motor Open Loop Closed Loop Vector control
Basic Description V/f control Vector control Vector control –
speed Vector control Vector control for IPM
for PM motors for PM motors
feedback motors
Motor Type IM IM IM IM PM IPM PM –
Multi Motor YES N/A N/A N/A N/A N/A N/A –
Motor data
YES N/A N/A N/A N/A N/A N/A –
unknown
High Speed
N/A YES YES YES YES YES YES –
Accuracy
Type of High Speed
Applications N/A N/A YES YES N/A YES YES –
Response
Zero Speed
N/A N/A N/A YES N/A YES YES –
Control
Torque Control
N/A N/A N/A YES N/A YES YES –
Operation
Torque Limit
N/A N/A YES YES N/A N/A YES –
Operation
PG-B3 or PG-B3 or
PG Option Card N/A N/A N/A N/A PG-X3 –
PG-X3 PG-X3
May fluctuate with characteristics and
motor temperature.
Enabled for 1:100 when n8-57 = 1 (high
frequency injection enabled). In this case,
Speed Control 1:20 perform High Frequency Injection
1:40 1:40 1:200 1:1500 1:20 1:1500
Range 1:100 Parameter Tuning after setting the motor
parameters or performing PM Stationary/
Rotational Auto-Tuning. Refer to T2-01:
PM Motor Auto-Tuning Mode Selection
on page 130 for details.
Induction Motor: Speed deviation rate
between speed reference value and motor
speed (100% = rated speed, motor
temperature 25°C ±10°C) when operating
Speed Accuracy ±2 to 3% ±0.03% ±0.2% ±0.02% ±0.2% ±0.2% ±0.02% at normal status and when load is stable.
PM motor: Speed deviation when
Control operating at constant speed may fluctuate
Characteristics with characteristics and motor temperature
(25°C ±10°C).
Max. frequency of a speed reference signal
3 Hz 3 Hz
Speed Response 10 Hz 50 Hz 10 Hz 10 Hz 50 Hz that the drive can follow. May fluctuate
(approx.) (approx.)
with characteristics and motor temperature.
May fluctuate with characteristics and
motor temperature.
Performance may differ by capacity.
200% at 0 min-1 enabled when n8-57 = 1
100% at 5%
(high frequency injection enabled). In this
200% at 200% at 100% at speed 200% at
Starting Torque 150% at 3 Hz 150% at 3 Hz case, perform High Frequency Injection
0.3 Hz 0 min-1 5% speed 200% at 0 min-1
Parameter Tuning after setting the motor
0 min-1
parameters or performing PM Stationary/
Rotational Auto-Tuning. Refer to T2-01:
PM Motor Auto-Tuning Mode Selection
Motor Type Induction Motors Permanent Magnet Motors Comments

• Stationary
• Rotational • Stator
• Energy • Energy
• Rotational • Stationary Resistance
Saving Saving
• Stationary • Line to • Stationary • Stationary • ASR Automatically adjusts parameter settings
Tuning Tuning
Auto-Tuning • Line to line • Stator • Stator • Inertia that concern electrical characteristics of the
• Line to • Line to
line resistance Resistance Resistance • Encoder motor.
line line
resistance • ASR Offset
resistance resistance
• Inertia • Back EMF
Constant
Sets the maximum torque for the motor to
Torque Limit N/A N/A YES YES N/A YES YES
protect the load and connected machinery.
Allows direct control of motor torque for
Torque Control N/A N/A N/A YES N/A N/A YES
tension control and other such applications.
Sets the slip for the load torque of the
Droop Function N/A N/A N/A YES N/A N/A YES
motor. Used for motor load distribution.
Zero Servo
N/A N/A N/A YES N/A N/A YES Locks the rotor position.
Control
Bi-directional speed detection of a coasting
Speed Search YES YES YES – YES YES YES
motor to restart it without stopping.
Application- Energy-Saving YES (IPM YES (IPM Saves energy by always operating the
YES YES YES YES N/A
Specific Control motors only) motors only) motor at its maximum efficiency.
Increases motor loss to allow for faster
High Slip deceleration than normal without the use of
YES YES N/A N/A N/A N/A N/A
Braking a braking resistor. The effectiveness may
vary based on motor characteristics.
Improves speed accuracy when the load
Feed Forward
N/A N/A N/A YES N/A N/A YES changes by compensating effects of the
Control
system inertia.
Decelerates the drive to allow it to ride
Kinetic Energy
YES YES YES YES YES YES YES through a momentary power loss and
Buffering
continue operation.
Overexcitation Provides fast deceleration without using a
YES YES YES YES N/A N/A N/A
Deceleration braking resistor.
Inertia Tuning, Provides automatic Speed Control and
N/A N/A N/A YES N/A N/A YES
ASR Tuning Feed Forward function tuning.
Prevents overvoltage by increasing speed
Overvoltage
YES YES YES YES YES YES YES during regeneration. Never use this
Suppression
function with hoist or crane applications.
High Frequency YES (IPM Greatly increases the speed control range
N/A N/A N/A N/A N/A N/A
Injection motor) of an IPM motor.
Receiving
1
1.3 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 Yaskawa or a Yaskawa
representative.
 Nameplate
Figure 1.1
Normal Duty Amps / Heavy Duty Amps
AC drive model MODEL : CIMR-AC2A0110AAA

MAX APPLI. MOTOR : 30kW / 22kW REV : B
Input specifications INPUT : AC3PH 200-240V 50/60Hz 111A/82A
IND.CONT.EQ.
Output specifications OUTPUT : AC3PH 0-240V 0-400Hz 110A/85A 7J48
MASS : 21 kg PRG : 1010 Software version <1>
Lot number O/N :
Serial number S/N : GL-COMPLIANT
FILE NO : E131457 IP00

PASS
YASKAWA ELECTRIC CORPORATION MADE IN JAPAN
2-1 Kurosaki-shiroishi, Yahatanishi-Ku, Kitakyushu 806-0004 Japan <2>
Enclosure type
<1> Drive models CIMR-A4A0930 and 4A1200 use software version 301. The
availability of certain functions on these models differs from models
CIMR-A2A0004 to 2A0415 and 4A0002 to 4A0675, which use software version
10. Refer to Parameter Differences for models CIMR-A4A0930 and 4A1200
<2> The address of the head office of Yaskawa Electric Corporation (responsible for
product liability) is shown on the nameplate.
Figure 1.1 Nameplate Information
 Model Number
CIMR - A C 2 A 0004 F A A
Drive A1000 Customized Enclosure Design
No. No.
Series Specifications Type Revision
A Standard model A IP00 Order
No. Region
Code F IP20/UL Type 1
A Japan
C Europe
Environmental
No.
U USA Specification <1>
A Standard
No. Voltage Class
2 3-phase, 200-240 Vac
4 3-phase, 380-480 Vac
Refer to Table 1.3 and Table 1.4.
<1> Contact Yaskawa or a Yaskawa representative for information about using drives in
environments other than specified in this manual.
 Three-Phase 200 V
Table 1.3 Model Number and Specifications (200 V)
Heavy Duty (HD) Normal Duty (ND)
[C6-01 = 0] [C6-01 = 1]
No. Max. Motor Capacity kW Rated Output Current A No. Max. Motor Capacity kW Rated Output Current A
0004 0.55 3.2 0004 0.75 3.5
0006 0.75 5 0006 1.5 6.0
0010 1.5 8 0010 2.2 9.6
0012 2.2 11 0012 3.0 12
0021 4.0 17.5 0021 5.5 21
0030 5.5 25 0030 7.5 30
0040 7.5 33 0040 11 40
0056 11 47 0056 15 56
0069 15 60 0069 18.5 69
0081 18.5 75 0081 22 81
0110 22 85 0110 30 110
0138 30 115 0138 37 138
0169 37 145 0169 45 169
0211 45 180 0211 55 211
0250 55 215 0250 75 250
0312 75 283 0312 90 312
0360 90 346 0360 110 360
0415 110 415 0415 110 415
 Three-Phase 400 V
Table 1.4 Model Number and Specifications (400 V)
Heavy Duty (HD) Normal Duty (ND)
[C6-01 = 0] [C6-01 = 1]
No. Max. Motor Capacity kW Rated Output Current A No. Max. Motor Capacity kW Rated Output Current A
0002 0.55 1.8 0002 0.75 2.1
0004 1.1 3.4 0004 1.5 4.1
0005 1.5 4.8 0005 2.2 5.4
0007 2.2 5.5 0007 3.0 6.9
Receiving
0009 3.0 7.2 0009 4.0 8.8
0011 4.0 9.2 0011 5.5 11.1
0018 5.5 14.8 0018 7.5 17.5
0023 7.5 18 0023 11 23
0031 11 24 0031 15 31
1
0038 15 31 0038 18.5 38
0044 18.5 39 0044 22 44
0058 22 45 0058 30 58
0072 30 60 0072 37 72
0088 37 75 0088 45 88
0103 45 91 0103 55 103
0139 55 112 0139 75 139
0165 75 150 0165 90 165
0208 90 180 0208 110 208
0250 110 216 0250 132 250
0296 132 260 0296 160 296
0362 160 304 0362 185 362
0414 185 370 0414 220 414
0515 220 450 0515 250 515
0675 315 605 0675 355 675
0930 450 810 0930 500 930
1200 560 1090 1200 630 1200
Note: 1. Set C6-01 to select Normal duty and Heavy duty (default).
2. Refer to Drive Models and Enclosure Types on page 34 for differences regarding enclosure protection types and component
descriptions.
1.4 Drive Models and Enclosure Types
1.4 Drive Models and Enclosure Types

Two types of enclosures are offered for A1000 drives.
• IP00 enclosure models are designed for installation in an enclosure panel that serves to protect personnel from injury
caused by accidentally touching live parts.
• IP20/UL Type 1 enclosure models mount to an indoor wall or in an enclosure panel.
Table 1.5 describes drive enclosures and models.
Table 1.5 Drive Models and Enclosure Types
Enclosure Type
Voltage Class IP20/UL Type 1 Enclosure IP00 Enclosure
CIMR-A <1> CIMR-A
2A0004F –
2A0006F –
2A0010F –
2A0012F –
2A0021F –
2A0030F –
2A0040F –
2A0056F –
Three-Phase 2A0069F –
200 V Class 2A0081F –
– 2A0110A
– 2A0138A
– 2A0169A
– 2A0211A
– 2A0250A
– 2A0312A
– 2A0360A
– 2A0415A
4A0002F –
4A0004F –
4A0005F –
4A0007F –
4A0009F –
4A0011F –
4A0018F –
4A0023F –
4A0031F –
4A0038F –
4A0044F –
– 4A0058A
Three-Phase – 4A0072A
400 V Class – 4A0088A
– 4A0103A
– 4A0139A
– 4A0165A
– 4A0208A
– 4A0250A
– 4A0296A
– 4A0362A
– 4A0414A
– 4A0515A
– 4A0675A
– 4A0930A
– 4A1200A
<1> Removing the top protective cover from an IP20/UL Type 1 enclosure drive voids UL Type 1 protection but still keeps IP20 conformity.
1.5 Component Names
1.5 Component Names

This section gives and overview of the drive components described in this manual.
Note: 1. See Using the Digital Operator on page 95 for a description of the operator keypad.
2. The drive may have no cooling fans or only one cooling fan depending on the model.
 IP20/UL Type 1 Enclosure

 Three-Phase AC200 V CIMR-A2A0004F to 2A0081F
Three-Phase AC400 V CIMR-A4A0002F to 4A0044F
Figure 1.2
L
K A
B
J C
D
E
I
H
G
F
Receiving
A – Front cover <1> I – Optional 24 V DC power
B – USB port (type-B) supply connector cover
C – Digital Operator J – Heatsink
D – Terminal cover K – Mounting hole
1
E – Terminal cover screw L – Top protective cover
F – Rubber bushing M – Cooling fan <1>
G – Bottom cover N – Fan cover
H – Terminal board
<1> The following drive models have a single cooling fan: CIMR-A2A0021F,
CIMR-A4A0007F through 0011F. Drives CIMR-A2A0004F through 0012F and
CIMR-A4A0002F through 0005F do not have a cooling fan or a cooling fan cover.
Figure 1.2 Exploded View of IP20/UL Type 1 Enclosure Components (CIMR-A2A0030F)
1.5 Component Names
 IP00 Enclosure
 Three-Phase AC200 V CIMR-A2A0110A, 0138A
Three-Phase AC400 V CIMR-A4A0058A to 0103A
Figure 1.3
J
A
B
I
C
D
E
H F
A – Terminal board H – Optional 24 V DC power

B – Front cover supply connector cover
C – USB port (type-B) I – Heatsink
D – Digital operator J – Mounting hole
E – Drive Cover K – Cooling fan
F – Front cover screw L – Fan cover
G – Terminal cover
Figure 1.3 Exploded View of IP00 Enclosure Components (CIMR-A2A0110A)
1.5 Component Names
 Three-Phase AC200 V CIMR-A2A0169A to 0312A

Figure 1.4
A
B
C
M
L
D
E
F
K G
H
J
A – Fan guard H – Front cover screw

B – Cooling fan I – Terminal cover
C – Fan unit case J – Terminal board
D – Front cover K – Optional 24 V DC power
E – USB port (type-B) supply connector cover
F – Digital operator L – Heatsink
Receiving
G – Drive cover M – Mounting hole
Figure 1.4 Exploded view of IP00 Enclosure Type Components (CIMR-A4A0165A)
1.5 Component Names

Figure 1.5
D
M
E
L F
G H
I
K
A – Fan guard I – Drive cover

B – Cooling fan J – Terminal cover
C – Fan unit case K – Terminal board
D – Circulation fan <1> L – Optional 24 V DC power
E – Front cover supply connector cover
F – USB port (type-B) M – Heatsink
G – Digital operator N – Mounting hole
H – Front cover screw
<1> The following drive models come with a built-in circulation fan.
CIMR-A2A0360, 2A0415
CIMR-A4A0362
1.5 Component Names
 Three-Phase AC400 V CIMR-A4A0414A

Figure 1.6
A
O
B
N
E
K
H
J
I
Receiving
1
A – Fan guard I – Digital operator

B – Cooling fan J – USB port (type-B)
C – Fan unit case K – Front cover
D – Circulation fan L – Terminal board
E – Front cover screw M – Optional 24 V DC power
F – Drive cover 1 supply connector cover
G – Drive cover 2 N – Heatsink
H – Terminal cover O – Mounting hole
1.5 Component Names

Figure 1.7
P A
O
B
L G
K H
J
I
A – Circuitboard cooling fan I – Digital operator

B – Cooling fan J – USB port (type-B)
C – Fan unit case K – Front cover
D – Circulation fan L – Circuitboard cooling fan unit case
E – Front cover screw M – Terminal board
F – Drive cover 1 N – Heatsink
G – Drive cover 2 O – Fan guard
H – Terminal cover P – Mounting hole
Figure 1.7 Exploded view of IP00 Enclosure Type Components (CIMR-A4A0515A, 0675A)
1.5 Component Names
 Three-Phase AC400 V CIMR-A4A0930A,1200A

Figure 1.8
D
T
F
G
R H
I
E
Q
O L
P N
Receiving
A – Cooling fan L – Terminal cover
1
B – Fan unit case (R) M – Circuitboard cooling fan
C – Circulation fan unit case (R)
D – Fan unit case (L) N – Circuitboard cooling fan
E – Terminal board unit case (L)
F – Front cover O – Circuitboard cooling fan
G – USB port (type-B) P – Blind cover
H – Digital operator Q – Filter case
I – Front cover screw R – Heatsink
J – Drive cover 1 S – Fan guard
K – Drive cover 2 T – Mounting hole
1.5 Component Names
 Front Views
Figure 1.9
CIMR-A2A0012F CIMR-A2A0110A
L
L
M M
K K
J N J N
I I
H H
G G
F F A
A B
E
B
E
A – Jumper S5 (Refer to Terminal AM/FM H – DIP switch S2 (Refer to MEMOBUS/

Signal Selection on page 87) Modbus Termination on page 88)
B – DIP Switch S4 (Refer to Terminal A3 I – Slide switch S6 (Refer to Terminal
Analog/PTC Input Selection on DM+ and DM- Output Signal Selection
page 87) on page 88)
C – Protecting cover to prevent miswiring J – DIP switch S1 (Refer to Terminal A2
Input Signal Selection on page 87)
D – Main circuit terminal (Refer to Wiring K – Terminal board connector
the Main Circuit Terminal on page 79)
E – Terminal board (Refer to Control L – Option card connector (CN5-C)
Circuit Wiring on page 80)
F – Ground terminal M – Option card connector (CN5-B)
G – Jumper S3 (Refer to Sinking/Sourcing N – Option card connector (CN5-A)
Mode Selection for Safe Disable
Inputs on page 85)
Figure 1.9 Front View of Drives
2
Mechanical Installation
This chapter explains how to properly mount and install the drive.
2.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

2.2 MECHANICAL INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
2.1 Section Safety
2.1 Section Safety

WARNING
Fire Hazard
Provide sufficient cooling when installing the drive inside an enclosed panel or cabinet.
Failure to comply could result in overheating and fire.
When multiple drives are placed inside the same enclosure panel, install proper cooling to ensure air entering the
enclosure does not exceed 40°C.
Crush Hazard
Use a dedicated lifter when transporting the drive by a lifter.
Failure to comply may result in serious injury or death from falling equipment.
Only use vertical suspension to temporarily lift the drive during installation to an enclosure panel. Do not use
vertical suspension to transport the drive.
Use screws to securely affix the drive front cover, terminal blocks, and other drive components prior to vertical
suspension.
Do not subject the drive to vibration or impact greater than 1.96 m/s2 (0.2 G) while it is suspended by the cables.
Do not attempt to flip the drive over or leave the drive unattended while it is suspended by the wires.
2.1 Section Safety
NOTICE
Equipment Hazard
Prevent foreign matter such as metal shavings or wire clippings from falling into the drive during drive
installation and project construction.
Place a temporary cover over the top during installation. Be sure to remove the temporary cover before start-up, as the
cover will reduce ventilation and cause the unit to overheat.
Observe proper electrostatic discharge (ESD) procedures when handling the drive.
Failure to comply could result in ESD damage to the drive circuitry.
Operating the motor in the low-speed range diminishes the cooling effects, increases motor temperature, and
may lead to motor damage by overheating.
Reduce the motor torque in the low-speed range whenever using a standard blower cooled motor. If 100% torque is
required continuously at low speed, consider using a special drive or vector-control motor. Select a motor that is
compatible with the required load torque and operating speed range.
The speed range for continuous operation differs according to the lubrication method and motor manufacturer.
If the motor is to be operated at a speed higher than the rated speed, consult with the manufacturer.
Continuously operating an oil-lubricated motor in the low-speed range may result in burning.
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-rated motor with reinforced insulation.
Failure to comply could lead to motor winding failure.
Motor vibration may increase when operating a machine in variable-speed mode, if that machine previously
operated at a constant speed.
Install vibration-proof rubber on the motor base or use the frequency jump function to skip a frequency resonating the
machine.
The motor may require more acceleration torque with drive operation than with a commercial power supply.
Set a proper V/f pattern by checking the load torque characteristics of the machine to be used with the motor.
Mechanical
Installation
The rated input current of submersible motors is higher than the rated input current of standard motors.
Select an appropriate drive according to its rated output current. When the distance between the motor and drive is
long, use a cable thick enough to connect the motor to the drive to prevent motor torque reduction.
The current rating differs for a motor with variable pole pitches differs from a standard motor.
2
Check the maximum current of the motor before selecting the drive capacity. Only switch motor poles when the motor
is stopped. Switching between motor during run will trigger overcurrent protection circuitry or result in overvoltage
from regeneration, and the motor will simply coast to stop.
When using an explosion-proof motor, it must be subject to an explosion-proof test in conjunction with the
drive.
This is also applicable when an existing explosion-proof motor is to be operated with the drive. Since the drive itself is
not explosion-proof, always install it in a safe place.
Never lift the drive up while the cover is removed.
This can damage the terminal board and other components.
2.2 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 in Table 2.1.
Table 2.1 Installation Environment
Environment Conditions
Installation Area Indoors
IP20/UL Type 1 enclosure: -10°C to +40°C
IP00 enclosure: -10°C to +50°C
Finless Type: IP20/IP00 enclosure: -10 to +45°C
Ambient Temperature Drive reliability improves in environments without wide temperature fluctuations.
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°C 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, up to 3000 m with derating (for details, refer to Altitude Derating on page 454)
10 to 20 Hz at 9.8 m/s2 <1>
Vibration 20 to 55 Hz at 5.9 m/s2 (Models CIMR-A2A0004 to 2A0211 and 4A0002 to 4A0165) or,
2.0 m/s2 (Models CIMR-A2A0250 to 2A0415 and 4A0208 to 4A1200)
Orientation Install the drive vertically to maintain maximum cooling effects.
<1> Models CIMR-A4A0930 and 4A1200 are rated at 5.9 m/s2.
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 2.1 to maintain proper cooling.
Figure 2.1
Figure 2.1 Correct Installation Orientation
 Single Drive Installation

Figure 2.2 shows the installation distance required to maintain sufficient space for airflow and wiring.
Figure 2.2
Side Clearance Top/Bottom Clearance
A C
B B
C
D D
A
A – 50 mm minimum C – 120 mm minimum

B – 30 mm minimum D – Airflow direction
Figure 2.2 Correct Installation Spacing
Note: IP20/UL Type 1 enclosure and IP00 enclosure models require the same amount of space above and below the drive for
installation.
 Multiple Drive Installation (Side-by-Side Installation)

Models CIMR-A2A0004 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 2.2.
When mounting drives with the minimum clearance of 2 mm according to Figure 2.3, derating must be considered and
parameter L8-35 must be set to 1. Refer to L8-35: Installation Method Selection on page 299.
Figure 2.3
Line up the tops of the drives.
Mechanical
Installation
Side Clearance Top/Bottom Clearance
A C A D
B
B D
A A
A – 50 mm minimum C – 2 mm minimum
B – 30 mm minimum D – 120 mm minimum
Figure 2.3 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/UL Type 1 enclosures are mounted side by side, the top protective covers of all drives must be
removed as shown in Figure 2.4. Refer to Top Protective Cover on page 71 to remove and reattach the top protective
cover.
Figure 2.4
Figure 2.4 IP20/UL Type 1 Side-by-Side Mounting in Enclosure
 Instructions on Installation
Eye bolts are used to install the drive or to temporarily lift the drive when replacing it. The drive can be installed in an
enclosure panel or on a wall. Do not leave the drive suspended by the wires in a horizontal or vertical position for long
periods of time. Do not transport the drive over long distances. Read the following precautions and instructions before
installing the drives.
WARNING! Be sure to observe the following instructions and precautions. Failure to comply could result in minor or moderate injury
and damage to the drive from falling equipment.
• Before using wires to suspend the drive vertically and horizontally, make sure that the drive front cover,
terminal blocks and other drive components are securely fixed with screws.
• Do not subject the drive to vibration or impact greater than 1.96 m/s2 (0.2 G) while it is suspended by the
wires.
• Do not overturn the drive while it is suspended by the wires.
• Do not leave the drive suspended by the wires for long periods of time.
 Horizontal Suspension of the Drive (CIMR-A2A0360, 2A0415, 4A0250 to 4A0675)

To make a wire hanger or frame for use when lifting the drive with a crane, lay the drive in a horizontal position and pass
a wire through the holes of the four eye bolts.
When lifting the drive, confirm that the spring washer is fully closed. If not, the drive may become deformed or damaged
when lifted.
Figure 2.5
A B C D
A – No space between drive and washer C – Space between drive and washer
B – Spring washer: Fully closed D – Spring washer: Open
Figure 2.5 Details of Spring Washers
 Vertical Suspension of the Drive (CIMR-A2A0360, 2A0415, 4A0250 to 4A1200)

CIMR-A2A0360, 2A0415, 4A0250 to 4A0675
When vertical suspension of the drive is required in an enclosure panel, the orientation of the eye bolts for these drive
models can be easily changed by turning the eye bolts counterclockwise 90 degrees.
Figure 2.6
Figure 2.6 Adjusting Angle of Eye Bolts (CIMR-A2A0360, 2A0415, 4A0250 to 4A0675)
CIMR-A4A0930, 4A1200
When suspending the CIMR-A4A0930 or 4A1200 drive with wires, make sure to follow the procedure described
below.
Note: Use a wire long enough to ensure an angle of suspension that is at least 50 degrees. If not, the maximum allowable load of the eye
bolts cannot be guaranteed. Refer to Figure 2.8 for details.
1. Remove the four eye bolts from the drive side panels, and screw them into the holes on the top panel.
Figure 2.7
Eye bolt
Mechanical
Installation
2
Figure 2.7 Location of Eye Bolts (CIMR-A4A0930, 4A1200)

2. Pass wire through the holes of the four eye bolts.
Figure 2.8
Suspending angle:
Wires 50 degree or greater
Eye bolt
Figure 2.8 State of Suspension with Wires

3. Take up the slack in the wires gradually with a crane, and when the wires are confirmed to have stretched tight,
hoist the drive.
4. When ready to install the drive in the enclosure panel, lower the drive. Halt lowing once when the drive has
reached near the floor, and then lower the drive again very slowly.
 Digital Operator Remote Usage

 Remote Operation
The digital operator mounted on the drive can be removed and connected to the drive using a remote control extension
cable up to 3 m long. This makes it easier to operate the drive when it is installed in a location where it can not be
accessed easily.
The digital operator can also be permanently mounted in a remote location like a panel door. A remote control extension
cable and an installation support set (depending on the installation type) will be required.
Note: Refer to Drive Options and Peripheral Devices on page 416 for information on remote control extension cables and installation
support sets.
Figure 2.9
Drive Operator
Comm Port
S / N : J007XE273710001
Communication Cable Connector
Figure 2.9 Communication Cable Connection
 Digital Operator Remote Installation

Digital Operator Dimensions
12.2 1.6 Installation holes (2-M3 screws, depth 5)
S / N : J007XE273710001
90
78
15
7.9 44
60
minimum
50 Unit: mm
Figure 2.10 Digital Operator Dimensions

Installation Types and Required Materials
There are two ways the digital operator can be mounted to an enclosure:
1. External/face-mount installs the operator outside the enclosure panel
2. Internal/flush-mount installs the operator inside the enclosure panel
Table 2.2 Digital Operator Installation Methods and Required Tools
Installation Method Description Installation Support Sets Model Required Tools
Simplified installation with the digital
External/Face-Mount operator is mounted on the outside of – – Phillips screwdriver (#1)
the panel with two screws.
Installation Support Set A
(for mounting with screws through EZZ020642A Phillips screwdriver (#1, #2)
Encloses the digital operator in the holes in the panel)
Internal/Flush-Mount panel. The digital operator is flush
with the outside of the panel. Installation Support Set B
Phillips screwdriver (#1)
(for use with threaded studs that are EZZ020642B
Wrench (7 mm)
fixed to the panel)
Note: Prevent foreign matter such as metal shavings or wire clippings from falling into the drive during installation and project
construction. 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.
External/Face-Mount
1. Cut an opening in the enclosure panel for the digital operator as shown in Figure 2.12.
2. Position the digital operator so the display faces outwards, and mount it to the enclosure panel as shown in
Figure 2.11.
Figure 2.10
Digital Operator M3 × 6
Phillips recessed
pan head machine screw × 2
Enclosure panel
Unit: mm
Figure 2.11 External/Face-Mount Installation
Figure 2.11
22
78
26
22
2
22
14
Unit: mm
Mechanical
Installation
Figure 2.12 Panel Cut-Out Dimensions (External/Face-Mount Installation)
Internal/Flush-Mount
An internal flush-mount requires an installation support set that must be purchased separately. Contact Yaskawa or a
Yaskawa representative to order an installation support set and mounting hardware. Figure 2.13 illustrates how to attach 2
the Installation Support Set A.
1. Cut an opening in the enclosure panel for the digital operator as shown in Figure 2.14.
2. Mount the digital operator to the installation support.
3. Mount the installation support set and digital operator to the enclosure panel.
Figure 2.12
Enclosure panel
Digital Operator
M4 × 10 Installation Support Set A
Phillips truss head screw × 4 M3 × 6
(for panel widths between 1 and 1.6) Phillips recessed
pan head machine screw × 2
Unit: mm
Figure 2.13 Internal/Flush Mount Installation

Note: For environments with a significant amount of dust or other airborne debris, use a gasket between the enclosure panel and the
digital operator.

Figure 2.13
89 +0.5
0
120
45
59 +0.5
0
Unit : mm
Figure 2.14 Panel Cut-Out Dimensions (Internal/Flush-Mount Installation)
 Exterior and Mounting Dimensions

Table 2.3 Drive Models and Types
Drive Model CIMR-A
Protective Design Three-Phase Three-Phase Page
200 V Class 400 V Class
4A0002F
2A0004F
4A0004F
2A0006F
4A0005F
2A0010F
4A0007F
2A0012F
4A0009F
IP20/UL Type 1 2A0021F
4A0011F 53
Enclosure 2A0030F
4A0018F
2A0040F
4A0023F
2A0056F
4A0031F
2A0069F
4A0038F
2A0081F
4A0044F
4A0058A
4A0072A
4A0088A
4A0103A
2A0110A
4A0139A
2A0138A
4A0165A
2A0169A
4A0208A
2A0211A
IP00 Enclosure 4A0250A 54
2A0250A
4A0296A
2A0312A
4A0362A
2A0360A
4A0414A
2A0415A
4A0515A
4A0675A
4A0930A
4A1200A
 IP20/UL Type 1 Enclosure Drives

Note: IP20/UL Type 1 enclosure drives are equipped with a top cover. Removing this cover voids UL Type 1 protection but still keeps
IP20 conformity.
W1 4-d
4-d
1.5
W1
1.5
H1
H0
H1
H
H
t1 t1
D1
H2
H2
H3
W D1 W D
D
Figure 1 Figure 2
Table 2.4 Dimensions for IP20/UL Type 1 Enclosure: 200 V Class

Drive Model Dimensions (mm) Weight
Figure
CIMR-A2A W H D W1 H0 H1 H2 H3 D1 t1 t2 d (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
0010 140 260 147 122 – 248 6 – 38 5 – M5 3.2
0012 140 260 147 122 – 248 6 – 38 5 – M5 3.2
0021 1 140 260 164 122 – 248 6 – 55 5 – M5 3.5
0030 140 260 167 122 – 248 6 – 55 5 – M5 4.0
Mechanical
Installation
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
0081 2 220 365 197 192 350 335 8 15 78 5 – M6 9.7
2
Table 2.5 Dimensions for IP20/UL Type 1 Enclosure: 400 V Class
Figure
CIMR-A4A W H D W1 H0 H1 H2 H3 D1 t1 t2 d (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
0011 1 140 260 164 122 – 248 6 – 55 5 – M5 3.5
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
 IP00 Enclosure Drives

W1 4-d
t2
H1
H
t1
H2
D1
Max W2 W Max W2 D
Figure 1
4-d
W1
t2
H1
t1
H2
D1
Max W2 W Max W2 D
Figure 2
4-d
W1
W3 W3 t2
H1
H
t1
H2
D1
D
Max W2 W Max W2
Figure 3
W1
W3 W4 W3 8-d
t2
H1
H
t1
H2
D1
Max W2 W Max W2 D
Figure 4
Table 2.6 Dimensions for IP00 Enclosure: 200 V Class

Figure
CIMR-A2A W H D W1 W2 H1 H2 D1 t1 t2 d (kg)
0110 250 400 258 195 10 385 7.5 100 2.3 2.3 M6 21
0138 275 450 258 220 10 435 7.5 100 2.3 2.3 M6 25
0169 325 550 283 260 10 535 7.5 110 2.3 2.3 M6 37
0211 325 550 283 260 10 535 7.5 110 2.3 2.3 M6 38
1
0250 450 705 330 325 10 680 12.5 130 3.2 3.2 M10 76
0312 450 705 330 325 10 680 12.5 130 3.2 3.2 M10 80
0360 500 800 350 370 10 773 13 130 4.5 4.5 M12 98
0415 500 800 350 370 10 773 13 130 4.5 4.5 M12 99
Table 2.7 Dimensions for IP00 Enclosure: 400 V Class
Mechanical
Dimensions (mm)
Installation
Drive Model Weight
Figure
CIMR-A4A W H D W1 W2 W3 W4 H1 H2 D1 t1 t2 d (kg)
0058 250 400 258 195 10 – –– 385 7.5 100 2.3 2.3 M6 21
0072 275 450 258 220 10 – – 435 7.5 100 2.3 2.3 M6 25
0088 325 510 258 260 10 – – 495 7.5 105 2.3 3.2 M6 36
0103 325 510 258 260 10 – – 495 7.5 105 2.3 3.2 M6 36 2
0139 325 550 283 260 10 – – 535 7.5 110 2.3 2.3 M6 41
1
0165 325 550 283 260 10 – – 535 7.5 110 2.3 2.3 M6 42
0208 450 705 330 325 10 – – 680 12.5 130 3.2 3.2 M10 79
0250 500 800 350 370 10 – – 773 13 130 4.5 4.5 M12 96
0296 500 800 350 370 10 – – 773 13 130 4.5 4.5 M12 102
0362 500 800 350 370 10 – – 773 13 130 4.5 4.5 M12 107
0414 2 500 950 370 370 7.7 – – 923 13 135 4.5 4.5 M12 125
0515 670 1140 370 440 6 220 – 1110 15 150 4.5 4.5 M12 216
3
0675 670 1140 370 440 6 220 – 1110 15 150 4.5 4.5 M12 221
0930 1250 1380 370 1110 6 330 440 1345 15 150 4.5 4.5 M12 545
4
1200 1250 1380 370 1110 6 330 440 1345 15 150 4.5 4.5 M12 555
3
Electrical Installation
This chapter explains proper procedures for wiring the control circuit terminals, motor, and
power supply.
3.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

3.2 STANDARD CONNECTION DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3.3 MAIN CIRCUIT CONFIGURATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.4 TERMINAL BLOCK CONFIGURATION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
3.5 TERMINAL COVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
3.6 DIGITAL OPERATOR AND FRONT COVER. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
3.7 TOP PROTECTIVE COVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
3.8 MAIN CIRCUIT WIRING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
3.9 CONTROL CIRCUIT WIRING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
3.10 CONTROL I/O CONNECTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
3.11 CONNECT TO A PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
3.12 EXTERNAL INTERLOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
3.13 WIRING CHECKLIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
3.1 Section Safety
3.1 Section Safety

DANGER
WARNING
Do not operate equipment with covers removed.
The diagrams in this section may show drives without covers or safety shields to show details. Be sure to reinstall
covers or shields before operating the drives and run the drives according to the instructions described in this manual.
Make sure the protective earthing conductor complies with technical standards and local safety regulations.
When an EMC filter is installed or with models CIMR-A4A0414 and larger, the leakage current exceeds 3.5 mA.
Therefore according to IEC/EN 61800-5-1 automatic power supply interruption in case of discontinuity of the
protective earthing conductor must be provided or a protective earthing conductor with a cross section of at least 10
mm2 (Cu) or 16 mm2 (Al) must be used.
Use appropriate equipment for residual current monitoring/detection (RCM/RCD).
This drive can cause a residual current with a DC component in the protective earthing conductor. Where a residual
current operated protective or monitoring device is used for protection in case of direct or indirect contact, always use
an RCM or RCD of type B according to IEC/EN 60755.
Always ground the motor-side grounding terminal.
Improper equipment grounding could result in death or serious injury by contacting the motor case.
Do not perform work on the drive while wearing loose clothing, jewelry or without eye protection.
Remove all metal objects such as watches and rings, secure loose clothing, and wear eye protection before beginning
work on the drive.
Do not allow unqualified personnel to perform work on the drive.
Installation, maintenance, inspection, and servicing must be performed only by authorized personnel familiar with
installation, adjustment, and maintenance of AC drives.
Do not touch any terminals before the capacitors have fully discharged.
Before wiring terminals, 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.
3.1 Section Safety
WARNING
Fire Hazard
Tighten all terminal screws to the specified tightening torque.
Loose electrical connections could result in death or serious injury by fire due to overheating of electrical connections.
Do not use improper combustible materials.
Do not install the drive to a combustible surface. Never place combustible materials on the drive.
When installing dynamic braking options, perform all wiring exactly as specified in the wiring diagrams
provided.
Failure to do so can result in fire. Improper wiring may damage braking components.
CAUTION
Do not carry the drive by the front cover or the terminal cover.
Failure to comply may cause the main body of the drive to fall, resulting in minor or moderate injury.
NOTICE
Never connect or disconnect the motor from the drive while the drive is outputting voltage.
Improper equipment sequencing could result in damage to the drive.
Do not use unshielded cable for control wiring.
Failure to comply may cause electrical interference resulting in poor system performance. Use shielded, twisted-pair
wires and ground the shield to the ground terminal of the drive.
Do not allow unqualified personnel to use the product.
Failure to comply could result in damage to the drive or braking circuit.
Carefully review instruction manual TOBP C720600 00 or TOBP C720600 01 when connecting a dynamic braking 3
option to the drive.
Do not modify the drive circuitry.
Failure to comply could result in damage to the drive and will void warranty.
Check all the wiring to ensure that all connections are correct after installing the drive and connecting any other
devices.
3.2 Standard Connection Diagram

Connect the drive and peripheral devices as shown in Figure 3.1. 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 93 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 100,000 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 relay outputs M1-M2, M3-M4, M5-M6, and MA-MB-MC is 10 mA.
NOTICE: Install the wire link between terminals SC-SP for Sink mode and SC-SN for Source mode. Leave it out for external power
supply. Never short terminals SP and SN as doing so will damage the drive. Refer to Control I/O Connections on page 85 for details.
Figure 3.1

Figure 3.2
Terminals -, +1, +2, B1, B2 are DC reactor <1>

for connection options. Never (option)
connect power supply lines to U X
these terminals Braking resistor
Jumper
Main (option) <2><3>
Switch Fuse
Three-phase R/L1 R/L1 +2 +1 B1 B2
power supply EMC S/L2
U Motor
S/L2 Main Circuit U/T1
200 to 400 V Filter V
T/L3 T/L3 V/T2 M
50/60 Hz
Drive W/T3
W
Control Circuit <4>

Shielded
Ground Cable
Forward Run / Stop S1 Option card connectors
CN5-C
Reverse Run / Stop S2
CN5-B
External fault S3
CN5-A
Fault reset S4
Terminal board
jumpers and switches
Multi-function Multi-speed step 1 S5
digtial inputs V I
DIP Switch S1
(default setting) A2 Volt/Curr. Sel
Multi-speed step 2 S6
On
DIP Switch S2
Off
Term. Res. On/Off
Jog speed S7
Jumper S3
External Baseblock H1, H2
S8
Sink/Source Sel.
SN PTC DIP Switch S4

A3 Analog/PTC
Sink / Source mode SC Input Sel
AI
selection wire link
(default: Sink) <5> SP
Jumper S5
V
+24 V <6> AM/FM Volt./Curr.
I Selection
FM AM
N.O.
Slide Switch S6
DM+,DM-
N.C./N.O. Selection
N.C. <7>
Shield ground terminal
MA Fault relay output
RP Pulse Train Input (max 32 kHz)
MB 250 Vac, max. 1 A
<8>
<9> +V Power supply +10.5 Vdc, max. 20 mA
MC
30 Vdc, max 1 A
3 2 kΩ (min. 5 Vdc, 10 mA)
A1 Analog Input 1 (Frequency Reference Bias)

2 -10 to +10 Vdc (20 kΩ) M1 Multi-function relay output (During Run)
Multi-function 1 250 Vac, max. 1 A
analog/ pulse <10> A2 Analog Input 2 (Frequency Reference Bias) M2 30 Vdc, max 1 A
train inputs -10 to +10 Vdc (20 kΩ) (min. 5 Vdc, 10 mA)
0 or 4 to 20 mA (250 Ω)
M3 Multi-function relay output (Zero Speed)
Analog Input 3 / PTC Input (Aux. frequency 250 Vac, max. 1 A
A3 M4 30 Vdc, max 1 A
reference)
-10 to +10 Vdc (20 kΩ) (min. 5 Vdc, 10 mA)
<11> AC
0V M5 Multi-function relay output (Speed Agree 1)
250 Vac, max. 1 A
M6
<8> −V Power supply, -10.5 Vdc, max. 20 mA 30 Vdc, max 1 A
(min. 5 Vdc, 10 mA)
Termination resistor
(120 Ω, 1/2 W) MP Multi-function pulse train output
(Output frequency)
AC 0 to 32 kHz (2.2 kΩ)
DIP
Switch S2
R+ 0V
R <12>
MEMOBUS/Modbus S+ FM
comm. RS-422/RS-485 Multi-function analog output 1
+ (Output frequency)
max. 115.2 kBps S FM
3
Safety -10 to +10 Vdc (2mA) or 4 to 20 mA
Switch IG <16> <15>
AM
S2 Multi-function analog output 2
<13> AC + (Output current)
Safe Disable inputs H1 AM
-10 to +10 Vdc (2mA) or 4 to 20 mA
S1 H2 0V
<15>
E (G)
Open Wire
jumper EDM (Safety Electronic Device Monitor)
Safety relay / DM+ shielded line
controller <14> <17>
HC twisted-pair shielded line
DM
control circuit terminal
main circuit terminal
Figure 3.1 Drive Standard Connection Diagram (example: CIMR-A2A0040)
<1> Remove the jumper when installing a DC reactor. Models CIMR-A2A0110 through 2A0415 and 4A0058 through 4A1200 come with a
built-in DC reactor.
<2> When installing a dynamic braking 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 dynamic braking options (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 or a dynamic
braking option. If left enabled, the drive may not stop within the specified deceleration time.
<4> Supplying power to the control circuit separately from the main circuit requires a 24 V power supply (option).
<5> This figure shows an example of a sequence input to S1 through S8 using a non-powered relay or an NPN transistor. Install the wire link
between terminals SC-SP for Sink mode and SC-SN for Source mode. Leave it out for external power supply. Never short terminals SP and
SN as doing so will damage the drive. (see Sinking/Sourcing Mode for Digital Inputs on page 85)
<6> The maximum current supplied by this voltage source is 150 mA if no digital input option card DI-A3 is used.
<7> Available slide switch S6 is models ETC740310 and ETC740311.

N.O. N.O.
N.C. N.C.
ETC740310 ETC740311
<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> Shows the connection when using the frequency setting potentiometer recommended by Yaskawa.
<10> Set DIP switch S1 to select between a voltage or current input signal to terminal A2. The default setting is for current input.
<11> Set DIP switch S4 to select between analog or PTC input for terminal A3.
<12> Enable the termination resistor in the last drive in a MEMOBUS network by setting DIP switch S2 to the ON position.
<13> Use jumper S3 to select between Sink mode, Source mode or external power supply for the Safe Disable inputs.
<14> Disconnect the wire jumper between H1 - HC and H2 - HC when utilizing the Safe Disable input.
<15> 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.
<16> Use jumper S5 to selection between voltage or current output signals at terminal AM and FM. Set parameters H4-07 and H4-08 accordingly.
<17> Slide the switch S6 to select N.C. or N.O. as the state of the DM+ and DM- terminals for EDM output.
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.
WARNING! When using the automatic fault restart function while the wiring is made to shut off the power supply when a drive fault
occurs, make sure the drive is set not to trigger a fault output during fault restart (L5-02=0, default). Otherwise the fault restart function
can not work properly.
NOTICE: Do not connect more than one multi-function input to one terminal. Improper wiring may result in drive malfunction. Use an
external power supply when sharing a terminal with more than one input. Do not use the built-in +24 V power supply.
3.3 Main Circuit Configurations
3.3 Main Circuit Configurations

Refer to the Table 3.1 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.
Table 3.1 Drive main circuit configurations

CIMR-A2A0004 to 2A0081 CIMR-A2A0110, 2A0138
CIMR-A4A0002 to 4A0044 CIMR-A4A0058, 4A0072
B1 B2 B1 B2
+1 +1
+2 Relay Relay
Current DC Current
sensor reactor sensor
R/L1 U/T1 R/L1 U/T1
S/L2 + S/L2 +
V/T2 V/T2
T/L3 W/T3 T/L3 W/T3
– –
Control Operator Control

Gate board board Gate board Operator
board
CIMR-A2A0169, 2A0211 CIMR-A2A0250 to 2A0415

CIMR-A4A0088 to 4A0139 CIMR-A4A0165 to 4A0675
+3 +3
+1 +1
Relay Relay
DC Current DC Current
reactor sensor reactor sensor
R/L1 U/T1 R/L1 U/T1
+ +
S/L2 V/T2 S/L2 V/T2
T/L3 W/T3 T/L3 W/T3
– –
3
Control 24 V Control
Gate board Operator Power Gate board Operator
board Supply board
CIMR-A4A0930, 4A1200
+3
+1
Relay
DC Current
reactor sensor
R/L1
U/T1
S/L2
+
V/T2
T/L3
W/T3
R1/L11
S1/L21
T1/L31
–
24 V Control
Power Gate board Operator
Supply board
3.4 Terminal Block Configuration

Figure 3.2 shows the different main circuit terminal arrangements for the drive capacities.
Figure 3.3
CIMR-A2A0004, 0006, 0010, 0012, CIMR-A2A0030, 0040 CIMR-A2A0056

0021‫ޓ‬ CIMR-A4A0018, 0023 CIMR-A4A0031, 0038, 0044
CIMR-A4A0002, 0004, 0005, 0007,
0009, 0011 B1 B2
– B1 B2
R/L1 S/L2 T/L3 – B1 B2 U/T1 V/T2 W/T3

+1 +2 R/L1 S/L2 T/L3 – +1 +2 U/T1 V/T2 W/T3
S/L2 T/L3 +1 +2 U/T1 V/T2 W
CIMR-A2A0069, 0081 CIMR-A2A0110, 0138

CIMR-A4A0058, 0072
+1 +2
B1 B2
B1 B2 – +1
R/L1 S/L2 T/L3 U/T1 V/T2 W/T3
CIMR-A4A0088, 0103
R/L1 S/L2 T/L3 – +1 +3 U/T1 V/T2 W/T3
CIMR-A2A0169, 0211, 0250, 0312, 0360, 0415

<1>
CIMR-A4A0139, 0165, 0208, 0250, 0296, 0362
– +1 +3

Figure 3.4
CIMR-A4A0414 CIMR-A4A0515, 0675
– +1 +3
– +1 +3

Figure 3.5
CIMR-A4A0930,1200
U/T1 V/T2 W/T3

R1/L11 S1/L21 T1/L31
<1> Terminal block design differs slightly for models CIMR-A2A0250 through 2A0415 and 4A0208 through 4A0362.
Figure 3.2 Main Circuit Terminal Block Configuration
3.5 Terminal Cover
3.5 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/UL Type 1 Enclosure)

 Removing the Terminal Cover
1. Loosen the terminal cover screw.
Figure 3.6
Figure 3.3 Removing the Terminal Cover on an IP20/UL Type 1 Enclosure Drive
2. Push in on the hook located on the bottom of the terminal cover, and gently pull forward. This should remove the
terminal cover.
Figure 3.7
Figure 3.4 Removing the Terminal Cover on an IP20/UL Type 1 Enclosure Drive
 Reattaching the Terminal Cover

Power lines and signal wiring should pass through the opening provided. Refer to Wiring the Main Circuit Terminal on
page 79 and Wiring the Control Circuit Terminal on page 82 for details on wiring.
After all wiring to the drive and other devices is complete, reattach the terminal cover.
Figure 3.8
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 3.5 Reattaching the Terminal Cover on an IP20/UL Type 1 Enclosure Drive
3.5 Terminal Cover
 CIMR-A2A0110 to 2A0415, 4A0058 to 4A1200 (IP00 Enclosure)

 Removing the Terminal Cover
1. Loosen the screws <1> on the terminal cover, then pull down on the cover.
CAUTION! Crush Hazard. 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. Take special care when removing/reattaching the terminal covers for larger drives.
<1> Refer to Terminal Cover on page 66 for details on removing the terminal cover.
The terminal cover or the number of screws for the terminal cover differs in accordance with the drive model. Refer to
Component Names on page 35 for details.
Figure 3.9
Figure 3.6 Removing the Terminal Cover on an IP00 Enclosure Drive

2. Pull forward on the terminal cover to free it from the drive.
Figure 3.10
Figure 3.7 Removing the Terminal Cover on an IP00 Enclosure 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 79 and Wiring the Control Circuit Terminal on
page 82 for details on wiring. 3
Figure 3.11
Connect ground wiring first,

followed by the main circuit,
and then wire the control circuit.
Figure 3.8 Reattaching the Terminal Cover on an IP00 Enclosure Drive
3.6 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.
NOTICE: 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 hook located on the right side of the digital operator, pull forward and remove the
operator from the drive.
Figure 3.12
Figure 3.9 Removing the Digital Operator
 Reattaching the Digital Operator

Insert the digital operator into the opening in the front 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 3.13
Figure 3.10 Reattaching the Digital Operator
 Removing/Reattaching the Front Cover

 Removing the Front Cover
2A0004 to 2A0081 and 4A0002 to 4A0044
After removing the terminal cover and the digital operator, loosen the screw that affixes the front cover (model
CIMR-A2A0056, 4A0031, 4A0038 do not use a screw to affix the front cover). Pinch inwards on hooks found on each
side of the front cover, then pull forward to remove it from the drive.
Figure 3.14
Figure 3.11 Remove the Front Cover (2A0004 to 2A0081 and 4A0002 to 4A0044)
2A0110 to 2A0415 and 4A0058 to 4A1200

1. Remove the terminal cover and the digital operator.
2. Loosen the installation screw on the front cover.
3. Use a straight-edge screwdriver to loosen the hooks on each side of the cover that hold it in place.
Figure 3.15
Hook Hook
Front cover Free hooks on both

installation screw sides of the cover
4. First unhook the left side of the front cover, then swing the left side towards you as shown in the figure below
until the cover comes off.
Figure 3.16
3
 Reattaching the Front Cover

2A0004 to 2A0081 and 4A0002 to 4A0044
Reverse the instructions given in Remove the Front Cover (2A0004 to 2A0081 and 4A0002 to 4A0044) on page 68 to
reattach the front cover. Pinch inwards on the hooks found on each side of the front cover while guiding it back into the
drive. Make sure it clicks firmly into place.
2A0110 to 2A0415 and 4A0058 to 4A1200
1. Slide the front cover so that the hooks on the top connect to the drive.
Figure 3.17
Figure 3.14 Reattach the Front Cover (2A0110 to 2A0415 and 4A0058 to 4A1200)
2. Once the hooks have connected to the drive, press firmly on the cover to make sure it locks into place.
3.7 Top Protective Cover
3.7 Top Protective Cover

Drive models CIMR-A2A0004 to 0081 and 4A0002 to 0044 are designed with IP20/UL Type 1 specifications, and
have a top protective cover on the top. Removing this top protective cover voids the UL Type 1 conformance but still
keeps a protection degree in accordance with IP20 enclosure.
 Removing the Top Protective Cover

Insert the tip of a straight-edge screwdriver into the small openings located on the front edge of the top protective cover.
Gently apply pressure as shown in the figure below to free the cover from the drive.
Note: Removing the top protective cover from an IP20/UL Type 1 enclosure drive voids the UL Type 1 protection but still keeps IP20
conformity.
Figure 3.18
Figure 3.15 Removing the Top Protective Cover
 Reattaching the Top Protective Cover

Align the small protruding hooks on the sides of the top 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 top protective
cover back into place.
Figure 3.19
Top Protective Cover

Mounting Holes
Figure 3.16 Reattaching the Top Protective Cover
3
3.8 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 3.2 Main Circuit Terminal Functions
Terminal Type
200 V
2A0004 to 2A0081 2A0110, 2A0138 2A0169 to 2A0415 –
Class Model Function Page
400 V CIMR-A
4A0002 to 4A0044 4A0058, 4A0072 4A0088 to 4A0675 4A0930, 4A1200
Class
R/L1
S/L2 Main circuit power supply input Connects line power to the drive 61
T/L3
R1-L11
Main circuit power
S1-L21 not available Connects line to power to the drive. 63
supply input
T1-L31
U/T1
V/T2 Drive output Connects to the motor 61
W/T3
B1 Available for connecting a braking resistor or a
Braking resistor not available 429
B2 braking resistor unit option
+2 • DC reactor not available
+1 connection (+1, +2)
(remove the shorting For connection
bar between +1 and • DC power supply • of the drive to a DC power supply (terminals +1
+2) input • DC power supply input (+1, –) and – are not UL approved) 434
– • DC power supply (+1, –) • of dynamic braking options
• Braking unit connection (+3, –)
input • of a DC reactor
(+1, –)
+3 not available
– Grounding terminal 79
Note: Use terminal B1 and - when installing the braking unit (CDBR type) to the drives with built-in braking transistor (2A0004 to
2A0138, 4A0002 to 4A0072).
 Wiring Fuses for the CIMR-A4A0930 and 4A1200

NOTICE: If a fuse is blown or an equipment for residual current monitoring/detection (RCM/RCD) is tripped, check the wiring and the
selection of the peripheral devices to identify the cause. Contact Yaskawa or a Yaskawa representative before restarting the drive or
the peripheral devices if the cause cannot be identified.
A fuse should be installed on the input side to protect drive wiring and prevent other secondary damage. Wire the fuse so
that leakage current in the upper controller power supply will trigger the fuse and shut off the power supply.
Select the appropriate fuse from Table 3.3.
Table 3.3 Input Fuses (CIMR-A4A0930 and 4A1200)
Selection Input Fuse (example)
Model
Voltage Class Input Voltage Pre-arc Pre-arc
CIMR-A Current (A) Model Manufacturer Rating
(V) I2t (A2s) I2t (A2s)
Three-Phase 4A0930 480 1200 140000 to 3100000 CS5F-1200 AC500 V, 1200 A 276000
Fuji Electric
400 V Class 4A1200 480 1500 320000 to 3100000 CS5F-1500 AC500 V, 1500 A 351000
 Protecting Main Circuit Terminals

 Insulation Cap
Use insulation caps when wiring the drive with crimp terminals. Take particular care to ensure that wiring does not touch
neighboring terminals or the surrounding case.
 Insulation Barrier
Insulation barriers are packaged with drive models CIMR-A4A0414 through 4A1200 to provide added protection
between terminals. Yaskawa recommends using the insulation barriers provided to ensure proper wiring. See Figure 3.17
for instructions on where the insulation barriers should be placed.
Figure 3.20
Insulation Barrier
Figure 3.17 Installing insulation barriers
 Wire Gauges and Tightening Torque
Select the appropriate wires and crimp terminals from Table 3.4 through Table 3.5.
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 power devices. Use caution to connect only approved devices to the
correct terminal(s).
• 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 3
formula to calculate the amount of voltage drop:
Line drop voltage (V) = 3 × wire resistance (Ω/km) × wire length (m) × motor rated current (A) × 10-3
• Refer to instruction manual TOBP C720600 00 or TOBP C720600 01 for braking unit or braking resistor unit wire
gauges.
• Use terminal +1 and the negative terminal when connecting a regenerative converter, or a regen unit.
• Use terminal B1 and - when installing the braking unit to the drives with built-in braking transistor (2A0004 to
2A0138, 4A0002 to 4A0072).
NOTICE: Do not connect a braking resistor to terminals +1 and -. Failure to comply may cause damage to the drive circuitry.
• Refer to UL Standards Compliance on page 600 for information on UL compliance.

Yaskawa recommends using closed-loop crimp terminals on all drive models. UL/cUL approval requires the use of
closed-loop crimp terminals when wiring the drive main circuit terminals on models CIMR-A2A0110 to 2A0415 and
4A0058 to 4A1200. Use only the tools recommended by the terminal manufacturer for crimping. Refer to Closed-Loop
Crimp Terminal Size on page 605 for closed-loop crimp terminal recommendations.
The wire gauges listed in the following tables are Yaskawa recommendations. Refer to local codes for proper wire gauge
selections.
 Three-Phase 200 V Class

Table 3.4 Wire Gauge and Torque Specifications (Three-Phase 200 V Class)
Model Recomm. Gauge Applicable Screw Tightening

Terminal Gauge Torque
CIMR-A mm2 Size
mm2 Nm (lb.in.)
R/L1, S/L2, T/L3 2.5 2.5 to 6
U/T1, V/T2, W/T3 2.5 2.5 to 6
2A0004
–, +1, +2 – 2.5 to 6 1.2 to 1.5
2A0006 M4
(10.6 to 13.3)
2A0010 B1, B2 – 2.5 to 6
2.5 <1> 2.5 to 6
R/L1, S/L2, T/L3 2.5 2.5 to 6
U/T1, V/T2, W/T3 2.5 2.5 to 6
–, +1, +2 – 2.5 to 6 1.2 to 1.5
2A0012 M4
(10.6 to 13.3)
B1, B2 – 2.5 to 6
2.5 <1> 2.5 to 6
R/L1, S/L2, T/L3 4 2.5 to 6
U/T1, V/T2, W/T3 2.5 2.5 to 6
–, +1, +2 – 4 to 6 1.2 to 1.5
2A0021 M4
(10.6 to 13.3)
B1, B2 – 2.5 to 6
4 <1> 4 to 6
R/L1, S/L2, T/L3 6 4 to 16
U/T1, V/T2, W/T3 6 4 to 16 2.1 to 2.3
M4
–, +1, +2 – 6 to 16 (18.6 to 20.4)
2A0030
B1, B2 – 4 to 6
2.0 to 2.5
6 <2> 6 to 10 M5
(17.7 to 22.1)
R/L1, S/L2, T/L3 10 6 to 16
U/T1, V/T2, W/T3 10 6 to 16 2.1 to 2.3
M4
–, +1, +2 – 16 (18.6 to 20.4)
2A0040
B1, B2 – 4 to 6
2.0 to 2.5
10 6 to 10 M5
(17.7 to 22.1)
R/L1, S/L2, T/L3 16 16 to 25
5.4 to 6.0
U/T1, V/T2, W/T3 16 16 to 25 M6
(47.8 to 53.1)
–, +1, +2 – 16 to 25
2A0056 2.7 to 3.0
B1, B2 – 6 to 10 M5
(23.9 to 26.6)
5.4 to 6.0
16 10 to 16 M6
(47.8 to 53.1)
R/L1, S/L2, T/L3 25 16 to 25
9.9 to 11
U/T1, V/T2, W/T3 16 16 to 25 M8
(87.6 to 97.4)
–, +1, +2 – 25
2A0069 2.7 to 3.0
B1, B2 – 10 to 16 M5
(23.9 to 26.6)
5.4 to 6.0
16 16 to 25 M6
(47.8 to 53.1)
R/L1, S/L2, T/L3 35 25 to 35
9.9 to 11
U/T1, V/T2, W/T3 25 25 to 35 M8
(87.6 to 97.4)
–, +1, +2 – 25 to 35
2A0081 2.7 to 3.0
B1, B2 – 16 M5
(23.9 to 26.6)
5.4 to 6.0
16 16 to 25 M6
(47.8 to 53.1)
R/L1, S/L2, T/L3 35 25 to 50
U/T1, V/T2, W/T3 35 25 to 50
–, +1 – 35 to 50 9.0 to 11
2A0110 M8
(79.7 to 97.4)
B1, B2 – 16 to 50
16 16 to 25
R/L1, S/L2, T/L3 50 35 to 70
U/T1, V/T2, W/T3 50 35 to 70 18 to 23
M10
–, +1 – 50 to 70 (159 to 204)
2A0138
B1, B2 – 25 to 70
9.0 to 11
25 25 M8
(79.7 to 97.4)
Applicable Tightening
Model Recomm. Gauge Screw
CIMR-A mm2 mm2 Size Nm (lb.in.)
R/L1, S/L2, T/L3 70 50 to 95
U/T1, V/T2, W/T3 70 50 to 95
–, +1 – 35 to 95 18 to 23
2A0169 M10
(159 to 204)
+3 – 50 to 95
35 25 to 35
R/L1, S/L2, T/L3 95 70 to 95
U/T1, V/T2, W/T3 95 70 to 95
–, +1 – 35 to 95 18 to 23
2A0211 M10
(159 to 204)
+3 – 50 to 95
50 25 to 50
R/L1, S/L2, T/L3 95 × 2P 95 to 150
32 to 40
U/T1, V/T2, W/T3 95 × 2P 95 to 150 M12
(283 to 354)
–, +1 – 70 to 150
2A0250
18 to 23
+3 – 35 to 150 M10
(159 to 204)
32 to 40
95 95 to 150 M12
(283 to 354)
R/L1, S/L2, T/L3 95 × 2P 95 to 150
32 to 40
U/T1, V/T2, W/T3 95 × 2P 95 to 150 M12
(283 to 354)
–, +1 – 70 to 150
2A0312
18 to 23
+3 – 70 to 150 M10
(159 to 204)
32 to 40
95 95 to 150 M12
(283 to 354)
R/L1, S/L2, T/L3 240 95 to 300
32 to 40
U/T1, V/T2, W/T3 240 95 to 300 M12
(283 to 354)
–, +1 – 125 to 300
2A0360
18 to 23
+3 – 70 to 300 M10
(159 to 204)
32 to 40
120 120 to 240 M12
(283 to 354)
R/L1, S/L2, T/L3 120 × 2P 95 to 300
32 to 40
U/T1, V/T2, W/T3 300 95 to 300 M12
(283 to 354)
–, +1 – 150 to 300
2A0415
18 to 23
+3 – 70 to 300 M10
(159 to 204)
32 to 40
120 120 to 240 M12
(283 to 354)
<1> When using the wire of this gauge in accordance with IEC/EN 61800-5-1, install an equipment for residual current monitoring/detection
(RCM/RCD).
3
(RCM/RCD), or use copper wire of 10 mm2 (AWG 8).
Note: When connecting peripheral devices and options to the terminals –, +1, +3, B1, and B2, refer to the instruction manuals for each
devices. For more information, contact Yaskawa or a Yaskawa representative.
 Three-Phase 400 V Class

Table 3.5 Wire Gauge and Torque Specifications (Three-Phase 400 V Class)
Model Recomm. Gauge Applicable Screw Tightening

CIMR-A mm2 Size
mm2 Nm (lb.in.)
R/L1, S/L2, T/L3 2.5 2.5 to 6
U/T1, V/T2, W/T3 2.5 2.5 to 6
4A0002 –, +1, +2 – 2.5 to 6 1.2 to 1.5
M4
4A0004 (10.6 to 13.3)
B1, B2 – 2.5 to 6
2.5 <1> 2.5 to 4
R/L1, S/L2, T/L3 2.5 2.5 to 6
U/T1, V/T2, W/T3 2.5 2.5 to 6
4A0005
–, +1, +2 – 2.5 to 6 1.2 to 1.5
4A0007 M4
(10.6 to 13.3)
4A0009 B1, B2 – 2.5 to 6
2.5 <1> 2.5 to 6
R/L1, S/L2, T/L3 2.5 2.5 to 6
U/T1, V/T2, W/T3 2.5 2.5 to 6
–, +1, +2 – 2.5 to 6 1.2 to 1.5
4A0011 M4
(10.6 to 13.3)
B1, B2 – 2.5 to 6
2.5 <1> 2.5 to 6
R/L1, S/L2, T/L3 2.5 2.5 to 16
U/T1, V/T2, W/T3 2.5 2.5 to 16 2.1 to 2.3
M4
–, +1, +2 – 4 to 16 (18.6 to 20.4)
4A0018
B1, B2 – 4 to 6
2.0 to 2.5
2.5 <1> 2.5 to 6 M5
(17.7 to 22.1)
R/L1, S/L2, T/L3 4 2.5 to 16
U/T1, V/T2, W/T3 4 2.5 to 16 2.1 to 2.3
M4
–, +1, +2 – 4 to 16 (18.6 to 20.4)
4A0023
B1, B2 – 4 to 6
2.0 to 2.5
4 <1> 4 to 6 M5
(17.7 to 22.1)
R/L1, S/L2, T/L3 6 6 to 16
3.6 to 4.0
U/T1, V/T2, W/T3 6 6 to 16 M5
(31.8 to 35.4)
–, +1, +2 – 6 to 16
4A0031 2.7 to 3.0
B1, B2 – 6 to 10 M5
(23.9 to 26.6)
5.4 to 6.0
6 <2> 6 to 10 M6
(47.8 to 53.1)
R/L1, S/L2, T/L3 10 10 to 16
3.6 to 4.0
U/T1, V/T2, W/T3 6 6 to 16 M5
(31.8 to 35.4)
–, +1, +2 – 6 to 16
4A0038 2.7 to 3.0
B1, B2 – 6 to 10 M5
(23.9 to 26.6)
5.4 to 6.0
10 6 to 16 M6
(47.8 to 53.1)
R/L1, S/L2, T/L3 16 16 to 25
5.4 to 6.0
U/T1, V/T2, W/T3 16 16 to 25 M6
(47.8 to 53.1)
–, +1, +2 – 16 to 25
4A0044 2.7 to 3.0
B1, B2 – 6 to 10 M5
(23.9 to 26.6)
5.4 to 6.0
16 10 to 16 M6
(47.8 to 53.1)
R/L1, S/L2, T/L3 16 10 to 50
U/T1, V/T2, W/T3 16 10 to 50
–, +1 – 16 to 50 9.0 to 11
4A0058 M8
(79.7 to 97.4)
B1, B2 – 10 to 50
16 10 to 16
R/L1, S/L2, T/L3 16 16 to 50
U/T1, V/T2, W/T3 25 16 to 50
–, +1 – 25 to 50 9.0 to 11
4A0072 M8
(79.7 to 97.4)
B1, B2 – 16 to 50
16 16 to 25
CIMR-A mm2 mm2 Size Nm (lb.in.)
R/L1, S/L2, T/L3 25 16 to 70
U/T1, V/T2, W/T3 25 25 to 70
–, +1 – 25 to 70 9.0 to 11
4A0088 M8
(79.7 to 97.4)
+3 – 16 to 70
16 16 to 25
R/L1, S/L2, T/L3 35 25 to 70
U/T1, V/T2, W/T3 35 25 to 70
–, +1 – 25 to 70 9.0 to 11
4A0103 M8
(79.7 to 97.4)
+3 – 25 to 70
16 16 to 25
R/L1, S/L2, T/L3 50 35 to 95
U/T1, V/T2, W/T3 50 35 to 95
–, +1 – 50 to 95 18 to 23
4A0139 M10
(159 to 204)
+3 – 25 to 95
25 25
R/L1, S/L2, T/L3 70 50 to 95
U/T1, V/T2, W/T3 70 70 to 95
18 to 23
4A0165 –,+1 – 35 to 95 M10
(159 to 204)
+3 – 50 to 95
35 25 to 35
R/L1, S/L2, T/L3 95 35 to 95
U/T1, V/T2, W/T3 95 35 to 95
18 to 23
4A0208 –, +1 – 35 to 150 M10
(159 to 204)
+3 – 25 to 70
50 50 to 150
R/L1, S/L2, T/L3 120 95 to 300
U/T1, V/T2, W/T3 120 95 to 300
18 to 23
4A0250 –, +1 – 70 to 300 M10
(159 to 204)
+3 – 35 to 300
70 70 to 240
R/L1, S/L2, T/L3 185 95 to 300
32 to 40
U/T1, V/T2, W/T3 185 95 to 300 M12
(283 to 354)
–, +1 – 70 to 300
4A0296
18 to 23
+3 – 35 to 300 M10
(159 to 204)
32 to 40
95 95 to 240 M12
R/L1, S/L2, T/L3 240 95 to 300

(283 to 354)
3
32 to 40
U/T1, V/T2, W/T3 240 95 to 300 M12
(283 to 354)
–, +1 – 95 to 300
4A0362
18 to 23
+3 – 70 to 300 M10
(159 to 204)
32 to 40
120 120 to 240 M12
(283 to 354)
R/L1, S/L2, T/L3 95 × 2P 95 to 150
U/T1, V/T2, W/T3 95 × 2P 95 to 150
32 to 40
4A0414 –, +1 – 70 to 150 M12
(283 to 354)
+3 – 70 to 150
95 35 to 95
R/L1, S/L2, T/L3 120 × 2P 95 to 150
U/T1, V/T2, W/T3 150 × 2P 95 to 150

32 to 40
4A0515 –, +1 – 70 to 150 M12
(283 to 354)
+3 – 70 to 150
150 50 to 150
CIMR-A mm2 Size
mm2 Nm (lb.in.)
R/L1, S/L2, T/L3 95 × 4P 95 to 150
U/T1, V/T2, W/T3 95 × 4P 95 to 150

32 to 40
4A0675 –, +1 – 70 to 150 M12
(283 to 354)
+3 – 70 to 150
95 × 2P 60 to 150
R/L1, S/L2, T/L3, R1/L11, S1/L21, T1/
120 × 4P 95 to 150
L31
U/T1, V/T2, W/T3 120 × 4P 95 to 150
32 to 40
4A0930 –, +1 – 95 to 150 M12
(283 to 354)
+3 – 95 to 150
120 × 2P 70 to 120
R/L1, S/L2, T/L3, R1/L11, S1/L21, T1/
(95 × 4P) × 2 95 to 150
L31
U/T1, V/T2, W/T3 (95 × 4P) × 2 95 to 150
32 to 40
4A1200 –, +1 – 120 to 150 M12
(283 to 354)
+3 – 95 to 150
95 × 4P 95 to 120
(RCM/RCD).
(RCM/RCD), or use copper wire of 10 mm2 (AWG 8).
Note: When connecting peripheral devices and options to the terminals –, +1, +3, B1, and B2, refer to the instruction manuals for each
devices. For more information, contact Yaskawa or a Yaskawa representative.
 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 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 3.6. 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 196.
Table 3.6 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: 1. 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.
2. The maximum cable length is 100 m when using OLV/PM (A1-02 = 5) or AOLV/PM (A1-02 = 6).
3. When a PM motors is used, the gain for overcurrent detection may need to be adjusted.
Refer to L8-27: Overcurrent Detection Gain on page 298 for details.
 Ground Wiring
Follow the precautions to wire the ground for one drive or a series of drives.
WARNING! Electrical Shock Hazard. Make sure the protective earthing conductor complies with technical standards and local safety
regulations. Because the leakage current exceeds 3.5 mA in models CIMR-A4A0414 and larger, IEC/EN 61800-5-1 states that
either the power supply must be automatically disconnected in case of discontinuity of the protective earthing conductor or a protective
earthing conductor with a cross-section of at least 10 mm2 (Cu) or 16 mm2 (Al) must be used. Failure to comply may result in death or
serious injury.
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. 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 3.18 when using multiple drives. Do not loop the ground wire.
Figure 3.21
OK OK Not Good
Figure 3.18 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-A2A0004 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 3.22
3
A – Protecting Cover
Figure 3.19 Protecting Cover to Prevent Miswiring (CIMR-A2A0056)
 Main Circuit Configurations

Refer to Main Circuit Configurations on page 63 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.
3.9 Control Circuit Wiring

 Control Circuit Connection Diagram
Refer to Standard Connection Diagram on page 60 when wiring terminals on the drive’s control circuit.
 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 to M6), 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 3.1 on page 61.
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 112. Failure to comply may result in
death or serious injury.
 Input Terminals
Table 3.7 lists the input terminals on the drive. Text in parenthesis indicates the default setting for each multi-function
input.
Table 3.7 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
Set the wire jumper between SC and SN or SC and SP for selection of sinking/
S5 Multi-function input 5 (Multi-step speed reference 1) sourcing mode and power supply. Refer to Sinking/Sourcing Mode for Digital 488
Multi-Function S6 Multi-function input 6 (Multi-step speed reference 2) Inputs on page 85.
Digital Inputs
S7 Multi-function input 7 (Jog reference)
S8 Multi-function input 8 (Baseblock command (N.O.))
SC Multi-function input common Multi-function input common
SP Digital input power supply +24 Vdc 24 Vdc power supply for digital inputs, 150 mA max (if no digital input option
DI-A3 is used only) 85
SN Digital input power supply 0 V Never short terminals SP and SN as doing so will damage the drive.
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 614
Inputs
Disable inputs. Set the S3 jumper to select between sinking, sourcing mode, and the
power supply as explained in Sinking/Sourcing Mode Selection for Safe Disable
Inputs on page 85.
HC Safe Disable function common Safe disable function common
Input frequency range: 0 to 32 kHz
Signal Duty Cycle: 30 to 70% 149
RP Multi-function pulse train input (Frequency reference)
High level: 3.5 to 13.2 Vdc, low level: 0.0 to 0.8 Vdc 264
Input impedance: 3 kΩ
+V Power supply for analog inputs 10.5 Vdc (max allowable current 20 mA) 148
-V Power supply for analog inputs -10.5 Vdc (max allowable current 20 mA) –
148
Analog Inputs / A1 Multi-function analog input 1 (Frequency reference bias) -10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 kΩ)
257
Pulse Train Input
-10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 kΩ) 148
A2 Multi-function analog input 2 (Frequency reference bias) 4 to 20 mA, 0 to 20 mA (input impedance: 250 Ω) 149
Voltage or current input must be selected by DIP switch S1 and H3-09 258
Multi-function analog input 3 (auxiliary frequency -10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 kΩ)
A3 148
reference) / PTC Input Use DIP switch S4 on the terminal board to selection between analog or PTC input.
AC Frequency reference common 0V 148
E (G) Ground for shielded lines and option cards – –
 Output Terminals
Table 3.8 lists the output terminals on the drive. Text in parenthesis indicates the default setting for each multi-function
output.
Table 3.8 Control Circuit Output Terminals
Type No. Terminal Name (Function) Function (Signal Level) Default Setting Page
MA N.O. output (Fault)
30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A
Fault Relay Output MB N.C. output (Fault) 246
Minimum load: 5 Vdc, 10 mA
MC Fault output common
M1
Multi-function digital output (During run)
M2
Multi-Function M3 30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A
Multi-function digital output (Zero Speed) 246
Digital Output <1> M4 Minimum load: 5 Vdc, 10 mA
M5
Multi-function digital output (Speed Agree 1)
M6
MP Pulse train output (Output frequency) 32 kHz (max) 264
FM Analog monitor output 1 (Output frequency) -10 to +10 Vdc, 0 to +10 Vdc, or 4-20 mA
Monitor Output Use jumper S5 on the terminal board to select between voltage or current output 262
AM Analog monitor output 2 (Output current) signals.
AC Monitor common 0V –
DM+ Safety monitor output Outputs status of Safe Disable function. Closed when both Safe Disable
Safety Monitor channels are closed. Up to +48 Vdc 50 mA Slide the switch S6 to select N.C. or
616
Output DM- Safety monitor output N.O. as the state of the DM+ and DM- terminals for EDM output as explained
on 88 page.
<1> Refrain from assigning functions to digital outputs 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).
 Serial Communication Terminals

Table 3.9 Control Circuit Terminals: Serial Communications
Type No. Signal Name Function (Signal Level)
R+ Communications input (+)
RS-422/RS-485
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/Modbus network by setting DIP switch S2 to the ON position. For more
information on the termination resistor, see Control I/O Connections on page 85.
 Terminal Configuration
Control circuit terminals should are arranged as shown in Figure 3.20. 3
Figure 3.23
A B
E(G) HC H1 H2 DM+ DM- IG R+ R- S+ S-
E M3 M6 M4
V+ AC V- A1 A2 A3 FM AM AC MP RP AC M1 M2 M5
M3 M6 M4 D
S1 S2 S3 S4 S5 S6 S7 S8 SN SC SP MA MB MC
A – Terminal Block (TB 2) D – Terminal Block (TB 3)

B – Terminal Block (TB 5) E – Terminal Block (TB 4)
C – Terminal Block (TB 1)
Figure 3.20 Control Circuit Terminal Arrangement
 Wire Size
Select appropriate wire type and gauges from Table 3.10. For simpler and more reliable wiring, use crimp ferrules on the
wire ends. Refer to Ferrule-Type Wire Terminals on page 82 for ferrule terminal types and sizes.
Table 3.10 Wire Gauges
Tightening Bare Wire Terminal Ferrule-Type Terminal
Terminal Screw Torque Recommended Recommended
Terminal Applicable wire size Applicable wire size Wire Type
Block Size Nm wire size wire size
(lb.in.) mm2 (AWG) mm2 (AWG)
mm (AWG)
2 mm2 (AWG)
S1-S8, SC, SP, SN, RP,
+V, -V, A1, A2, A3, AC,
M1-M6, MA, MB, MC, 0.75 Stranded wire:
TB1, TB2, MP, AM, FM, AC, S+, (18) 0.2 to 1.0 (24 to 17) 0.5 0.25 to 0.5
S-, R+, R-, IG, HC, H1, – –
TB3, TB4 Solid wire: (20) (24 to 20)
H2, DM+, DM- 0.2 to 1.5 (24 to 16) Shielded line, etc.
1.0
E (G)
(16)
0.5 to 1.0 1.25 0.5 to 2
TB5 E (G) M3.5 – –
(4.4 to 8.9) (12) (20 to 14)
 Ferrule-Type Wire Terminals

Yaskawa recommends using CRIMPFOX 6, a crimping tool manufactured by PHOENIX CONTACT, to prepare wire
ends with insulated sleeves before connecting to the drive. See Table 3.11 for dimensions.
Figure 3.24
d1
8 mm
d2
Figure 3.21 Ferrule Dimensions

Table 3.11 Ferrule Terminal Types and Sizes
Size mm2 (AWG) Type L (mm) d1 (mm) d2 (mm) Manufacturer
0.25 (24) AI 0.25-8YE 12.5 0.8 2.0
0.34 (22) AI 0.34-8TQ 12.5 0.8 2.0
PHOENIX CONTACT
AI 0.5-8WH
0.5 (20) 14 1.1 2.5
AI 0.5-8OG
 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, R1/L11, S1/L21, T1/L31, B1, B2, U/T1,
V/T2, W/T3, –, +1, +2, +3) and other high-power lines. Improper wiring practices could result in drive malfunction due to electrical
interference.
NOTICE: Separate wiring for output terminals MA, MB, MC, M1, and M2 to M6 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.
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 3.22 and Figure 3.23 for details. Prepare the ends of the control circuit wiring as shown in Figure 3.24. Refer to
Wire Size on page 82.
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 Figure 3.22 and Figure 3.23.

Figure 3.25
Push wire end

into terminal
Control Wires
Terminal Board
Figure 3.22 Terminal Board Wiring Guide

To disconnect control wires from the terminals use the procedure described in Figure 3.23. Grasp the wire where it
enters the terminal with a pair of pliers, then use a straight-edge screw driver to release the terminal and pull the wire out.
If it fits tightly, e.g. if ferrules are used, turn the wire for about 45° and then pull it gently out. Use this procedure to
remove the wire jumper between terminals HC, H1 and H2 that is preinstalled at shipping.
Figure 3.26
Push down to open

the terminal
Turn the wire ~ 45
and pull it out of the
terminal.
45
Use a screwdriver with a blade
width of max 2.5 mm and a
thickness of max 0.4 mm
Control Wires
Terminal Board
Figure 3.23 Removing Wires from the Terminal Board
When setting the frequency by analog reference from an external potentiometer, use shielded twisted-pair wires (treating
wire ends as shown in Figure 3.24 and connect the shield to the ground terminal (E [G]) of the drive.
Figure 3.27
E B
A C
3
D
A – Drive side D –Shield sheath (insulate with tape)

B – Insulation E –Shield
C – Control device side
Figure 3.24 Preparing the Ends of Shielded Cables
NOTICE: The analog signal wiring 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.
 Switches and Jumpers on the Terminal Board

The terminal board is equipped with several switches used to adapt the drive I/Os to the external control signals.
Figure 3.25 shows the location of these switches. Refer to Control I/O Connections on page 85 for setting instructions.
Figure 3.28
DIP Switch S1
Slide Switch S6 Terminal A2 Signal
Terminal DM+,DM- Selection
N.C./N.O. Selection <1> V I
N.O.
N.C.
Jumper S5
Terminal AM/FM Signal
Jumper S3 Selection
Terminal H1/H2
Sink/Source Sel.
V
FM AM
M3 M6 M4
DIP Switch S4
Terminal A3 Analog/
DIP Switch S2 PTC Input Sel.
RS-422/485 Termination
Resistor
Off On PTC
AI
Figure 3.25 Locations of Jumpers and Switches on the Terminal Board

N.O. N.O.
N.C. N.C.
ETC740310 ETC740311
3.10 Control I/O Connections

 Sinking/Sourcing Mode for Digital Inputs
Use the wire jumper between terminals SC and SP or SC and SN to select between Sink mode, Source mode or external
power supply for the digital inputs S1 to S8 as shown in Table 3.12 (Default: Sink mode, internal power supply).
Note: Never short terminals SP and SN as doing so will damage the drive.
Table 3.12 Digital Input Sink / Source / External Power Supply Selection
Drive Internal Power Supply (Terminal SN and SP) External 24 Vdc Power Supply
S7 S7
S8 S8
Sinking Mode (NPN)

SN SN
SC SC
24 Vdc 24 Vdc
SP External SP
24 Vdc ±10%
S7 S7
S8 S8
Sourcing Mode (PNP)

SN SN
SC SC
24 Vdc 24 Vdc
SP External SP
24 Vdc ±10%
 Sinking/Sourcing Mode Selection for Safe Disable Inputs
Use jumper S3 on the terminal board to select between Sink mode, Source mode or external power supply for the Safe
Disable inputs H1 and H2 as shown in Table 3.12 (Default: Source mode, internal power supply.) Refer to Switches and
Jumpers on the Terminal Board on page 84 for locating jumper S3.
Remove the jumper wire connected to the HC terminals and connect terminals H1 and H2 as shown in Table 3.13 to use
3
an external power supply for a sequence input without using a safety input.
WARNING! Electrical Shock Hazard. Be sure to remove the jumper wire connected to the HC terminals if using en external power
supply for a sequence input without using a safety input. Failure to comply will short circuit the external power supply.
Table 3.13 Safe Disable Input Sink / Source / External Power Supply Selection
Drive Internal Power Supply External 24 Vdc Power Supply
Jumper S3 Jumper S3
24 Vdc 24 Vdc
HC HC
External
24 Vdc ±10%
Sinking Mode
H1 H1
H2 H2
Drive Internal Power Supply External 24 Vdc Power Supply

Jumper S3 Jumper S3
24 Vdc 24 Vdc
HC HC
External
24 Vdc ±10%
Sourcing Mode
H1 H1
H2 H2
 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 3.29
Load Impedance
MP
VMP RL
AC
Figure 3.26 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 3.30
External Power Supply
Load Impedance
MP
Sink Current
AC
Figure 3.27 Pulse Output Connection Using External Voltage Supply
 Terminal A2 Input Signal Selection

Terminal A2 can be used to input either a voltage or a current signal. Select the signal type using switch S1 as explained
in Table 3.14. Set parameter H3-09 accordingly as shown in Table 3.15. Refer to Switches and Jumpers on the Terminal
Board on page 84 for locating 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 3.14 DIP Switch S1 Settings
Setting Description
V (left position) Voltage input (-10 to +10 V)
I (right position) (default) Current input (4 to 20 mA or 0 to 20 mA): default setting
Table 3.15 Parameter H3-09 Details

Setting Default
No. Parameter Name Description
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
 Terminal A3 Analog/PTC Input Selection

Terminal A3 can be configured either as multi-function analog input or as PTC input for motor thermal overload
protection. Use switch S4 to select the input function as described in Table 3.16. Refer to Switches and Jumpers on the
Terminal Board on page 84 for locating switch S4.
Table 3.16 DIP Switch S4 Settings
Setting Description
AI (lower position) (default) Analog input for the function selected in parameter H3-06
PTC (upper position) PTC input. Parameter H3-06 must be set to E (PTC input)
 Terminal AM/FM Signal Selection
The signal type for terminals AM and FM can be set to either voltage or current output using jumper S5 on the terminal
board as explained in Table 3.17. When changing the setting of jumper S5, parameters H4-07 and H4-08 must be set
accordingly. The default selection is voltage output for both terminals. Refer to Switches and Jumpers on the Terminal
Board on page 84 for locating jumper S5.
Table 3.17 Jumper S5 Settings
3
Voltage Output Current Output
V V
Terminal AM I I
FM AM FM AM
V V
Terminal FM I I
FM AM FM AM
Table 3.18 Parameter H4-07, H4-08 Details

Setting Default
No. Parameter Name Description
Range Setting
H4-07 Terminal AM signal level selection 0: 0 to 10 Vdc
1: -10 to 10 Vdc 0 to 2 0
H4-08 Terminal FM signal level selection 2: 4 to 20 mA
 MEMOBUS/Modbus Termination
This drive is equipped with a built in termination resistor for the RS-422/485 communication port. DIP switch S2 enables
or disabled the termination resistor as shown in Table 3.19. The OFF position is the default. The termination resistor
should be placed to the ON position when the drive is the last in a series of slave drives. Refer to Switches and Jumpers
on the Terminal Board on page 84 for locating switch S2.
Table 3.19 MEMOBUS/Modbus Switch Settings
S2 Position Description
ON Internal termination resistor ON
OFF Internal termination resistor OFF (default setting)
Note: Refer to MEMOBUS/Modbus Communications on page 551 for details on MEMOBUS/Modbus.
 Terminal DM+ and DM- Output Signal Selection

Slide the switch S6 to select N.C. or N.O. as the state of the DM+ and DM- terminals for EDM output. The switch is
initially set to N.C.
Table 3.20 EDM Switch Settings
S6 Position Description
N.O. Normal Open
N.C. Normal Close (default setting)
Note: Refer to Safe Disable Input Function on page 614 for details on EDM.
3.11 Connect to a PC
3.11 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 or a Yaskawa representative
for more information on DriveWizard Plus.
Figure 3.31
USB Cable
(Type-AB)
(Type-B) (Type-A)
PC
Figure 3.28 Connecting to a PC (USB)
3
3.12 External Interlock
3.12 External Interlock

Systems that may be affected if the drive faults out should be interlocked with the drive’s fault output and ready signal.
 Drive Ready
When the “Drive ready” signal has been set to one of the multi-function contact outputs, that output will close whenever
the drive is ready to accept a Run command or is already running. Under the following conditions, the Drive ready signal
will switch off if operation is not possible for a Run command input, regardless of whether or not a fault exists:
• when the power supply is shut off.
• during a fault.
• when there is problem with the control power supply.
• when a parameter setting error makes the drive unable to run even if a Run command has been entered.
• when a fault such as overvoltage or undervoltage is triggered as soon as the Run command is entered.
• when the drive is in the Programming mode and will not accept a Run command even when entered.
 Interlock Circuit Example
Two drives running a single application might interlock with the controller using the Drive ready and Fault output signals
as shown below. The figure illustrates how the application would not be able to run if either drive experiences a fault or
is unable to supply a Drive ready signal.
Terminal Output Signal Parameter Setting

MA, MB, MC Fault –
M1-M2 Drive Ready H2-01 = 06
Ready1 Ready2 Fault1 Fault2

Operation Ready
Operation
Circuit
Stop
Operation Ready Run
Figure 3.32
Drive 1 Controller
MA
Relay 1 SA Relay 1
Max
Run Fault MB 250 Vac Fault 1
S1
Output
MC
SN
SC Relay 2
Relay 2 SA Ready 1
SP M1
Operation Ready M2
Drive 2 Controller
MA
Relay 1 SA Relay 1
Max
Run Fault MB 250 Vac Fault 2
S1
Output
MC
SN
SC Relay 2
Relay 2 SA Ready 2
SP M1
Operation Ready
M2
Figure 3.29 Interlock Circuit Example
3.13 Wiring Checklist

No. Item Page
Drive, peripherals, option cards

1 Check drive model number to ensure receipt of correct model. 34
2 Make sure you have the correct braking resistors, DC reactors, noise filters, and other peripheral devices. 416
3 Check the option card model number. 416

Installation area and physical setup
4 Ensure that the area surrounding the drive complies with specifications. 46
Power supply voltage, output voltage
5 The voltage from the power supply should be within the input voltage specification range of the drive. 212
32
6 The voltage rating for the motor should match the drive output specifications.
513
32
7 Verify that the drive is properly sized to run the motor.
513
Main circuit wiring
8 Confirm proper branch circuit protection as specified by national and local codes. 60
Properly wire the power supply to drive terminals R/L1, S/L2, and T/L3.
9 Note: Properly connect the inputs on terminals R1/L11, S1/L21, and T1/L31 in addition to R1/L1, S1/L2, and T1/L3 when connecting models 63
CIMR-A4A0930 and 4A1200.
Properly wire the drive and motor together.
10 The motor lines and drive output terminals U/T1, V/T2, and W/T3 should match in order to produce the desired phase order. If the phase order 78
is incorrect, the drive will rotate in the opposite direction.
11 Use 600 Vac vinyl-sheathed wire for the power supply and motor lines. 73
Use the correct wire gauges for the main circuit. Refer to Wire Gauges and Tightening Torque on page 73. 73
• When using comparatively long motor cable, calculate the amount of voltage drop. 73
12 Motor rated voltage (V) × 0.02 ≥
3 × wire resistance (Ω/km) × cable length (m) × motor rated current (A) × 10 -3
• If the cable between the drive and motor exceeds 50 m, adjust the carrier frequency set to C6-02 accordingly. 78
13 Properly ground the drive. Review page 79. 79
Tightly fasten all terminal screws (control circuit terminals, grounding terminals).
14 73
Refer to Wire Gauges and Tightening Torque on page 73.
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 3
Mn
Note: Close MC1 through MCn before operating the drive (MC1 through MCn cannot be switched off during run).
If using a dynamic braking option, install a magnetic contactor. Properly install the resistor, and ensure that overload protection shuts off the
16 429
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. 80
19 Ground the shields of shielded wiring to the GND terminal. 82

If using a 3-wire sequence, properly set parameters for multi-function contact input terminals S1 through S8, and properly wire control
20 –
circuits.
21 Properly wire any option cards. 82
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 73
Refer to Wire Gauges and Tightening Torque on page 73.
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. –
No. Item Page
28 Safe Disable input wiring should not exceed 30 m. –
4
Start-Up Programming & Operation
This chapter explains the functions of the digital operator and how to program the drive for
initial operation.
4.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

4.2 USING THE DIGITAL OPERATOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
4.3 THE DRIVE AND PROGRAMMING MODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
4.4 START-UP FLOWCHARTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
4.5 POWERING UP THE DRIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
4.6 APPLICATION SELECTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
4.7 AUTO-TUNING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
4.8 NO-LOAD OPERATION TEST RUN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
4.9 TEST RUN WITH LOAD CONNECTED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
4.10 VERIFYING PARAMETER SETTINGS AND BACKING UP CHANGES. . . . . . . 137
4.11 TEST RUN CHECKLIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
4.1 Section Safety
4.1 Section Safety

DANGER
WARNING
The diagrams in this section may include drives without covers or safety shields to illustrate details. Be sure to reinstall
A separate holding brake should be prepared by the user.
The holding brake should be wired so that it is activated by an external sequence when a fault occurs, the power
is shut off, or an emergency switch is triggered.
Precautions should be taken on the machine side in crane and hoist applications to ensure that load does not fall
or slip.
Failure to take proper safety precautions can result in serious injury.
4.2 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 4.1
DIGITAL OPERATOR JVOP-180 ALM 12
1
11
F1 F2
2 ESC
LO
RE
9
3 RESET ENTER
8
10 RUN STOP
4 5 6 7
Figure 4.1 Keys and Displays on the Digital Operator
No. Display Name Function
F1
Function Key The functions assigned to F1 and F2 vary depending on the menu that is currently displayed. The name of each
1
(F1, F2) function appears in the lower half of the display window.
F2
• Returns to the previous display.

2 ESC ESC Key • Moves the cursor one space to the left.
• Pressing and holding this button will return to the Frequency Reference display.
• Moves the cursor to the right.
3 RESET Key
RESET • Resets the drive to clear a fault situation.
Starts the drive in the LOCAL mode.
The Run LED
• is on, when the drive is operating the motor.
4 RUN RUN Key
Start-Up Programming
• flashes during deceleration to stop or when the frequency reference is 0.
• flashes quickly the drive is disabled by a DI, the drive was stopped using a fast stop DI or a run command
was active during power up.
5 Up Arrow Key Scrolls up to display the next item, selects parameter numbers and increments setting values.
& Operation
6 Down Arrow Key Scrolls down to display the previous item, selects parameter numbers and decrements setting values.
7 STOP STOP Key <1> Stops drive operation.
• Enters parameter values and settings.

4
8 ENTER Key
ENTER • Selects a menu item to move between displays.
LO Switches drive control and frequency setting between the operator (LOCAL) and an external source
9 LO/RE Selection Key <2>
RE (REMOTE).
10 RUN RUN Light Lit while the drive is operating the motor. Refer to page 97 for details.
11 LO LO/RE Light Lit while the operator is selected to run the drive (LOCAL mode). Refer to page 97 for details.
RE
12 ALM LED Light Refer to ALARM (ALM) LED Displays on page 97.
<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.
 LCD Display
Figure 4.2
1 2 3 4
5
6
8 9 10
Figure 4.2 LCD Display
Table 4.1 Display and Contents
No. Name Display Content
MODE Displayed when in Mode Selection.
MONITR Displayed when in Monitor Mode.
VERIFY Indicates the Verify Menu.
1 Operation Mode Menus
PRMSET Displayed when in Parameter Setting Mode.
A.TUNE Displayed during Auto-Tuning.
SETUP Displayed when in Setup Mode.
DriveWorksEZ Function Displayed when the DriveWorksEZ is set to enable.
2 DWEZ
Selection (A1-07=1 or 2)
DRV Displayed when in Drive Mode.
3 Mode Display Area
PRG Displayed when in Programming Mode.
4 Ready Rdy Indicates the drive is ready to run.
5 Data Display – Displays specific data and operation data.
OPR Displayed when the frequency reference is assigned to the LCD Operator Option.
Frequency AI Displayed when the frequency reference is assigned to the drives Analog Input.
6 Reference COM Displayed when the frequency reference is assigned to the drives MEMOBUS/Modbus Communication Inputs.
Assignment <1> OP Displayed when the frequency reference is assigned to a drive Option Unit.
RP Displayed when the frequency reference is assigned to the drives Pulse Train Input.
RSEQ Displayed when the reference is supplied from a remote source.
LO/RE LSEQ Displayed when the reference is supplied from the operator keypad.
7
Display <2> RREF Displayed when the frequency reference is supplied from a remote source.
LREF Displayed when the frequency reference is supplied from the operator keypad.
JOG Pressing F2 executes the Jog function.
HELP Pressing F2 displays the Help menu.
Function Key 1
8 ← Pressing scrolls the cursor to the left.
(F2) F2
HOME Pressing F2 returns to the top menu (Frequency Reference).
ESC Pressing F2 returns to the previous display.
FWD Indicates forward motor operation.

9 FWD/REV
REV Indicates reverse motor operation.
FWD/REV Pressing F1 switches between forward and reverse.
DATA Pressing F1 scrolls to the next display.

Function Key 2
10
(F1)
→ Pressing F1 scrolls the cursor to the right.
RESET Pressing F1 resets the existing drive fault or error.
<1> Displayed when in Frequency Reference Mode.

<2> Displayed when in Frequency Reference Mode and Monitor Mode.
 ALARM (ALM) LED Displays

Table 4.2 ALARM (ALM) LED Status and Contents
State Content Display
Illuminated When the drive detects a fault.
• When an alarm occurs.

Flashing • When oPE is detected.
• When a fault or error occurs during Auto-Tuning.
Off Normal operation (no fault or alarm).
 LO/RE LED and RUN LED Indications

Table 4.3 LO/RE LED and RUN LED Indications
LED Lit Flashing <1> Flashing Quickly <1> <2> 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 was set to LOCAL,

a Run command was entered to the
input terminals then the drive was
switched to REMOTE.
• A Run command was entered via
the input terminals while the drive
was not in Drive Mode.
• During deceleration to stop
• During deceleration or stop when a
During run • When a Run command is input and During stop
Fast Stop command was entered.
frequency reference is 0 Hz
• The drive output is shut off by the
Safe Disable function.
• The STOP key was pressed while
the drive was running in REMOTE.
• The drive was powered up with
b1-17 = 0 (default) while the Run
command is active.
Examples
<1> Refer to Figure 4.3 for the difference between “flashing” and “flashing quickly”.
<2> The drive cannot start operation.
Figure 4.3
& Operation
1s
ON ON
Flashing
Flashing ON ON ON ON
4
quickly
Figure 4.3 RUN LED Status and Meaning

Figure 4.4
Drive output frequency

during stop RUN STOP RUN
STOP
/ 6 Hz
0 Hz
Frequency setting
RUN LED OFF ON OFF OFF
Flashing
Figure 4.4 RUN LED and Drive Operation
 Menu Structure for Digital Operator

Figure 4.5
- MODE - DRV Rdy -MONITR- DRV Rdy

FREF (OPR) FREF (d1-01)
U1-01= 0.00Hz
U1-01= 000.00Hz
Drive Mode <1>
U1-02= 0.00Hz LSEQ 㧔0.00㨪50.00㧕
U1-03= 0.00A LREF ̌0.00Hz̍
JOG FWD FWD/REV
φ FWD
ψ <3>
- MODE - DRV Rdy -MONITR- DRV Rdy -MONITR- DRV Rdy

Monitor Menu Monitor Frequency Ref
U1-01= 0.00Hz U1 -01= 0.00Hz U1- 01 = 0.00Hz
U1-02= 0.00Hz LSEQ U1-02= 0.00Hz LSEQ U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF U1-03= 0.00A LREF U1-03= 0.00A LREF
JOG FWD FWD/REV JOG FWD FWD/REV JOG FWD FWD/REV
- MODE - PRG -MONITR- DRV Rdy -MONITR- DRV Rdy

Fault Trace Output Freq
Modified Consts
U2 -01= oC U1- 02 = 0.00Hz
Modified
U2-02= oPr LSEQ U1-03= 0.00A LSEQ
X Parameters U2-03= 0.00Hz LREF U1-04= 0 LREF
HELP FWD DATA <4> JOG FWD FWD/REV JOG FWD FWD/REV
- MODE - PRG
Programming Mode <2>
Quick Setting
Initial Display <5>
A1000
HELP FWD DATA XXXVX.X/X.XkW
A1000 XX.XX/XX.XXA
YASKAWA <XXXXXXXXX>
<6>
- MODE - PRG
Programming
HELP FWD DATA
- MODE - PRG Rdy

Auto-Tuning
AUTO
HELP FWD DATA
Figure 4.5 Digital Operator Menu and Screen Structure
<1> Pressing RUN will start the motor.

<2> Drive cannot operate the motor.
<3> Flashing characters are shown as 0 .
<4> X characters are shown in this manual. The LCD Operator will display the actual setting values.
<5> The Frequency Reference appears after the initial display which shows the product name.
<6> The information that appears on the display will vary depending on the drive.
4.3 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.
Note: 1. If parameter b1-08 is set to 0 the drive will accept a Run command only in the Drive Mode. When editing parameters, the user must
first exit the Programming Mode and enter the Drive Mode before starting the motor.
2. To allow the drive to run the motor while in the Programming Mode, set b1-08 to 1.
 Navigating the Drive and Programming Modes

The drive is set to operate in Drive Mode when it is first powered up. Switch between display screens by using the
and keys.
Mode Contents Operator Display Description
- MODE - DRV Rdy This display screen allows the user to monitor and change the frequency reference while the drive is running. Refer
FREF (OPR) to The Drive and Programming Modes on page 99.
Frequency Reference U1-01= 0.00Hz Note: Use parameter o1-02 to select the data displayed when the drive is first powered up. Setting parameter A1-02
Power Up
(default) U1-02= 0.00Hz LSEQ to 6 or 7 (AOLV/PM or CLV/PM control) will change display units to percent.
U1-03= 0.00A LREF
100% = Maximum Output Frequency
JOG FWD FWD/REV
- MODE - DRV Rdy

Drive Mode Monitor Menu
U1-01= 0.00Hz Lists the monitor parameters (U- parameters) available in the drive.
Monitor Display
U1-02= 0.00Hz LSEQ Press the Enter Key and then use the Up, Down, ESC, and Reset keys to navigate through the drive monitors.
U1-03= 0.00A LREF
JOG FWD FWD/REV
- MODE - PRG
Modified Consts
Verify Menu Modified Lists all parameters that have been edited or changed from default settings. Refer to Verifying Parameter
X Parameters Changes: Verify Menu on page 102.
& Operation
HELP FWD DATA
- MODE - PRG
Quick Setting A select list of parameters necessary to get the drive operating quickly. Refer to Using the Setup Group on 4
Programming page 103.
Mode Setup Group
Note: Parameters listed in the Setup Group differ depending the Application Preset in parameter A1-06. Refer to
Application Selection on page 112.
HELP FWD DATA
- MODE - PRG
Programming
Parameter Setting
Mode Allows the user to access and edit all parameter settings. Refer to Parameter List on page 455.
HELP FWD DATA
- MODE - PRG
Auto-Tuning
Auto-Tuning Mode Motor parameters are calculated and set automatically. Refer to Auto-Tuning on page 118.
Programming AUTO
Mode
HELP FWD DATA
Mode Contents Operator Display Description
- MODE - DRV Rdy

FREF (OPR)
U1-01= 0.00Hz
Drive Mode Frequency Reference Returns to the frequency reference display screen.
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
 Drive Mode Details

The following actions are possible in the Drive Mode:
• Run and stop the drive
• Monitor the operation status of the drive (frequency reference, output frequency, output current, output voltage, etc.)
• View information on an alarm
• View a history of alarms that have occurred
Figure 4.6 illustrates how to change the frequency reference from F 0.00 (0 Hz) to F 6.00 (6 Hz) while in the Drive
Mode. This example assumes the drive is set to LOCAL.
Figure 4.6
Frequency reference
display at power up
F1 F2
- MODE - DRV Rdy -MONITR- DRV Rdy
FREF (OPR) FREF (d1-01) left right
U1-01= 0.00Hz
U1-01= 000.00Hz
U1-02= 0.00Hz LSEQ 㧔0.00㨪50.00㧕
U1-03= 0.00A LREF ̌0.00Hz̍
Press until the frequency
JOG FWD FWD/REV
Press to select LOCAL
φ FWD
ψ reference changes to 006.00 Hz
-MONITR- DRV Rdy -MONITR- DRV Rdy - MODE - DRV Rdy

FREF (d1-01) FREF (d1-01) FREF (OPR)
ESC U1-01= 6.00Hz
U1-01= 006.00Hz U1-01= 006.00Hz
㧔0.00㨪50.00㧕 Entry Accepted 㧔0.00㨪50.00㧕 U1-02= 0.00Hz LSEQ
̌0.00Hz̍ ̌0.00Hz̍ U1-03= 0.00A LREF
φ FWD
ψ φ FWD
ψ JOG FWD FWD/REV
Figure 4.6 Setting the Frequency Reference while in the Drive Mode
Note: The drive will not accept a change to the frequency reference until the ENTER key is pressed after the frequency reference is
entered. This feature prevents accidental setting of the frequency reference. To have the drive accept changes to the frequency
reference as soon as changes are made without requiring the ENTER key, set o2-05 to 1.
 Programming Mode Details

The following actions are possible in the Programming Mode:
• Parameter Setting Mode: Access and edit all parameter settings
• Verify Menu: Check a list of parameters that have been changed from their original default values
• Setup Group: Access a list of commonly used parameters to simplify setup (see Simplified Setup Using the Setup
Group on page 103)
• Auto-Tuning Mode: Automatically calculates and sets motor parameters to optimize drive performance
 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
- MODE - DRV Rdy

FREF (OPR)
U1-01= 0.00Hz
1. Turn on the power to the drive. The initial display appears.
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
- MODE - PRG
Programming
2.
Press the or key until the Parameter Setting Mode screen appears.
HELP FWD DATA
-PRMSET- PRG
Initialization
3. A1-00=0
Press the key to enter the parameter menu tree. Select Language
FWD
-PRMSET- PRG
Basic Setup
4. C1-01= 10.0 sec
Press or key to select the C parameter group. Accel Time 1
FWD
-PRMSET- PRG -PRMSET- PRG

Accel/Decel Accel Time 1
5. C1-01= 10.0 sec C1-01= 10.0Sec
Press two times. Accel Time 1 (0.0~6000.0)
“10.0 sec”
FWD FWD
-PRMSET- PRG
Decel Time 1
6. C1-02= 10.0Sec
Press or key to select the parameter C1-02. (0.0~6000.0)
“10.0 sec”
FWD
-PRMSET- PRG
Decel Time 1
7. C1-02= 0010.0Sec
Press to view the current setting value (10.0 s). Left digit flashes. (0.0~6000.0)
“10.0 sec”
FWD
& Operation
-PRMSET- PRG
Decel Time 1
8. Press F1 , F2 or until the desired number is selected. “1” flashes. C1-02=0010.0Sec
(0.0~6000.0)
left right “10.0 sec”
FWD
4
-PRMSET- PRG
Decel Time 1
C1-02=0020.0Sec
9. (0.0~6000.0)
Press the key and enter 0020.0.
“10.0 sec”
FWD
10.
Press and the drive will confirm the change. Entry Accepted
-PRMSET- PRG
Decel Time 1
C1-02= 20.0Sec
11. The display automatically returns to the screen shown in Step 4. (0.0~6000.0)
“10.0 sec”
FWD
- MODE - DRV Rdy

FREF (OPR)
U1-01= 0.00Hz
12.
Press the key until back at the initial display. U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
 Verifying Parameter Changes: Verify Menu

The Verify Menu lists edited parameters from the Programming Mode or as a result of Auto-Tuning. It helps determine
which settings have been changed, and is particularly useful when replacing a drive. If no settings have been changed, the
Verify Menu will read “None”. The Verify Menu also allows users to quickly access and re-edit any parameters settings
that have been changed.
Note: The Verify Menu will not display parameters from the A1 group (except for A1-02) and E5-01 even if those parameters have
been changed from their default settings.
The following example is a continuation of the steps above. Here, parameter C1-02 is accessed using the Verify Menu,
and is changed again from 10.0 s to 20.0 s.
To check the list of edited parameters:
Step Display/Result
- MODE - DRV Rdy

FREF (OPR)
U1-01= 0.00Hz
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
- MODE - PRG
Modified Consts
2. Press or until the display shows the top of the Verify Menu. Modified
X Parameters
HELP FWD DATA
- VERIFY - PRG Rdy

Accel Time 1
Press to enter the list of parameters that have been edited from their original default settings.
3. C1-02 = 20.0sec
(0.0~6000.0)
If parameters other than C1-02 have been changed, use the or key to scroll until C1-02 appears. “10.0sec”
Home FWD DATA
- VERIFY - PRG Rdy

Accel Time 1
4. Press the key to access the setting value. Left digit flashes. C1-01=0020.0sec
(0.0~6000.0)
“10.0sec”
Home FWD DATA
 Simplified Setup Using the Setup Group

In the Setup Group, the drive lists the basic parameters needed to set up the drive for the application. It provides a
simplified way to get the application running right away by showing only the most important parameters.
 Using the Setup Group
Figure 4.7 illustrates how to enter and how to change parameters in the Setup Group.
The first display shown when entering the Setup Group is the Application Selection menu. Skipping this display will
keep the current Setup Group parameter selection. The default setting for the Setup Group is a group of parameters most
commonly use in general-purpose applications. Pressing the ENTER key from the Application Selection display and
selecting an Application Preset will change the Setup Group to parameters optimal for the application selected. Refer to
Application Selection on page 112 and Setup Group Parameters on page 104 for details.
In this example, the Setup Group is accessed to change b1-01 from 1 to 0. This changes the source of the frequency
reference from the control circuit terminals to the digital operator.
- MODE - DRV Rdy - MODE - PRG

FREF (OPR)
Quick Setting
U1-01= 0.00Hz
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV HELP FWD DATA
Frequency reference
appears when
powered up
<1> - SETUP - PRG Rdy
Application Sel
A1-06= 0 ∗0∗
General
Home FWD DATA

Parameter Display
- SETUP - PRG Rdy

Control Method
A1-02= 2 ∗2∗
Open Loop Vector
Home FWD DATA

- SETUP - PRG Rdy
Ref Source 1
b1-01= 1 ∗1∗
Analog Input
“1”
- SETUP - PRG Rdy FWD
Ref Source 1
Control Circuit
b1-01= 1 ∗1∗
Analog Input
Terminal
<2>
Home FWD DATA - SETUP - PRG Rdy
& Operation
Ref Source 1
b1-01= 0 ∗1∗
Entry Accepted Operator
“1”
FWD
- SETUP - PRG Rdy
Run Source 1 Operator
b1-02= 1 ∗1∗ <2>
4
Digital Inputs
Home FWD DATA
- SETUP - PRG Rdy

StallP Decel Sel
L3-04= 1 ∗1∗
General Purpose
Home FWD DATA
<1> Use the up and down arrow keys to scroll through the Setup Group. Press the ENTER key to view or change parameter settings.
<2> To return to the previous menu without saving changes, press the ESC key.
Figure 4.7 Setup Group Example
 Setup Group Parameters

Table 4.4 lists parameters available by default in the Setup Group. When an Application Preset has been selected in
parameter A1-06 or the Application Selection display of the Setup Group, the parameters selected for the Setup Group
will change automatically. Refer to Application Selection on page 112.
If the desired parameter is not listed in the Setup Group, go to the Programming Mode.
Table 4.4 Setup Group Parameters
Parameter Name Parameter Name
A1-02 Control Method Selection E1-01 Input Voltage Setting
b1-01 Frequency Reference Selection 1 E1-03 V/f Pattern Selection
b1-02 Run Command Selection 1 E1-04 Maximum Output Frequency
b1-03 Stopping 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 Drive Duty Mode Selection E1-13 Base Voltage
C6-02 Carrier Frequency Selection E2-01 Motor Rated Current
d1-01 Frequency Reference 1 E2-04 Number of Motor Poles
d1-02 Frequency Reference 2 E2-11 Motor Rate Power
d1-03 Frequency Reference 3 H4-02 Multi-Function Analog Output Terminal FM Gain
d1-04 Frequency Reference 4 L1-01 Motor Overload Protection Function Selection
d1-17 Jog Frequency Reference L3-04 Stall Prevention Selection during Deceleration
Note: 1. 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.
2. Parameters listed in Table 4.4 are set in alphanumeric order as User Parameters in A2-01 to A2-26.
 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
- MODE - DRV Rdy
FREF (A1/A2)
1. Turn on the power to the drive. The initial display appears. U1-01= 0.00Hz
U1-02= 0.00Hz RSEQ
U1-03= 0.00A RREF
JOG FWD FWD/REV
- MODE - DRV Rdy

FREF (OPR)
U1-01= 0.00Hz
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
F1 F2
Press . The LO/RE light will light up. The drive is now in LOCAL. LO
2.
ESC
RE
RESET ENTER
RUN STOP
To set the drive for REMOTE operation, press the key again.
 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”).
Setting H1- to 1 disables the LO/RE key on the digital operator. Refer to H1: Multi-Function Digital Inputs on page 488 for
details.
4.4 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.
Note: 1. Function availability differs for drive models CIMR-A4A0930 and 4A1200. Refer to Parameter Differences for models
CIMR-A4A0930 and 4A1200 on page 458 for details.
2. Refer to Application Selection on page 112 to set up the drive using one of the application presets.
Flowchart Subchart Objective Page

A – Basic startup procedure and motor tuning 105
A-1 Simple motor setup using V/f mode 106
– A-2 High-performance operation using Open Loop Vector (OLV) or Closed Loop Vector (CLV) motor control 107
A-3 Setting up the drive to run a permanent magnet (PM) motor 108
 Flowchart A: Basic Start-up and Motor Tuning

Flowchart A in Figure 4.8 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 4.7
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
Refer to
Set the control mode in parameter A1-02. 4.6 Application
Selection
Set the basic parameters

C6-01 for heavy/normal duty mode selection
L3-04 if using dynamic braking options
L8-55 = 0 if using a regen converter
Control Mode
& Operation
A1-02 =
0: V/f 2: OLV 5: OLV/PM

1: V/f w/PG 3: CLV 6: AOLV/PM
7: CLV/PM
To
Flowchart A-1
To
Flowchart A-2
To
Flowchart A-3
4
From Flowchart A-1, A-2, or A-3
Set the parameters according to the application method.

b1-01/b1-02 for frequency reference selection and run command source selection
H1-, H2-, H3-, H4-, H6- for I/O terminal setting
d1- for using multi-speed references
C1- and C2- for accel/decel and S-curve time settings

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 4.8 Basic Start-up

Note: 1. 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.
2. Auto-Tuning should be performed again after installing an AC reactor or other such components to the output side of the drive.
 Subchart A-1: Simple Motor Setup Using V/f Control

Flowchart A-1 in Figure 4.9 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 4.8
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 4.9 Simple Motor Setup with Energy Savings or Speed Search
 Subchart A-2: High Performance Operation Using OLV or CLV

Flowchart A-2 in Figure 4.10 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 4.9
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
YES Is the load less than

30% of the rated load
for the motor?
NO
Perform Stationary Perform Stationary

Auto-Tuning 3 (T1-01 = 5)<3> 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.
Run the operation in test mode for Auto-Tuning 3.
Connect the load to the motor.
Is there a PG NO
encoder on the
motor?
YES
& Operation
Should the YES
drive set ASR gain
automatically?
NO
Does the application require YES 4

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

NO
(T1-01 = 8) <4> (T1-01 = 9) <5>
Run the machine and check for desired

operation.
Return to
Flowchart
A
<1> The load must be decoupled from the motor to properly perform Rotational Auto-Tuning.
<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> Run the operation in test mode for Auto-Tuning 3. The drive will set motor parameters automatically. For details, refer to Stationary
Auto-Tuning 3 on page 124.
<4> Make sure the motor and load can run freely, i.e., if a brake is mounted, make sure it is released.
<5> ASR Gain Tuning automatically performs Inertia Tuning and sets parameters related to Feed Forward and the KEB Ride-Thru function.
Figure 4.10 Flowchart A2: High Performance Operation Using OLV or CLV
 Subchart A-3: Operation with Permanent Magnet Motors

Flowchart A-3 in Figure 4.11 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: 1. 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.
2. 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.
3. When using High Frequency Injection, perform High Frequency Injection Parameter Tuning. Refer to T2-01: PM Motor
Auto-Tuning Mode Selection on page 130 for details.
From
Flowchart
A
Yaskawa standard NO Motor test report/ NO

series motor? <1> data sheet available?
Possible
YES YES
for motor to rotate
during tuning?
Set the motor code in E5-01.<4> YES NO

Input the motor data. <1> Input the motor data. <1> Perform PM
(T2-01 = 0) (T2-01 = 1) Rotational Auto-Tuning
(T2-01 = 14)
Possible
NO YES
Motor with PG? for a PG encoder on the
motor to rotate during
tuning? Back EMF
YES Constant Tuning
NO (T2-01 = 11)
Set E5-11 to the value of Δθ
given on the motor nameplate.
YES
Is the motor cable longer
than 50 meters?
PM Stationary Auto-Tuning for
NO Stator Resistance (T2-01 = 2)
Control Mode
A1-02 = 5 A1-02 = 6 A1-02 = 7
NO High
Frequency Injection
n8-57 used?
YES
High Frequency Injection Parameter Tuning (T2-01 = 13)

For details, refer to the section on high frequency injection
tuning in Auto-Tuning on page 118.
Run the motor without load; check the rotation direction and
& Operation
operation. Verify external signal commands to the drive work as desired.
Connect the load to the motor.
4
NO Is there a
PG encoder on the
motor?
YES
YES
Should the drive set ASR
gain automatically?
NO
Does the application require

NO any of the following drive functions?
Feed Forward (L2-29 = 1)
KEB 2 (H1- = 7A)
YES YES
Perform PM Inertia Tuning Perform ASR gain tuning.
(T2-01 = 8) <2> (T2-01 = 9) <3>
Run the machine and check for

desired operation.
Return to
Flowchart
A
<1> A motor code can be entered as the parameter setting for 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.
<4> Set E5-01 to the motor code to eliminate the need to perform tuning. Refer to Parameters that Change with the Motor Code Selection (for
PM Motors) on page 536 for details.
When using a Yaskawa PM motor without a motor code, set the parameters according to the motor nameplate values and test report values.
Figure 4.11 Operation with Permanent Magnet Motors
4.5 Powering Up the Drive
4.5 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). <1>
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
<1> Properly connect the inputs on terminals R1/L11, S1/L21, and T1/L31 in addition to R1/L1, S1/L2, and T1/L3 when connecting models
CIMR-A4A0930 and 4A1200.
 Status Display
When the power supply to the drive is turned on, the digital operator lights will appear as follows:
Status Display Description
DIGITAL OPERATOR JVOP-180

ALARM
- MODE - DRV Rdy

Normal Operation FREF (OPR)
U1-01= 0.00Hz
The data display area displays the frequency reference. is lit.
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV

ALARM
- MODE - DRV
Data displayed varies by the type of fault. Refer to Fault Displays, Causes, and Possible Solutions on page 336
Fault EF3
Ext Fault S3 for more information and possible solution. and are lit.
FWD RESET
External fault (example)
& Operation
4
4.6 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 Application Selection display in the Setup Group (Refer to
Simplified Setup Using the Setup Group on page 103) or in parameter A1-06. The following presets can be selected:
Note: 1. 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.
2. Do not set any value outside the allowable range for A1-06 (Application Presets). If an out-of-range value is set, “APPL” will be
displayed flashing in the Setup group and the up and down arrow keys cannot be used. If this happens, press the ESC key to return to
the Setup group. It will then be possible to switch to another mode using the up and down arrow keys. Setting values to A1-06 out of
the setting range will not affect drive operation, however.
3. The values set for A1-06 cannot be changed except by initializing the values by setting A1-03=2220, and then making new settings.
If you will encounter a problem if all of the parameters are initialized, the setting of A1-06 does not need to be changed.
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.
Table 4.5 Application Presets (A1-06)

No. Parameter Name Setting Range Default
0: Disabled
1: Water supply pump
2: Conveyor
3: Exhaust fan
A1-06 Application Presets 0
4: HVAC
5: Compressor
6: Hoist
7: Crane
 0: General Applications (Default Settings)

Refer to Table 4.4 for general application parameters.
 Setting 1: Water Supply Pump Application

Table 4.6 Water Supply Pump: Parameter Settings
No. Name Default Setting
A1-02 Control Method Selection 0: V/f Control
b1-04 Reverse Operation Selection 1: Reverse Prohibited
C1-01 Acceleration Time 1 1.0 s
C1-02 Deceleration Time 1 1.0 s
C6-01 Drive Duty Mode Selection 1: Normal Duty (ND)
E1-03 V/f Pattern Selection F: V/f Pattern Selection
E1-07 Mid Output Frequency 30.0 Hz
E1-08 Mid Output Frequency Voltage 50.0 V
L2-01 Momentary Power Loss Operation Selection 1: Enabled
L3-04 Stall Prevention Selection during Deceleration 1: Enabled
Table 4.7 Water Supply Pump: User Parameters (A2-01 to A2-16)

No. Parameter Name No. Parameter Name
b1-01 Frequency Reference Selection E1-08 Mid Output Frequency Voltage
b1-02 Run Command Selection E2-01 Motor Rated Current
b1-04 Reverse Operation Selection H1-05 Multi-Function Digital Input Terminal S5 Function Selection
C1-01 Acceleration Time 1 H1-06 Multi-Function Digital Input Terminal S6 Function Selection
C1-02 Deceleration Time 1 H1-07 Multi-Function Digital Input Terminal S7 Function Selection
E1-03 V/f Pattern Selection L5-01 Number of Auto Restart Attempts
E1-07 Mid Output Frequency − −
 Setting 2: Conveyor Application

Table 4.8 Conveyor: Parameter Settings
No. Parameter Name Default Setting
C6-01 Drive Duty Mode Selection 0: Heavy Duty (HD)
Table 4.9 Conveyor: User Parameters (A2-01 to A2-16)

A1-02 Control Method Selection C1-02 Deceleration Time 1
b1-01 Frequency Reference Selection E2-01 Motor Rated Current
b1-02 Run Command Selection L3-04 Stall Prevention Selection during Deceleration
C1-01 Acceleration Time 1 − −
 Setting 3: Exhaust Fan Application

Table 4.10 Exhaust Fan: Parameter Settings
E1-07 Mid Output Frequency 30.0 Hz
E1-08 Mid Output Frequency Voltage 50.0 V
Table 4.11 Exhaust Fan: User Parameters (A2-01 to A2-16)

b1-01 Frequency Reference Selection E1-07 Mid Output Frequency
b1-02 Run Command Selection E1-08 Mid Output Frequency Voltage
b1-04 Reverse Operation Selection E2-01 Motor Rated Current
b3-01 Speed Search Selection at Start H1-05 Multi-Function Digital Input Terminal S5 Function Selection
C1-01 Acceleration Time 1 H1-06 Multi-Function Digital Input Terminal S6 Function Selection
C1-02 Deceleration Time 1 H1-07 Multi-Function Digital Input Terminal S7 Function Selection
E1-03 V/f Pattern Selection L5-01 Number of Auto Restart Attempts
& Operation
 Setting 4: HVAC Fan Application
Table 4.12 HVAC Fan: Parameter Settings
No. Parameter Name Default Setting 4
b1-17 Run Command at Power Up 1: Run command issued, motor operation start
C6-02 Carrier Frequency Selection 3: 8.0 kHz
H2-03 Terminals P2 Function Selection 39: Watt Hour Pulse Output
2: CPU Power Active - Drive will restart if power returns prior to control power supply shut
L2-01 Momentary Power Loss Operation Selection
down.
L8-03 Overheat Pre-Alarm Operation Selection 4: Operation at lower speed
L8-38 Carrier Frequency Reduction 2: Enabled across entire frequency range.
Table 4.13 HVAC Fan: User Parameters (A2-01 to A2-16)

b1-01 Frequency Reference Selection d2-02 Frequency Reference Lower Limit
b1-02 Run Command Selection E1-03 V/f Pattern Selection
b1-03 Stopping Method Selection E1-04 Max Output Frequency
b1-04 Reverse Operation Selection E2-01 Motor Rated Current
C1-01 Acceleration Time 1 H3-11 Terminal A2 Gain Setting
C1-02 Deceleration Time 1 H3-12 Terminal A2 Input Bias
C6-02 Carrier Frequency Selection L2-01 Momentary Power Loss Operation Selection
d2-01 Frequency Reference Upper Limit o4-12 kWh Monitor Initial Value Selection
 Setting 5: Compressor Application

Table 4.14 Compressor: Parameter Settings
Table 4.15 Compressor: User Parameters (A2-01 to A2-16):

b1-01 Frequency Reference Selection E1-03 V/f Pattern Selection
b1-02 Run Command Selection E1-07 Mid Output Frequency
b1-04 Reverse Operation Selection E1-08 Mid Output Frequency Voltage
C1-01 Acceleration Time 1 E2-01 Motor Rated Current
C1-02 Deceleration Time 1 − −
 Setting 6: Hoist Application

Note: 1. Read the instructions listed on page 115 when using Hoist Application Preset
2. Perform Auto-Tuning after selecting the Hoist Application Preset.
Table 4.16 Hoist: Parameters and Settings
A1-02 Control Method Selection 2: Open Loop Vector Control
b1-01 Frequency Reference Selection 0: Operator
b6-01 Dwell Reference at Start 3.0 Hz
b6-02 Dwell Time at Start 0.3 s
C6-02 Carrier Frequency Selection 2: 5 kHz
d1-01 Frequency Reference 1 6.0 Hz
d1-03 Frequency Reference 3 50. 0 Hz
H2-01 Terminals M1-M2 Function Selection 5: Frequency Detection 2
H2-02 Terminals M3-M4 Function Selection 37: During Frequency Output
H3-06 Terminal A3 Function Selection <1> 1F: Through mode
L2-03 Momentary Power Loss Minimum Baseblock Time 0.3 s
L3-04 Momentary Power Loss Voltage Recovery Ramp Time 0: Disabled
L4-01 Speed Agreement Detection Level 2.0 Hz
L4-02 Speed Agreement Detection Width 0.0 Hz
L6-01 Torque Detection Selection 1 8: UL3 at RUN - Fault
L6-02 Torque Detection Level 1 2%
L6-03 Torque Detection Time 1 0.5 s
L8-05 Input Phase Loss Protection Selection 1: Enabled
L8-07 Output Phase Loss Protection Selection 1: Enabled
L8-38 Carrier Frequency Reduction 1: Enabled below 6 Hz
L8-41 Current Alarm Selection 1: Enabled (alarm is output)
<1> This parameter is not available in drive models CIMR-A4A0930 and 4A1200
Table 4.17 Hoist: User Parameters (A2-01 to A2-16):
A1-02 Control Method Selection d1-02 Frequency Reference 2
b1-01 Frequency Reference Selection d1-03 Frequency Reference 3
b6-01 Dwell Reference at Start E1-08 Mid Output Frequency Voltage
b6-02 Dwell Time at Start H2-01 Terminals M1-M2 Function Selection
C1-01 Acceleration Time 1 L1-01 Motor Overload Protection Selection
C1-02 Deceleration Time 1 L4-01 Speed Agreement Detection Level
C6-02 Carrier Frequency Selection L6-02 Torque Detection Level 1
d1-01 Frequency Reference 1 L6-03 Torque Detection Time 1
 Notes on Controlling the Brake when Using the Hoist Application Preset
 Prevent accidental Brake Release during Baseblock
The hoist application selection uses the frequency detection function for controlling the brake.
Although the drive output will be shut off, the drive still maintains the frequency reference if the Run command remains
active when an external Baseblock command is given (H1- = 8 or 9). Disable the frequency detection during
baseblock by setting parameter L4-07 = 0 to prevent the brake remaining open while the drive is in baseblock.
 Controlling the Brake in Closed Loop Vector Control
For hoist applications using Closed Loop Vector Control, Yaskawa recommends setting the “During frequency output”
signal to a digital output (H2-01 = 37 for terminal M1-M2) in order to control the brake. This way, the brake will always
close during baseblock, and the setting of parameter L4-07 as described above will not affect brake control.
 Brake Control During Safe Disable Input
If the Safe Disable input is triggered, the drive output will shut off and the frequency reference will reset to 0. The brake
will also close, regardless if the Run command is active. The Run command must be cycled before the drive can restart.
 Related Parameter Settings
Table 4.18 shows the parameter settings needed when using output terminals M1-M2 as brake control output.
Table 4.18 Parameter Settings for Brake Control Output (M1-M2)
Function Parameter Setting Comment
Frequency Detection 2 Digital Output
H2-01 5
(for brake control)
Speed Agreement Detection Level
L4-01 1.0 to 3.0 Hz <1> Use this setup for V/f control modes or Open Loop Vector
(frequency for the brake to open)
control
Speed Agreement Width
L4-02 0.0 to 0.5 Hz <2>
(bandwidth for the brake to close)
Frequency Detection during Baseblock L4-07 0
DC Injection Braking Start Frequency
b2-01 0.1 to 0.5 Hz Use this setup in Closed Loop Vector control for IM or PM
(frequency for the brake to close)
motors
During Frequency Output H2-01 37
<1> This is the setting recommended when using Open Loop Vector Control. If using V/f Control, set the level as the motor rated slip frequency
plus 0.5 Hz. Not enough motor torque will be created if this value is set too low, and the load may tend to slip. Make sure this value is greater
than the minimum output frequency and greater than the value of L4-02, as shown in the diagram below. If set too high, however, there may be
a jolt at start.
& Operation
<2> Hysteresis for Frequency detection 2 can be adjusted by the Frequency detection width (L4-02) between 0.0 and 0.5 Hz. If the load slips during
stop, make changes in steps of 0.1 Hz until the load no longer slips.
Figure 4.10
L4-01
Output
L4-02
4
time
frequency
ON OFF
Frequency
Dectection 2
Figure 4.12 Frequency Detection 2
 Sequence Circuit Configuration Example

The braking sequence should be designed as follows:
• A normally open signal (N.O.) should be used to control the brake so that it is released when terminal M1-M2 closes.
• When a fault signal is output, the brake should close.
Figure 4.11
Drive Holding brake

MA auxilary relay coil
UP
S1 Forward Run MB Safety
Circuit BR
DOWN MC
S2 Reverse Fault Contact
Fast/Slow Run
S6 Multi-speed
step 2
M1 (250 Vac 1 A or less)
SN M2 (30 Vdc 1 A or less)
SC “Frequency Detect 2”
or “During Frequency
SP Output”
Figure 4.13 Sequence Circuit Configuration

• The brake should release just a bit after the Run command is issued, allowing the motor to build up torque. If using the
V/f, V/f w PG or OLV control modes and the “Frequency detection 2” signal controls the brake, the motor can be given
time to build up torque by setting the brake release level in parameter L4-01. Additionally, DC Injection Braking at
start can be applied. If using CLV or CLV/PM and the “During frequency output” signal controls the brake, initial
excitation should be enabled. Set the initial excitation time to parameter b2-03.
• The time chart below gives a an example sequence.
Figure 4.12
OFF ON
S1 UP
Input
S6 Fast/Slow OFF ON
b6-02
d1-01
d1-03
Output frequency b6-01 b2-04
0
Brake Open Frequency L4-01 DC Injection braking Time
Output
Frequency Detection 2 b2-01 (Zero speed level) or E1-09 (Min. output frequency) <1>
(H2-01 = 05) ON OFF
M1-M2
Holding brake
Closed Open Closed
<1> The drive brakes at the frequency set to b2-01 or E1-09, whichever value is higher.
Figure 4.14 Holding Brake Time Chart (V/f, V/f w/PG, OLV)
Figure 4.13
OFF ON
S1 UP
Input
S6 Fast/slow OFF ON
d1-01
d1-03
Output frequency b2-04
0
Output Time
Zero speed control
During Frequency Output b2-01 (Zero speed level) or E1-09 (Min. output frequency) <1>
M1-M2 ON OFF
(H2-01 = 37)
Holding brake
Closed Open Closed
<1> The drive brakes at the frequency set to b2-01 or E1-09, whichever value is higher.
Figure 4.15 Holding Brake Time Chart (CLV, CLV/PM)
 Setting 7: Traveling Application

Table 4.19 Traveling: Parameters and Settings
A1-02 Control Mode 0: V/f Control
b1-01 Frequency Reference Selection 0: Operator
C6-02 Carrier Frequency Selection 2: 5 kHz
H1-05 Multi-Function Digital Input Terminal S5 Function 3: Multi-Step Speed 1
H1-06 Multi-Function Digital Input Terminal S6 Function 4: Multi-Step Speed 2
H2-02 Terminals M3-M4 Function Selection 37: During frequency output
H3-06 Terminal A3 Function Selection <1> 1F: Through mode
L3-04 Stall Prevention Selection during Decel 0: Disabled
L8-05 Input Phase Loss Protection Selection 1: Enabled
L8-07 Output Phase Loss Protection Selection 1: Triggered when one output phase is lost
L8-38 Carrier Frequency Reduction 1: Enabled below 6 Hz
L8-41 Current Alarm Selection 1: Enabled (alarm output)
<1> This parameter is not available in drive models CIMR-A4A0930 and 4A1200.
Table 4.20 Traveling: User Parameters (A2-01 to A2-16):

b1-01 Frequency Reference Selection d1-03 Frequency Reference 3
C1-01 Acceleration Time 1 E2-01 Motor Rated Current
C1-02 Deceleration Time 1 H1-05 Multi-Function Digital Input Terminal S5 Function
C6-02 Carrier Frequency Selection H1-06 Multi-Function Digital Input Terminal S6 Function
d1-01 Frequency Reference 1 H2-01 Terminals M1-M2 Function Selection
d1-02 Frequency Reference 2 L1-01 Motor Overload Protection Selection
& Operation
4
4.7 Auto-Tuning
4.7 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 105.
Note: The drive will only show Auto-Tuning parameters that are valid for the control mode that has been set to A1-02. 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 wi th 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 4.21 Types of Auto-Tuning for Induction Motors
Control Mode
Type Setting Application Conditions and Benefits
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%.
• A motor test report listing motor data is not available.
Stationary Auto-Tuning 1 T1-01 = 1 N/A N/A YES YES
• Automatically calculates motor parameters that are 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.
• 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 performed. Increases YES YES N/A N/A
Control
accuracy for certain functions like torque compensation, slip
compensation, Energy Saving, and Speed Search.
• Motor can be driven with a normal duty mode after Auto-Tuning. A trial
Stationary Auto-Tuning 3 <1> T1-01 = 5 N/A N/A YES YES
run is performed after Auto-Tuning to automatically calculate motor
parameters needed for vector control.
<1> Not available in models CIMR-A4A0930 and 4A1200.
Table 4.22 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 Subchart A-1: Simple Motor Setup Using V/f Control on page 106 and Subchart A-2: High
Performance Operation Using OLV or CLV on page 107 for details on Auto-Tuning process and selections.
Table 4.22 Auto-Tuning Input Data
Tuning Type (T1-01)
Input 2 3
Input Value Unit 0 1 4 5
Parameter Line-to-Line Rotational for
Standard Stationary 1 Stationary 2 Stationary 3
Resistance V/f Control
Control Mode A1-02 – 2, 3 2, 3 0, 1, 2, 3 0, 1 2, 3 2, 3
Motor rated power T1-02 kW YES YES YES YES YES YES
Motor rated voltage T1-03 Vac YES YES N/A YES YES YES
Motor rated current T1-04 A YES YES YES YES YES YES
Motor rated frequency T1-05 Hz YES YES N/A YES YES YES
4.7 Auto-Tuning
Tuning Type (T1-01)

Input 2 3
Input Value Unit 0 1 4 5
Parameter Line-to-Line Rotational for
Standard Stationary 1 Resistance V/f Control Stationary 2 Stationary 3
Number of motor poles T1-06 – YES YES N/A YES YES YES
Motor rated Speed T1-07 min-1 YES YES N/A YES YES YES
PG Number of pulses per
T1-08 – YES <1> YES <1> N/A N/A YES <1> YES <1>
revolution
Motor no-load current T1-09 A N/A YES N/A N/A YES YES
Motor rated Slip T1-10 Hz N/A N/A N/A N/A YES N/A
Motor iron loss T1-11 W N/A N/A N/A YES N/A 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 4.23 Types of Auto-Tuning for Permanent Magnet Motors
Control Mode
Type Setting Application Conditions and Benefits
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 4.24 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.
• Use if a motor test is not available.
• Tunes the motor induction voltage only.
• Should be performed after motor data are set and the encoder offset is
Back EMF Constant Tuning T2-01 = 11 N/A N/A YES
adjusted.
• The motor must be uncoupled from the mechanical system (remove
loads).
• Perform High Frequency Injection Parameter Tuning after setting motor
parameters. Refer to T2-01: PM Motor Auto-Tuning Mode Selection on
page 130 for details.
• The motor rotated in reverse or STo fault (Motor Step-Out) occurred at
High Frequency Injection startup in AOLV/PM
T2-01 = 13 N/A YES YES
Parameter Tuning <1> • Low speed and insufficient or no torque after activating the high
frequency injection control (n8-57 = 1) in AOLV/PM.
• Faults, such as the motor rotating in reverse, occurred when the power
was turned on during initial startup in CLV/PM.
Note: High Frequency Injection cannot be used with an SPM motor.
& Operation
• Motor can be decoupled from the load and rotate freely while
PM Rotational Auto-Tuning Auto-Tuning is performed. Drive automatically calculates and sets motor
T2-01 = 14 YES YES YES
<1> parameters.
• PM Rotational Auto-Tuning gives more accurate results than Stationary
Auto-Tuning.

4
Table 4.24 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 Subchart A-3: Operation with Permanent Magnet Motors on page 108 for details on the
tuning mode selection and the tuning process.
4.7 Auto-Tuning
Figure 4.14
667
(
̓
'5,9( 233
(1' (1'
6L
Figure 4.16 Example of Motor Nameplate

Tuning Type (T2-01)
Input 2 3 11 13
Input Value Unit 0 1 Stationary Z-Pulse Back EMF High 14
Parameter
Motor Parameter Settings Stationary Stator Frequency Rotational
Resistance Offset Constant Injection
Control Mode A1-02 – 5, 6, 7 5 6, 7 5 6, 7 5, 6, 7 7 7 6, 7 5 6 7
Motor Code T2-02 – <1> FFFF FFFF – – – – – – – – –
Motor Type T2-03 – N/A N/A N/A YES YES N/A N/A N/A N/A YES YES YES
Motor rated power T2-04 kW N/A YES YES YES YES N/A N/A N/A N/A YES YES YES
Motor rated voltage T2-05 Vac N/A YES YES YES YES N/A N/A N/A N/A YES YES YES
Motor rated current T2-06 A N/A YES YES YES YES YES N/A N/A N/A YES YES YES
Motor rated frequency T2-07 Hz N/A YES N/A YES N/A N/A N/A N/A N/A YES N/A N/A
Number of motor poles T2-08 – N/A YES YES YES YES N/A N/A N/A N/A YES YES YES
Motor rated Speed T2-09 min-1 N/A N/A YES N/A YES N/A N/A N/A N/A N/A YES YES
Stator 1 Phase resistance T2-10 Ω YES YES YES N/A N/A N/A N/A N/A 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 N/A 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 N/A N/A N/A N/A N/A
Induced Voltage constant
T2-13 – YES YES YES N/A N/A N/A N/A N/A N/A N/A N/A N/A
Unit Selection
Voltage constant T2-14 <3> YES YES YES N/A N/A N/A N/A N/A N/A N/A N/A N/A
Tuning pull-in current T2-15 % N/A N/A N/A YES YES N/A N/A N/A N/A YES YES YES
PG Number of pulses per
T2-16 – YES <2> N/A YES <2> N/A YES <2> N/A N/A N/A N/A N/A N/A YES
revolution
deg
Z Pulse Offset T2-17 YES <2> N/A YES <2> N/A YES <2> N/A N/A N/A N/A N/A N/A N/A
(mech.)
<1> Input the motor code when using the YASKAWA motor. Select FFFF when using the motor by other manufacturers.
<2> Input data is needed for CLV/PM only.
<3> Depends on T2-13 setting.
4.7 Auto-Tuning
Adjustment Procedure for High Frequency Injection

Figure 4.17 and Figure 4.18 show the adjustment procedure when n8-57 = 1 (High Frequency Injection: Enabled).
Figure 4.17 is the adjustment procedure for advanced open loop vector control for PM.
As an additional reference, Figure 4.18 shows the adjustment procedure for when dv4 (Inversion Prevention Detection)
or another fault occurs at startup in closed loop vector control for PM. High Frequency Injection Parameter Tuning is not
required in closed loop vector control for PM, even if set to n8-35 = 1 (Initial Rotor Position Detection Selection: High
Frequency Injection).
If a fault occurs, such as dv4, adjust the drive according to the steps in Figure 4.18.
Start of Adjustments
Set motor parameters.
Is Si value YES
written on motor
nameplate?
Set n8-84 (Polarity Judge Current).
NO n8-84 = Si × 2
Perform High Frequency

Injection Parameter Tuning
(T2-01 = 13).<1>
Test run. (10% speed or lower).
NO
Is there oscillation
or a fault?
Set n8-39 (Low Pass

YES
Filter Cutoff Frequency
for High Frequency
Injection) to 50% of
n8-36 (High Frequency
Injection Level)
n8-39 = n8-36 × 0.5
& Operation
Test run. Decrease n8-41 (HFI Overlap
(10% speed or lower) Pole Detection Pgain) in
increments of 0.5.<2>
Is there oscillation
NO 4
or a fault?
YES
End of Adjustments
<1> On drives with software versions S1025 and earlier, set n8-39 (Low Pass Filter Cutoff Frequency for High Frequency Injection) to 40 if
n8-39 is 28 or lower after High Frequency Injection Parameter Tuning.
<2> Parameter n8-41 (HFI Overlap Pole Detection Pgain) can be adjusted on drives with software version S1026 or later.
Figure 4.17 Adjustment Procedure for Advanced Open Loop Vector Control for PM (When n8-57 = 1)
4.7 Auto-Tuning
Start of Adjustments
Set motor parameters.
Is Si value YES
written on motor
nameplate?
Set n8-84 (Polarity Judge Current).
NO n8-84 = Si × 2
Turn ON the power supply.
Test run.
(10% speed or lower)
NO
Is there a fault
(e.g., dv4)?
Perform High
YES
Frequency Injection
Parameter Tuning
(T2-01 = 13) <1>
Turn ON Decrease n8-41 (HFI Overlap Pole

the power supply. Detection Pgain) in increments of 0.5.<2>
Test run. Set n8-39 (Low Pass Filter Cutoff Frequency

(10% speed or lower) for High Frequency Injection) to 50% of n8-36
(High Frequency Injection Level)
n8-39 = n8-36 × 0.5
NO
Is there a fault
(e.g., dv4)?
YES
End of Adjustments
<1> On drives with software versions S1025 and earlier, set n8-39 (Low Pass Filter Cutoff Frequency for High Frequency Injection) to 40 if
n8-39 is 28 or lower after High Frequency Injection Parameter Tuning.
<2> Parameter n8-41 (HFI Overlap Pole Detection Pgain) can be adjusted on drives with software version S1026 or later.
Figure 4.18 Adjustment Procedure for Closed Loop Vector Control for PM (When n8-35 = 1)
 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 4.25 Inertia and Speed Control Loop Tuning
Type Setting Control Mode Application Conditions and Benefits
IM Motor T1-01 = 8 CLV Lets the motor rotate at a certain speed and applies a test signal. The response to
Inertia Tuning the test signals are analyzed, and adjustments are made to parameters controlling
PM Motor T2-01 = 8 CLV/PM the Feed Forward and KEB Ride-Thru functions (KEB 2, L2-29 = 1).
IM Motor T1-01 = 9 CLV Performs the same operation as Inertia Tuning, but also adjusts the ASR gain
ASR Gain Auto-Tuning
PM Motor T2-01 = 9 CLV/PM according to the response to the test signal.
Note: Inertia Tuning and ASR Gain Auto-Tuning might not be available if gears are between the machine and the motor shaft.
Table 4.26 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 119 for details.
4.7 Auto-Tuning

Tuning Type (T1-01 or T2-01)
Input Value Input Parameter Unit 8 9
Inertia Tuning ASR Gain Tuning
Control Mode A1-02 – 3, 7 3, 7
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
 Before Auto-Tuning the Drive

Check the items below before Auto-Tuning the drive.
 Basic Auto-Tuning Preparations
• Auto-Tuning requires the user to input data from the motor nameplate or motor test report. Make sure this data is
available before Auto-Tuning the drive.
• For best performance, the drive input supply voltage must be greater than the motor rated voltage.
Note: Better performance is possible when using a motor with a base voltage that is 20 V (200 V class models) or 40V (400 V class
models) lower than the input supply voltage. This is particularly important when operating the motor above 90% of base speed,
where high torque precision is required.
• To cancel Auto-Tuning, press the STOP key on the digital operator.
• When using a motor contactor, make sure it is closed throughout the Auto-Tuning process.
• When using Auto-Tuning for motor 2, make sure motor 2 is connected to the drive output when performing the tuning.
• Table 4.27 describes digital input and output terminal operation while Auto-Tuning is performed.
Table 4.27 Digital Input and Output Operation During Auto-Tuning
Motor Type Auto-Tuning Type Digital Input Digital Output
Rotational Auto-Tuning Functions the same as during normal operation
Stationary Auto-Tuning 1
Stationary Auto-Tuning 2 Maintains the status at the start of Auto-Tuning
IM Motor
Stationary Auto-Tuning for Line-to-Line Resistance
Rotational Auto-Tuning for V/f Control Functions the same as during normal operation
Stationary Auto-Tuning 3 Maintains the status at the start of Auto-Tuning
PM Motor Parameter Settings Digital output functions are disabled.
PM Stationary Auto-Tuning Digital input functions are disabled.
PM Stationary Auto-Tuning for Stator Resistance Maintains the status at the start of Auto-Tuning
PM Motor Z Pulse Offset Tuning
& Operation
Back EMF Constant Tuning Functions the same as during normal operation
High Frequency Injection Parameter Tuning Digital output functions are disabled.
PM Rotational Auto-Tuning Functions the same as during normal operation
IM and PM Inertia Tuning
Functions the same as during normal operation
Motors ASR Gain Auto-Tuning
4
 Notes on Rotational Auto-Tuning
• To achieve optimal performance from Rotational Auto-Tuning, the load should be decoupled from the motor.
Rotational Auto-Tuning is best suited for applications requiring high performance over a wide speed range.
• If motor and load can not be decoupled, reduce the load so that it is no greater than 30% of the rated load. Performing
Rotational Auto-Tuning with a higher load will set motor parameters incorrectly, and can cause irregular motor
rotation.
• Ensure the motor-mounted brake is fully released if installed.
• Connected machinery should be allowed to rotate the motor.
NOTICE: Make sure that the motor and the load are not connected when performing Auto-Tuning. Failure to comply may cause
damage to equipment or injury to personnel.
NOTICE: Electrical Shock Hazard. When executing Auto-Tuning, voltage is applied to the motor even before it rotates. Do not touch
the motor until Auto-Tuning is completed. Failure to comply may result in injury from electrical shock. If PM Rotational Auto-Tuning is
performed, the motor will remain stopped for approximately one minute with power applied and then the motor will rotate for one
minute.
4.7 Auto-Tuning
 Notes on Stationary Auto-Tuning

Stationary Auto-Tuning modes analyze motor characteristics by injecting current into the motor for about one minute.
WARNING! Electrical Shock Hazard. When executing Stationary Auto-Tuning, voltage is applied to the motor even before it rotates.
Do not touch the motor until Auto-Tuning is completed. Failure to comply may result in injury from electrical shock.
WARNING! Sudden Movement Hazard. If installed, do not release the mechanical brake during stationary Auto-Tuning. Inadvertent
brake release may cause damage to equipment or injury to personnel. Ensure that the mechanical brake release circuit is not
controlled by the drive multi-function digital outputs.
Stationary Auto-Tuning 1 and 2

• Perform these tuning methods when using a vector control mode but Rotational Auto-Tuning cannot be performed.
• Check the area around the motor to ensure that nothing will accidentally cause the motor to rotate during the
Auto-Tuning process.
• Perform Stationary Auto-Tuning 1 when the motor test report is not available. If the motor test report is available,
perform Stationary Auto-Tuning 2 instead.
Stationary Auto-Tuning 3
NOTICE: Electrical Shock Hazard. When executing Stationary Auto-Tuning 3, voltage is applied to the motor even before it rotates. Do
not touch the motor until Auto-Tuning is completed. Failure to comply may result in injury from electrical shock.
NOTICE: When performing Stationary Auto-Tuning 3 for a motor while it is connected to the machine, such as a conveyor, do not
release the holding brake during Auto-Tuning.
Stationary Auto-Tuning 3 can be used in either Open Loop Vector control or Closed Loop Vector control. Set T1-01 to 5
and enter the input data from the motor nameplate. If the RUN key is pressed, the motor will remain stopped for
approximately one minute to automatically calculate the motor parameters that are needed. When the motor is used for
the first time in Drive Mode after Auto-Tuning has been performed, the motor parameters (E2-02 and E2-03) are set
automatically.
After Stationary Auto-Tuning 3 has been performed, make sure the following conditions are met and use the following
procedures to perform the operation in test mode.
1. Check the values of E2-02 and E2-03 in Verify Menu or Parameter Setting Mode.
2. Operate the motor once in Drive Mode with the following conditions.
• Do not disconnect the wiring between the motor and drive.
• Do not lock the motor shaft with a mechanical brake or other device.
• The maximum motor load should be 30% of the rated load.
• Maintain a constant speed of 30% of E1-06 (base frequency, default value = maximum frequency) or higher
for one second or longer.
3. After the motor is stopped, recheck the values of E2-02 and E2-03 in Verify Mode or Parameter Setting Mode.
4. Confirm that the input data is correct.
Note: 1. If the aforementioned conditions are not met when using the motor for the very first use, there will be large discrepancies between the
values set for the motor rated slip (E2-02) and the motor no-load current (E2-03), and the motor test report and the data given in
Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01) on page 529. This could result in motor vibration, hunting,
insufficient torque, or overcurrent. For hoist applications, this could result in the cage falling or serious injury. Either perform
Stationary Auto-Tuning 3 again and then perform operation with the above procedure and conditions, or perform Stationary
Auto-Tuning 1 or 2, or rotational Auto-Tuning.
2. If midway initialization is performed, restart the entire procedure from the beginning.
3. Use the following guidelines for a general-purpose motor: Motor rated slip (E2-02): 1 Hz to 3 Hz, No-load current (E2-03): 30% to
65% of the rated current. Generally speaking, for larger motor capacities the rated slip is smaller and the no-load current as a
percentage of the rated current is smaller. Refer to Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01) on page 529 for
details.
Stationary Auto-Tuning for Line-to-Line Resistance and PM Motor Stator Resistance
• Perform when entering motor data manually while using motor cables longer than 50 m.
• If the motor cables have been replaced with line over 50 m long after Auto-Tuning as already been performed, then
execute Stationary Auto-Tuning for line-to-line resistance.
4.7 Auto-Tuning
 Notes on Inertia Tuning and ASR Gain Auto-Tuning

WARNING! Electrical Shock Hazard. When executing Inertia Tuning or ASR Gain Auto-Tuning, voltage is applied to the motor even
before it rotates. Do not touch the motor until Auto-Tuning is completed. Failure to comply may result in injury from electrical shock.
• Both tuning methods must be performed with the machine connected to the motor but without load applied.
• The motor will rotate during the Auto-Tuning process. Make sure the areas around the motor and connected machinery
are clear.
• The drive will let the system rotate at a certain speed while superimposing a sine wave test signal. Make sure this
tuning process does not cause any problem or malfunction in the machine before using it.
• Ensure the motor-mounted brake is fully released if installed.
• Connected machinery should be allowed to rotate the motor.
 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 4.15

ALARM DIGITAL OPERATOR JVOP-180
ALARM
- A.TUNE - DRV Rdy - MODE - DRV
REV DRV
DRV FOUT
Tune Proceeding
X.XX Hz/ X.XXA Er-03
STOP key

FWD FWD RESET
A – During Auto-Tuning B – Auto-Tuning Aborted

Figure 4.19 Auto-Tuning Aborted Display
 Auto-Tuning Operation Example

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
- MODE - DRV Rdy
FREF (OPR)
U1-01= 0.00Hz
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
& Operation
JOG FWD FWD/REV
- MODE - PRG
Auto-Tuning
2.
Press the or key until the Auto-Tuning display appears. AUTO
HELP FWD DATA

4
- A.TUNE - PRG
Tuning Mode Sel
3. Press to begin setting parameters.
T1-01= 0 ∗0∗
Standard Tuning
ESC FWD DATA
- A.TUNE - PRG
Tuning Mode Sel
4. T1-01= 0 ∗0∗
Press to select the value for T1-01. <1> Standard Tuning
“0”
FWD
5.
Save the setting by pressing . Entry Accepted
- A.TUNE - PRG
Tuning Mode Sel
6. The display automatically returns to the display shown in Step 3. T1-01= 0 ∗0∗
Standard Tuning
ESC FWD DATA
<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).
4.7 Auto-Tuning
 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
- A.TUNE - PRG
Mtr Rated Power
1. T1-02= 0.75kW
Press to access the motor output power parameter T1-02. (0.00 ~ 650.00)
“0.75kW”
ESC FWD DATA
- A.TUNE - PRG
Mtr Rated Power
2. T1-02= 000.75kW
Press to view the default setting. (0.00 ~ 650.00)
“0.75kW”
FWD
- A.TUNE - PRG
Mtr Rated Power
3. Press F1 , F2 , , and to enter the motor power nameplate data in kW. T1-02= 000.40kW
left right (0.00 ~ 650.00)
“0.75kW”
FWD
4.
Press to save the setting. Entry Accepted
- A.TUNE - PRG
Mtr Rated Power
5. The display automatically returns to the display in Step 1. T1-02= 0.40kW
(0.00 ~ 650.00)
“0.75kW”
ESC FWD DATA
- A.TUNE - PRG
Rated Voltage
T1-03= 200.0VAC
Repeat Steps 1 through 5 to set the following parameters: (0.0 ~ 255.0)
• T1-03, Motor Rated Voltage “200.0VAC”
ESC FWD DATA
• T1-04, Motor Rated Current
• T1-05, Motor Base Frequency
6.
• T1-06, Number of Motor Poles
• T1-07, Motor Base Frequency
• T1-09, Motor No-Load Current (Stationary Auto-Tuning 1 or 2 only) - A.TUNE - PRG
Mtr Rated Slip
• T1-10, Motor Rated Slip (Stationary Auto-Tuning 2 only)
T1-10= X.XX Hz
(0.00 ~ 20.00)
“X.XX Hz”
ESC FWD DATA
Note: 1. For details on each setting, Refer to Parameter Settings during Induction Motor Auto-Tuning: T1 on page 127.
2. To execute Stationary Auto-Tuning for line-to-line resistance only, set parameters T1-02 and T1-04.
4.7 Auto-Tuning
 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
- A.TUNE - DRV
Auto-Tuning
1. 0.00 Hz/ 0.00A
After entering the data listed on the motor nameplate, press to confirm. Tuning Ready ?
Press RUN key
ESC FWD
- A.TUNE - DRV Rdy

Press to activate Auto-Tuning. The drive begins by injecting current into the motor for about 1 min, Tune Proceeding
2. and then starts to rotate the motor. X.XX Hz/ X.XXA
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. FWD
- MODE - DRV
3. Auto-Tuning finishes in approximately one to two minutes. End

Tune Successful
FWD RESET
 Parameter Settings during Induction Motor Auto-Tuning: T1

The T1- parameters are used to set the Auto-Tuning input data for induction motor tuning.
Note: For motors that are to be operated in the field weakening range, first perform the Auto-Tuning with the base data. After
Auto-Tuning is complete, change the maximum frequency E1-04 to the desired value.
 T1-00: Motor 1/Motor 2 Selection
Selects the motor to be tuned when motor 1/2 switching is enabled, i.e., a digital input is set for function H1- = 16.
This parameter is not displayed if motor 1/2 switching is disabled.
& Operation
No. Name Setting Range Default
T1-00 Motor 1/Motor 2 Selection 1 or 2 1
Setting 1: Motor 1
Auto-Tuning automatically sets parameters E1- and E2- for motor 1.
4
Setting 2: Motor 2
Auto-Tuning automatically sets parameters E3- and E4- for motor 2. Make sure that motor 2 is connected to the
drive for Auto-Tuning.
4.7 Auto-Tuning
 T1-01: Auto-Tuning Mode Selection

Sets the type of Auto-Tuning to be used. Refer to Auto-Tuning for Induction Motors on page 118 for details on the
different types of Auto-Tuning.

V/f: 2, 3
V/f w/PG: 2, 3 2 (V/f, V/f w/PG)
T1-01 Auto-Tuning Mode Selection
OLV: 0, 1, 2, 4, 5 0 (OLV, CLV)
CLV: 0, 1, 2, 4, 5, 8, 9
Setting 0: Rotational Auto-Tuning

Setting 1: Stationary Auto-Tuning 1
Setting 2: Stationary Auto-Tuning for Line-to-Line Resistance
Setting 3: Rotational Auto-Tuning for V/f Control
Setting 8: Inertia Tuning
Setting 9: ASR Gain Auto-Tuning
Note: 1. Stationary Auto-Tuning 3 is not available in models CIMR-A4A0930 and 4A1200.
2. Inertia Tuning and ASR Gain Auto-Tuning might not be available if gears are between the machine and the motor shaft.
 T1-02: Motor Rated Power

Sets the motor rated power according to the motor nameplate value.

Determined by o2-04 and
T1-02 Motor Rated Power 0.00 to 650.00 kW
C6-01
 T1-03: Motor Rated Voltage (T1-01 = 0, 1, 3, 4, 5)

Sets the motor rated voltage according to the motor nameplate value. If the motor to be operated above its base speed,
enter the voltage at base speed here.
For better control precision around rated speed when using a vector control mode, it can be helpful to enter the no-load
voltage for the motor here. The motor’s “no-load voltage” refers to the voltage needed to operate the motor under no-load
conditions at rated speed. The no-load voltage can usually be found in the motor test report available from the
manufacturer. If no data is available, enter approximately 90% of the rated voltage printed on the motor nameplate. Note
that this might increase the output current reducing the overload margin.

T1-03 Motor Rated Voltage 0.0 to 255.5 V <1> 200.0 V <1>
<1> Values shown here are for 200 V class drives. Double values when using a 400 V class unit.
 T1-04: Motor Rated Current

Sets the motor rated current according to the motor nameplate value. For optimal performance in OLV or CLV, the motor
rated current should be between 50 and 100% of the drive rated current. Enter the current at the motor base speed.

T1-04 Motor Rated Current 10 to 200% of drive rated current o2-04
 T1-05: Motor Base Frequency (T1-01 = 0, 1, 2, 4, 5)

Sets the motor rated frequency according to the motor nameplate value. If a motor with an extended speed range is used
or the motor is used in the field weakening area, enter the maximum frequency to E1-04 (E3-04 for motor 2) after
Auto-Tuning is complete.

T1-05 Motor Base Frequency 0.0 to 400.0 Hz 50.0 Hz
4.7 Auto-Tuning
 T1-06: Number of Motor Poles (T1-01 = 0, 1, 3, 4, 5)

Sets the number of motor poles according to the motor nameplate value.

T1-06 Number of Motor Poles 2 to 48 4
 T1-07: Motor Base Speed (T1-01 = 0, 1, 3, 4, 5)

Used to set the motor rated speed according to the motor nameplate value. If a motor with an extended speed range is
used or the motor is used in the field weakening area, enter the speed at base frequency here.

T1-07 Motor Base Speed 0 to 24000 min-1 1450 min-1
 T1-08: PG Number of Pulses Per Revolution (T1-01 = 0, 1, 4, 5)

Sets the number of pulses from the PG encoder. Set the actual number of pulses for one full motor rotation.

T1-08 PG Number of Pulses Per Revolution 0 to 60000 ppr 1024 ppr
Note: T1-08 will only be displayed in CLV.
 T1-09: Motor No-Load Current (T1-01 = 1, 4, 5)

Sets the no-load current for the motor.
The default setting displayed is no-load current that was automatically calculated from the output power set in T1-02 and
the motor rated current set to T1-04. Enter the data listed on the motor test report. Leave this data at the default setting if
the motor test report is not available.

0 A to [T1-04]
T1-09 <1> Motor No-Load Current –
(Max: 0 to 2999.9)
<1> Display is in the following units.

 CIMR-A2A0004 to 2A0040, CIMR-A4A0002 to 4A0023: 0.01 A units
 CIMR-A4A0930 to 4A1200: 1 A units
 T1-10: Motor Rated Slip (T1-01 = 4, 5)
& Operation
Sets the rated slip for the motor.
The default setting displayed is the motor rated slip for a Yaskawa motor calculated from the output power set in T1-02.
Enter the data listed on the motor test report. 4
T1-10 Motor Rated Slip 0.00 to 20.00 Hz –
 T1-11: Motor Iron Loss (T1-01 = 3, 5)

Provides iron loss information for determining the Energy Saving coefficient. T1-11 will first display a value for the
motor iron loss that the drive automatically calculated the when motor capacity was entered to T1-02. If the motor test
report is available, enter the motor iron loss value listed there.

T1-11 Motor Iron Loss 0 to 65535 W E2-11 (E4-11)
4.7 Auto-Tuning
 Parameter Settings during PM Motor Auto-Tuning: T2

The T2- parameters are used to set the Auto-Tuning input data for PM motor tuning.
 T2-01: PM Motor Auto-Tuning Mode Selection
Selects the type of Auto-Tuning to be performed. Refer to Auto-Tuning for Permanent Magnet Motors on page 119 for
details on different types of Auto-Tuning.

OLV/PM: 0, 1, 2, 14
T2-01 PM Motor Auto-Tuning Mode Selection AOLV/PM: 0, 1, 2, 13, 14 0
CLV/PM: 0, 1, 2, 3, 8, 9, 11, 13, 14
Setting 0: PM Motor Parameter Settings

Setting 1: PM Stationary Auto-Tuning
Setting 2: PM Stationary Auto-Tuning for Stator Resistance
Setting 3: Z-Pulse Offset Tuning
Setting 8: Inertia Tuning
Setting 9: ASR Gain Auto-Tuning
Setting 11: Back EMF Constant Tuning
Setting 13: High Frequency Injection Parameter Tuning
Setting 14: PM Rotational Auto-Tuning
Note: 1. The settings of 13 and 14 are not available for models CIMR-A4A0930 and 4A1200.
2. Inertia Tuning and ASR Gain Auto-Tuning might not be available if gears are between the machine and the motor shaft.
3. For special-purpose motors, Yaskawa recommends Back EMF Constant Tuning after Stationary Auto-Tuning has been performed.
Back EMF Constant Tuning rotates the motor to measure the actual induction voltage constants, and therefore allows for more
accurate control than Stationary Auto-Tuning alone.
4. When using High Frequency Injection, perform High Frequency Injection Parameter Tuning after setting motor parameters. High
Frequency Injection cannot be used with an SPM motor.
When performing High Frequency Injection Parameter Tuning (T2-01 = 13), n8-36, n8-37, and n8-39 will be set automatically.
Before performing High Frequency Injection Parameter Turning, perform PM Stationary/Rotational Auto-Tuning or set the
nameplate value of the motor.
 T2-02: PM Motor Code Selection

If the drive is operating a Yaskawa PM motor from the SMRA, SSR1, or SST4 series, enter the motor code for the motor
in parameter T2-02. This will automatically set parameters T2-03 through T2-09. Use the motor nameplate or motor test
report values to set parameters T2-10 to T2-14. If using a specialized motor or one designed by a manufacturer other than
Yaskawa, set T2-02 to FFFF. Data from the motor nameplate or the motor test report will then need to be entered as
prompted.
Only the designated PM motor codes may be entered. The PM motor codes accepted by the drive will differ by the
control mode that has been selected. Refer to E5: PM Motor Settings on page 222 for motor codes.
T2-02 PM Motor Code Selection 0000 to FFFF Depending on A1-02 and o2-04
 T2-03: PM Motor Type

Selects the type of PM motor the drive will operate.

T2-03 PM Motor Type 0, 1 1
Setting 0: IPM motor

Setting 1: SPM motor
 T2-04: PM Motor Rated Power
Specifies the motor rated power in kilowatts.

T2-04 PM Motor Rated Power 0.00 to 650.00 kW Depending on o2-04 and C6-01
4.7 Auto-Tuning
 T2-05: PM Motor Rated Voltage

Sets the motor rated voltage.

T2-05 PM Motor Rated Voltage 0.0 to 255.0 V <1> 200.0 V <1>
<1> The setting range and default value shown here is for a 200 V class drive. These values double when using a 400 V class unit.
 T2-06: PM Motor Rated Current

Enter the motor rated current in amps.

10% to 200% of the drive rated
T2-06 PM Motor Rated Current Depending on o2-04
current.
 T2-07: PM Motor Base Frequency

Enter the motor base frequency in Hz.
Note: T2-07 will be displayed when in OLV/PM.

T2-07 PM Motor Base Frequency 0.0 to 400.0 Hz 87.5 Hz
 T2-08: Number of PM Motor Poles

Enter the number of motor poles.

T2-08 Number of PM Motor Poles 2 to 48 6
 T2-09: PM Motor Base Speed

Enter the motor rated speed in min-1.
Note: T2-09 will be displayed when in AOLV/PM and CLV/PM.
T2-09 PM Motor Base Speed 0 to 24000 min-1 1750 min-1
 T2-10: PM Motor Stator Resistance
& Operation
Enter the motor stator resistance per motor phase.

T2-10 PM Motor Stator Resistance 0.000 to 65.000 Ω Depending on T2-02 4
 T2-11: PM Motor d-Axis Inductance
Enter the d axis inductance per motor phase.

T2-11 PM Motor d-Axis Inductance 0.00 to 600.00 mH Depending on T2-02
 T2-12: PM Motor q-Axis Inductance

Enter the q axis inductance per motor phase.

T2-12 PM Motor q-Axis Inductance 0.00 to 600.00 mH Depending on T2-02
4.7 Auto-Tuning
 T2-13: Induced Voltage Constant Unit Selection

Selects the units used for setting the induced voltage coefficient.

T2-13 Induced Voltage Constant Unit Selection 0, 1 1
Setting 0: mV (min-1)
Setting 1: mV (rad/s)
Note: If T2-13 is set to 0, then the drive will use E5-24 (Motor Induction Voltage Constant 2 (for PM Motors)), and will automatically
set E5-09 (Motor Induction Voltage Constant 1 (for PM Motors)) to 0.0. If T2-13 is set to 1, then the drive will use E5-09 and
will automatically set E5-25 to 0.0.
 T2-14: PM Motor Induced Voltage Constant (Ke)

Enter the motor induced voltage constant (Ke).

T2-14 PM Motor Induced Voltage Constant 0.0 to 2000.0 Depending on T2-02
 T2-15: Pull-In Current Level for PM Motor Tuning

Sets the amount of pull-in current used to tune the d-axis and q-axis inductance. Set as a percentage of the motor rated
current.

T2-15 Pull-In Current Level for PM Motor Tuning 0 to 120% 30%
 T2-16: PG Number of Pulses Per Revolution for PM Motor Tuning

Enter the number of pulses from the PG encoder per motor rotation. Set the actual number of pulses for one full motor
rotation.

T2-16 PG Number of Pulses Per Revolution for PM Motor Tuning 1 to 15000 ppr 1024 ppr
 T2-17: Encoder Z-Pulse Offset (Δθ)

Sets the amount of compensation or offset in 0.1 degree units in order to fine-tune the home position. If the amount of
offset needed for the Z pulse is unknown or if the PG encoder is replaced, perform Z pulse tuning.

T2-17 Encoder Z-Pulse Offset -180.0 to 180.0 deg 0.0 deg
 Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3

These tuning methods apply a sine wave test signal to the system. By the measuring the response the drive estimates the
system inertia. It automatically sets parameters listed in Table 4.28.
Table 4.28 Parameters Adjusted by Inertia and Speed Loop Auto-Tuning
T1-01 or T2-01
Parameter Description 8 9
Inertia Tuning Speed Control Loop (ASR) Tuning
C5-01 ASR Proportional Gain 1 N/A YES
C5-17 (C5-37) Motor Inertia YES YES
C5-18 (C5-38) Motor Inertia Ratio YES YES
L3-24 Motor Acceleration Time for Inertia Calculations YES YES
L3-25 Load Inertia Ratio YES YES
n5-02 Motor Acceleration Time YES YES
n5-03 Feed Forward Control Ratio Gain YES YES
4.7 Auto-Tuning
 T3-01: Inertia Tuning Frequency Reference

There is normally no need to change this parameter from the default value.
Sets the frequency of the test signal applied to the motor during Inertia Tuning. Increasing the value may be beneficial
when working with high inertia loads.

T3-01 Inertia Tuning Frequency Reference 0.1 to 20.0 Hz 3.0 Hz
 T3-02: Inertia Tuning Reference Amplitude

Enter the amplitude of the test signal applied to the motor during Inertia Tuning. If the load inertia is too large and causes
problems during Inertia Tuning, try decreasing the value. If a fault occurs when T3-01 is set to low value, the situation
may be remedied by adjusting T3-02.

T3-02 Inertia Tuning Reference Amplitude 0.1 to 10.0 rad 0.5 rad
 T3-03: Motor Inertia

Enter the inertia of the motor. This value is used to determine the load inertia using the test signal response. The default
setting is for a Yaskawa standard motor as listed in the motor inertia table.

Depending on
T3-03 Motor Inertia 0.0001 to 600.00 kgm2
o2-04, C6-01, E5-01
Note: The display resolution depends on the rated output power of the drive after the Drive Duty has been set in parameter C6-01.
Drives with a maximum output up to 30 kW will display this value in units of 0.0001 kgm2. Drives with a maximum output 37 to
160 kW will display this value in units of 0.001 kgm2. Drives with a maximum output 185 kW and above will display this value
in units of 0.01 kgm2. Refer to A1000 Model Selection on page 29 for details.
 T3-04: ASR Response Frequency

Sets the response frequency (reciprocal of the step response time constant) of the system or the connected machine. The
drive uses this value and the load inertia to fine-tune the speed control loop gain (C5-01, ASR Gain 1). Oscillation may
result if the value input here is higher than the actual response frequency of the system.
& Operation
T3-04 ASR Response Frequency 0.1 to 50.0 Hz 10.0 Hz
4.8 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
- MODE - DRV Rdy

FREF (OPR)
1. Turn on the power to the drive. The initial display appears. U1-01= 0.00Hz
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
DIGITAL OPERATOR JVOP-180 ALARM
- MODE - DRV Rdy

FREF (OPR)
U1-01= 0.00Hz
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
F1 F2
2.
LO
ESC
RE
Press the key to select LOCAL. The LO/RE light will turn on. RESET ENTER
RUN STOP
Off On
- MODE - DRV Rdy

FREF (OPR)
U1-01= 6.00Hz
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
F1 F2
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
RUN RUN
Off On
Motor
4. Ensure the motor is rotating in the correct direction and that no faults or alarms occur.
Forward
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.
Step Display/Result
- MODE - DRV Rdy

FREF (OPR)
U1-01= 50.00Hz
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
F1 F2
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
complete stop. RUN STOP
RUN RUN
Off On
& Operation
4
4.9 Test Run with Load Connected
4.9 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. Refer to Motor Performance
Fine-Tuning on page 326 for details.
4.10 Verifying Parameter Settings and Backing Up Changes

Use the Verify Menu to check all changes to parameter settings. Refer to Verifying Parameter Changes: Verify Menu on
page 102.
It is convenient to check all changes to parameters then save the verified parameters as User parameters. Change the
access level or set a password to the drive to prevent accidental modification of parameter settings.
 Backing Up Parameter Values: o2-03

The following procedure saves all parameters settings to drive memory where they can later be recalled. Set o2-03 to “1”
to save parameter changes. This saves all parameter settings, and then returns o2-03 to 0. The drive can now “recall” the
saved parameters by performing a User Initialization (A1-03 = 1110).
No. Parameter Name Description Setting Range Default Setting

Lets the user create a set of default settings for a User Initialization.
0: Saved/Not set
User Parameter
o2-03 1: Set Defaults - Saves current parameter settings as the default values for a User Initialization. 0 to 2 0
Default Value
2: Clear All - Clears the currently saved user settings. After saving the user parameter set value, the items of
1110 (User Parameter Initialize) are displayed in A1-03 (User Parameter Default Value).
Selects a method to initialize the parameters.
0: No Initialize
1110: User Initialization (The user must first program and store desired settings using parameter o2-03)
A1-03 Initialize Parameters 0 to 5550 0
2220: 2-Wire Initialization (parameter initialized prior to shipment)
3330: 3-Wire Initialization
5550: oPE04 Fault reset
 Parameter Access Level: A1-01

Setting the Access Level for “Operation only” (A1-01 = 0) allows the user to access parameters A1- and U-
only. Other parameters are not displayed.
Setting the Access Level for “User Parameters” (A1-01 = 1) allows the user to access only the parameters that have been
previously saved as User Parameters. This is helpful when displaying only the relevant parameters for a specific
application.
Parameter Setting
No. Description Default
Name Range
Selects which parameters are accessible via the digital operator.
0: Operation only. A1-01, A1-04, and A1-06 can be set and monitored, U- parameters can also be viewed.
Access Level
A1-01 1: User Parameters. Only parameters A1-00, A1-01, and A1-04, and A2-01 to A2-32 in Setup Mode can be set and 0 to 2 2
Selection
& Operation
monitored.
2: Advanced Access Level. All parameters can be set and monitored.
Parameters selected by the user are saved as User Parameters. This includes recently viewed parameters or parameters
specifically selected for quick access.
A2-01
User Parameters If parameter A2-33 is set to 1, recently viewed parameters will be listed between A2-17 and A2-32. Parameters A2-01 b1-01 to
to –
1 to 32 <1> through A2-16 must be manually selected by the user. o-
A2-32
If A2-33 is set to 0, then recently viewed parameters will not be saved to the group of User Parameters. A2-
parameters are now available for manual programming.
4
0: Parameters A2-01 through A2-32 are reserved for the user to create a list of User Parameters.
User Parameter
1: Save history of recently viewed parameters. Recently edited parameters will be saved to A2-17 through A2-32 for
A2-33 Automatic 0, 1 1
quick access. The most recently changed parameter is saved to A2-17. The second most recently changed parameter is
Selection <1>
saved to A2-18.
<1> Lists all parameters after the last listed parameters when User Parameters are set to parameters A2-17 and higher.
Example: The drive will list parameters A2-21 and higher when User Parameters are listed from A2-01 to A2-20.
 Password Settings: A1-04, A1-05

The user can set a password to the drive to restrict access. The password is selected via parameter A1-05. The password
must be entered to A1-04 to unlock parameter access (i.e., parameter setting A1-04 must match the value programmed
into A1-05). The following parameters cannot be viewed or edited until the value entered to A1-04 correctly matches the
value set to A1-05: A1-01, A1-02, A1-03, A1-06, A1-07, and A2-01 through A2-32.
Note: Parameter A1-05 is hidden from view. To display A1-05, access parameter A1-04 and simultaneously press the key and the
key.
 Copy Function
Parameter settings can be copied to another drive to simplify parameter restoration or multiple drive setup. The drive
supports the following copy options:
• LCD Operator (standard in all models)
The LCD operator used to operate the drive also supports copying, importing, and verifying parameter settings. Refer
to o3: Copy Function on page 318 for details.
• USB Copy Unit and CopyUnitManager
The copy unit is an external option connected to the drive to copy parameter settings from one drive and save those
settings to another drive. Refer to the manual supplied with the USB Copy Unit for instructions.
The CopyUnitManager is a PC software tool. It allows the user to load parameter settings from the Copy Unit onto a
PC, or from the PC onto a Copy Unit. This is useful when managing parameters for various drives or applications.
Refer to the manual supplied with the CopyUnitManager for instructions.
• DriveWizard Plus
DriveWizard is a PC software tool for parameter management, monitoring, and diagnosis. DriveWizard can load, store,
and copy drive parameter settings. For details, refer to Help in the DriveWizard software.
4.11 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. 111
3 Set the voltage for the power supply to E1-01. 212
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: Set E1-03 to 0 when using a motor with a rated frequency of 50.0 Hz.
6 Perform Rotational Auto-Tuning for V/f Control if using Energy Saving functions. 118
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. 225
8 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. 192
Open Loop Vector Control (A1-02 = 2) or Closed Loop Vector Control (A1-02=3)
9 Decouple motor shafts and machines when performing Rotational Auto-Tuning. 118
10 Set Auto-Tuning mode to T1-01 (set to 0 for Rotational Auto-Tuning). 118

Enter the following data according to the information listed on the motor nameplate.
• Motor rated power to T1-02 (kW)
• Motor rated voltage to T1-03 (V)
11 • Motor rated current to T1-04 (A) 118
• Motor base frequency to T1-05 (Hz)
• Number of motor poles to T1-06
• Motor base speed to T1-07 (min-1)
Closed Loop Vector Control (A1-02 = 3)
& Operation
12 Set F1-01 and F1-05. 225, 226
13 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. Perform ASR Tuning if possible. 192
Open Loop Vector Control for PM (A1-02 = 5)
14 Perform Auto-Tuning as described. 130
Advanced Open Loop Vector Control for PM (A1-02 = 6) 4
15 Perform Auto-Tuning as described. 130
16 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. 192
Closed Loop Vector Control for PM (A1-02 = 7)
17 Set PM motor data using E5- parameters. 130
18 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. Perform ASR Tuning if possible. 192
19 Set F1-01 and F1-05. 225, 226
20 Set the offset between the rotor magnetic axis and the Z-pulse of the encoder connected to E5-11. 224
Proceed to the following checklist after checking items 5 through 20.
No. Checklist Page
21 The should light after giving a Run command. –
22 To give a Run command and frequency reference from the digital operator, press to set to LOCAL. The LO/RE key will light. 95, 104
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
23 372
parameter b1-14.
24 In accordance with load condition, set Heavy Duty or Normal Duty mode using C6-01. Heavy Duty is the default setting. 195
25 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. 216, 267
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
26 104
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 -10 to +10 V)
27 148
or the correct current input signal level (4 to 20 mA or 0 to 20 mA).
28 Apply the proper signal level (-10 to +10 V or 0 to 10 V) to terminal A1, A2, or A3. 148
29 Apply the proper signal level (-10 to +10 V, 4 to 20 mA or 0 to 20 mA) to terminal A2. 148
Set the level for current signal to H3-09 (set to 2 for 4 to 20 mA, or 3 for 0 to 20 mA). Set terminal A2 function to H3-10 (set to 0 for
30 148
Frequency Bias).
Set DIP switch S1 on the drive to “I” when using terminal A2 as current input.
31 –
Set DIP switch S1 on the drive to “V” when using terminal A2 as voltage input.
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
32 257, 259
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.
5
Parameter Details
5.1 A: INITIALIZATION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

5.2 B: APPLICATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
5.3 C: TUNING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
5.4 D: REFERENCE SETTINGS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
5.5 E: MOTOR PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
5.6 F: OPTION SETTINGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
5.7 H: TERMINAL FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
5.8 L: PROTECTION FUNCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
5.9 N: SPECIAL ADJUSTMENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
5.10 O: OPERATOR RELATED SETTINGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
5.11 U: MONITOR PARAMETERS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
5.1 A: Initialization
The initialization group contains parameters associated with initial setup of the drive. Parameters involving the display
language, access levels, initialization, and password are located in this group.
 A1: Initialization
 A1-00: Language Selection
Selects the display language for the digital operator (option).
Note: This parameter is not reset when the drive is initialized using parameter A1-03.

A1-00 Language Selection 0 to 12 0
Setting 0: English
Setting 1: Japanese
Setting 2: German
Setting 3: French
Setting 4: Italian
Setting 5: Spanish
Setting 6: Portuguese
Setting 7: Chinese
Setting 8: Czech
Setting 9: Russian
Setting 10: Turkish
Setting 11: Polish
Setting 12: Greek
Note: 1. Settings 8 to 12 can be selected from an LCD operator with version (REV) F or later. The version is listed on the back of the LCD
operator.
2. The setting range is 0 to 7 in models CIMR-A4A0930 and 4A1200.
 A1-01: Access Level Selection

Allows or restricts access to drive parameters.
A1-01 Access Level Selection 0 to 2 2
Setting 0: Operation only

Allows access and programming of parameters A1-01, A1-04, and Drive Mode.
Allows access to all U monitor parameters.
Does not allow access to Verify Mode, Setup Mode, or Auto-Tuning Mode.
Setting 1: User Parameters
Allows access and programming of parameters A1-00, A1-01, A1-04, and Drive Mode.
Allows access to all U monitor parameters.
Allows access to parameters set in A2-01 to A2-32 in Setup Mode.
Does not allow access to Verify Mode or Auto-Tuning Mode.
Setting 2: Advanced Access Level (A) and Setup Access Level (S)
All parameters can be viewed and edited.
Notes on Parameter Access
• If the drive parameters are password protected by A1-04 and A1-05, parameters A1-01 through A1-03, A1-06, A1-07,
and A2-01 through A2-32 cannot be modified.
• If a digital input terminal programmed for “Program lockout” (H1- = 1B) is enabled, parameter values cannot be
modified, even if A1-01 is set to 1 or 2.
• If parameters are changed via serial communication, then it will not be possible to edit or change parameters settings
with the drive’s digital operator until an Enter command is issued to the drive from the serial communication.
 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.
Note: When changing control modes, all parameter settings depending upon the setting of A1-02 will be reset to the default.
A1-02 Control Method Selection 0, 1, 2, 3, 5, 6, 7 0
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 1:200 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
For general, variable-speed applications with low demands to dynamic response or speed accuracy. 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
For general, variable-speed applications that require precise speed control and torque limit. The drive can control an IPM
motor with a speed range of 1:20. Set High Frequency Injection parameter n8-57 to 1 to achieve a speed control range as
high as 1:100. In this case, perform High Frequency Injection Parameter Tuning after setting the motor parameters. High
Frequency Injection cannot be used with an SPM motor. Refer to T2-01: PM Motor Auto-Tuning Mode Selection on
Parameter Details
page 130 and Control Mode Selection on page 30 for details.
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 5
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 parameters except parameters listed in Table 5.1 to default settings with digital inputs S1 and S2 configured as
Forward run and Reverse run, respectively. For more on digital input functions, refer to Setting 40, 41: Forward run,
Reverse run command for 2-wire sequence on page 242.
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 236.
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 A1-03 to 5550.
Notes on Parameter Initialization
The parameters shown in Table 5.1 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 5.1 Parameters not Changed by Drive Initialization
No. Parameter Name
A1-00 Language Selection
A1-02 Control Method Selection
E1-03 V/f Pattern Selection
E5-01 Motor Code Selection (for PM motors)
E5-02 Motor Rated Power (for PM Motor)
E5-03 Motor Rated Current (for PM Motor)
E5-04 Number of Motor Poles (for PM Motor)
E5-05 Motor Stator Resistance (for PM Motor)
E5-06 Motor d-Axis Inductance (for PM Motor)
E5-07 Motor q-Axis Inductance (for PM Motor)
E5-09 Motor Induction Voltage Constant 1 (for PM Motor)
E5-24 Motor Induction Voltage Constant 2 (for PM Motor)
F6-/F7- Communication parameter (initialized when F6-08 = 1)
L8-35 Installation Selection
o2-04 Drive/kVA Selection
 A1-04, A1-05: Password and Password Setting

A1-04 is for entering the password when the drive is locked. A1-05 is a hidden parameter used to set the password.

A1-04 Password
0000 to 9999 0000
A1-05 Password Setting
How to use the Password

The user can set a password for the drive to restrict access. The password is set to A1-05 and must be entered to A1-04 to
unlock parameter access. Until the correct password is entered, the following parameters cannot be viewed or edited:
A1-01, A1-02, A1-03, A1-06, A1-07, and A2-01 through A2-32.
The instructions below demonstrate how to set a new password. Here, the password set is “1234”. An explanation
follows on how to enter the password to unlock the parameters.
Table 5.2 Setting the Password for Parameter Lock
Step Display/Result
- MODE - DRV Rdy
FREF (OPR)
U1-01= 0.00Hz
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
- MODE - PRG
Programming
2.
Press the or key until the Parameter Setting Mode screen appears.
HELP FWD DATA
Step Display/Result
-PRMSET- PRG
Initialization
3. A1-00=0
Press the key to enter the parameter menu tree. Select Language
FWD
-PRMSET- PRG
Select Language
4. Select the flashing digits by pressing F1 , F2 or . A1-00=0 ∗0∗
left right English
FWD
-PRMSET- PRG
Enter Password
5. Select A1-04 by pressing .
A1- 04 = 0
(0~9999)
“0”
FWD
-PRMSET- PRG
Select Password
Press the key while holding down at the same time. A1-05 will appear. A1- 05 = 04
6. (0~9999)
“0”
Note: Because A1-05 is hidden, it will not be displayed by simply pressing the key. FWD
“05” flashes
-PRMSET- PRG
Select Password
7. Press the key.
A1- 05 = 0000
(0~9999)
“0”
FWD
-PRMSET- PRG
Select Password
8. Use F1 , F2 , , and to enter the password. A1-05= 1234
(0~9999)
left right “0”
FWD
9.
Press to save what was entered. Entry Accepted
-PRMSET- PRG
Select Password
10. The display automatically returns to the display shown in step 5. A1- 05 = 1234
(0~9999)
“0”
FWD
Table 5.3 Check to see if A1-02 is locked (continuing from step 10 above)
Parameter Details
Step Display/Result
-PRMSET- PRG
Control Method
A1-02= 2 ∗2∗
1.
Press to display A1-02. Open Loop Vector
FWD
“02” flashes
5
2. – –
Press to make sure that the setting values cannot be selected.
- MODE - PRG
Programming
3. Press to return to the first display.
HELP FWD DATA
Table 5.4 Enter the Password to Unlock Parameters (continuing from step 3 above)
Step Display/Result
-PRMSET- PRG
Initialization
1. A1-00=0
Press to enter the parameter setup display. Select Language
FWD
Step Display/Result
-PRMSET- PRG
Select Language
A1-00=0 ∗0∗
2. Press F1 , F2 or to select the flashing digits as shown. English
left right
FWD
“00” flashes
-PRMSET- PRG
Enter Password
3. A1- 04 = 0
Press to scroll to A1-04 and . (0~9999)
“0”
FWD
-PRMSET- PRG
Enter Password
4. Enter the password “1234”. A1- 04 = 1234
(0~9999)
“0”
FWD
5.
Press to save the new password. Entry Accepted
-PRMSET- PRG
Enter Password
6. Drive returns to the parameter display. A1- 04 = 0
(0~9999)
“0”
FWD
-PRMSET- PRG
Control Method
7. A1-02= 2 ∗2∗
Press and scroll to A1-02. Open Loop Vector
FWD
-PRMSET- PRG
Control Method
8. A1-02= 2 ∗2∗
Press to display the value set to A1-02. If the first “2” blinks, parameter settings are unlocked. Open Loop Vector
FWD
-PRMSET- PRG
Control Method
A1-02= 0 ∗2∗
9. V/F Control
Use or to change the value if desired (though changing the control mode at this point is not typically done).
“2”
FWD
V/f
10.
Press to save the setting, or press to return to the previous display without saving changes. Entry Accepted
-PRMSET- PRG
Control Method
11. The display automatically returns to the parameter display. A1-02= 0 ∗0∗
V/F Control
FWD
Note: Parameter settings can be edited after entering the correct password. Performing a 2-wire or 3-wire initialization resets the
password to “0000”. Reenter the password to parameter A1-05 after drive initialization.
Enter a setting other than the password (e.g., 0000) in A1-04 to use the set password to release the lock and restore the lock with
the same password after changing parameter settings.
 A1-06: Application Preset

Several Application Presets are available to facilitate drive setup for commonly used applications. Selecting one of these
Application Presets automatically programs certain parameters to a new set default values and selects the functions for
the I/O terminals that best suit the application. All parameters changed when selecting an Application Preset are also
assigned to the list of User Parameters, A2-01 through A2-16. These can be edited more easily in the Setup Mode and
provide quicker access by eliminating the need to scroll through multiple menus.
Refer to Application Selection on page 112 for details on parameter A1-06.
 A1-07: DriveWorksEZ Function Selection

DriveWorksEZ is a software package that can be used to customize the drive functionality or add PLC functionality by
the interconnection and configuration of basic software function blocks. The drive performs programs created by the user
in 1 ms cycles.
Parameter A1-07 can be used to enable or disable the DriveWorksEZ program inside the drive.
Note: 1. If DriveWorksEZ has assigned functions to any multi-function output terminals, those functions will remain set to those terminals
even after disabling DriveWorksEZ.
2. For more information on DriveWorksEZ, contact Yaskawa or a Yaskawa representative.

A1-07 DriveWorksEZ Function Selection 0 to 2 0
Setting 0: DWEZ disabled

Setting 1: DWEZ enabled
Setting 2: Digital input
If a digital input is programmed for DWEZ enable/disable (H1- = 9F), DWEZ will be enabled when the input is
opened.
 A2: User Parameters

 A2-01 to A2-32: User Parameters 1 to 32
The user can select 32 parameters and assign them to A2-01 through A2-32. This saves time later scrolling through the
parameter menu. The list of User Parameters can also track the most recently edited settings and save those parameters to
this list.

A2-01 to A2-32 User Parameters 1 to 32 A1-00 to o4-13 <1> <2>
<1> This is the default setting of the Setup Mode parameters. Table 4.4 for details.
<2> A1-06 determines how parameters edited by the user are saved to the list of User Parameters, A2-01 through A2-32. Refer to Application
Selection on page 112 for details.
Saving User Parameters

To save specific parameters to A2-01 to A2-32, first set the access level to allow access to all parameters (A1-02 = 2).
Next assign the parameter number to the User Parameters list by entering it into one of the A2- parameters. If A1-01
is then set to 1 and changed to Setup Mode, the access level can be restricted so that users can only set and refer to the
Parameter Details
specific parameters saved as User Parameters.
 A2-33: User Parameter Automatic Selection
A2-33 determines whether or not parameters that have been edited are saved to the User Parameters (A2-17 to A2-32) for
quick, easy access.
5
A2-33 User Parameter Automatic Selection 0 or 1 Determined by A1-06
Setting 0: Do not save list of recently viewed parameters.

To manually select the parameters listed in the User Parameter group, set A2-33 to 0.
Setting 1: Save history of recently viewed parameters.
By setting A2-33 to 1, all parameters that were recently edited will be automatically saved to A2-17 through A2-32. A
total of 16 parameters are saved with the most recently edited parameter set to A2-17, the second most recently to A2-18,
and so on. User Parameters can be accessed using the Setup Mode of the digital operator.
Note: User parameter is listed from A2-27 as A2-01 to A2-26 are already listed as default setting when in Setup Mode.
5.2 b: Application
5.2 b: Application
 b1: Operation Mode 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.
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: Digital operator

Input the frequency reference using the digital operator with this setting.
Setting 1: 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
Voltage input can be used at any of the three analog input terminals. Make the settings as described in Table 5.5 for the
input used.
Table 5.5 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 Vdc H3-01 = 0 H3-02 = 0
A1 H3-03 H3-04 –
-10 to +10 Vdc H3-01 = 1 (Frequency Reference Bias)
0 to 10 Vdc 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 (Frequency Reference Bias) terminal board to “V” for voltage input.
0 to 10 Vdc H3-05 = 0 H3-06 = 0 Make sure to set DIP switch S4 on the
A3 H3-07 H3-08
-10 to +10 Vdc H3-05 = 1 (Frequency Reference Bias) terminal board to “AI”.
Figure 5.1
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 5.1 Setting the Frequency Reference as a Voltage Signal at Terminal A1

Use the wiring example shown in Figure 5.1 for any other analog input terminals. When using input A2 make sure DIP
switch S1 is set for voltage input.
5.2 b: Application
Current Input
Input terminal A2 can accept a current input signal. Refer to Table 5.6 to set terminal A2 for current input.
Table 5.6 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 5.2
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 5.2 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 198 for details on using this function.
Setting 2: MEMOBUS/Modbus Communications
This setting requires entering the frequency reference via the RS-485/422 serial communications port (control terminals
R+, R-, S+, and S-). Refer to MEMOBUS/Modbus Communications on page 551 for instructions.
Setting 3: Option card
This setting requires entering the frequency reference via an option board plugged into connector CN5-A on the drive
control board. Consult the option board manual 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
Parameter Details
Programming Error will be displayed on the digital operator and the drive will not run.
Setting 4: Pulse input (terminal RP)
When 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 train signal is working properly.
Verifying Pulse Train is Working Properly 5
• Make sure that b1-01 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.
5.2 b: Application
 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: Digital Operator

This setting will illuminate the LO/RE light to indicate that the Run command source is assigned to the digital operator
(b1-02 = 0). Use the digital operator RUN and STOP keys to start and stop operation.
Setting 1: Digital input terminals
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 A1-03 = 2220, presets the terminals S1 and S2 to
these functions. This is the default setting of the drive. Also refer to Setting 40, 41: Forward run, Reverse run
command for 2-wire sequence on page 242.
• 2-wire sequence 2:
Two inputs (Start/Stop-FWD/REV). Also refer to Setting 42, 43: Run and direction command for 2-wire sequence 2
on page 242.
• 3-wire sequence:
Three inputs (Start-Stop-FWD/REV). Initialize the drive by setting A1-03 = 3330 presets the terminals S1, S2, and S5
to these functions. Also refer to Setting 0: 3-Wire Sequence on page 236.
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. Refer to MEMOBUS/Modbus
Communications on page 551 for instructions.
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.

<1>
b1-03 Stopping Method Selection 0
0 to 3, 9
<1> The setting range is 0, 1, or 3 in CLV, OLV/PM, AOLV/PM, or CLV/PM.
Setting 0: Ramp to stop

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.
5.2 b: Application
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 5.3
DC Injection
Braking
E1-09 Min. Frequency
b2-01 Zero Speed Level
Output Time
frequency
b2-04
Figure 5.3 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)
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.
Figure 5.4
Short Circuit
E1-09 Min. Frequency Braking
Output Time
frequency
b2-13
Figure 5.4 Short-Circuit Braking at Stop in OLV/PM and AOLV/PM
The drive will not perform short-circuit braking when b2-01 = E1-09 = 0 Hz.
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.
Figure 5.5
Zero Speed
E1-09 Min. Frequency Control
Output
Parameter Details
Time
frequency
b2-04
Figure 5.5 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.
Setting 1: Coast to stop
When the Run command is removed, the drive will shut off its output and the motor will coast (uncontrolled
5
deceleration) to stop. The stopping time is determined by the inertia and the friction in the driven system.
Figure 5.6
Run
command ON OFF
Output
frequency
Drive output is shut off
Motor speed
Figure 5.6 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 b2-03: DC Injection Braking Time at Start on page 159) or Speed Search (refer to
b3: Speed Search on page 160).
5.2 b: Application
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 Closed Loop Vector Control (A1-02 = 3) and the control modes for PM motors (A1-02 = 5, 6, 7).
Figure 5.7
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 5.7 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 5.8
DC Injection braking time
b2-0410
b2-04
Output frequency when 100%

10%
Stop command was entered (Maximum output
frequency)
Figure 5.8 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 a Run command is removed, the drive will turn off its output and the motor will coast to a stop. The drive will not
start if a Run command is issued before the Run wait time (t) has expired. If a Run command is present while the Run
wait time (t) expires, the RUN light will flash quickly and the Run command will need to be cycled for operation to
resume.
Figure 5.9
Run command
ON OFF ON OFF ON OFF ON
Output
frequency
Drive output shut off
Run wait time t
Figure 5.9 Coast to Stop with Timer
5.2 b: Application
The wait time t is determined by the output frequency when the Run command is removed and by the active deceleration
time.
Figure 5.10
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 5.10 Run Wait Time Depending on Output Frequency
Setting 9: Simple Positioning Stop

This method of stopping the motor always decelerates the same distance to stop as shown in Figure 5.11. The stopping
distance S1 is calculated using the maximum output frequency setting E1-04 and the selected deceleration time. If the
drive is stopped from a frequency lower than the maximum speed it keeps the current speed. When the distance traveled
becomes equal to S1 - S2, the drive decelerates to stop using the current deceleration time. The stopping accuracy can be
adjusted using the positioning gain set in parameter d4-12.
Figure 5.11
Normal Deceleration Simple Positioning

Motor speed Motor speed
Deceleration Deceleration
Max. output Max. output
distance distance
frequency frequency
S1 S1
S1
S2
t t
Set deceleration time Set deceleration time
Run command Run command
Figure 5.11 Simple Positioning Deceleration

Precautions when using Simple Positioning:
Parameter Details
• Changing the deceleration time during the deceleration will result in inaccurate positioning as the calculation considers
the deceleration time that was active only when the Run command was removed.
• The Dwell function must be deactivated (b6-03 and b6-04 = 0).
• The KEB function cannot be used (H1- must be different than 65/66/7A/7B).
• The Stall Prevention during stop must be deactivated (L3-04 = 0). For regenerative loads a braking option might be
5
necessary.
• The overvoltage suppression must be disabled (L3-11 = 0).
• High Slip Braking must be deactivated (H1- must be different from 68).
• The S-curves at deceleration start and deceleration end must be inactive (C2-03/04 = 0).
5.2 b: Application
 b1-04: Reverse Operation Selection

For some applications, reverse motor rotation is not appropriate and may cause problems (e.g., air handling units, pumps,
etc.).
Note: Setting parameter b1-04 to 1 instructs the drive to ignore any Reverse run commands.

b1-04 Reverse Operation Selection 0 or 1 0
Setting 0: Reverse operation enabled

Possible to operate the motor in both forward and reverse directions.
Setting 1: Reverse operation disabled
Drive disregards a Reverse run command or a negative frequency reference.
 b1-05: Action Selection below Minimum Output Frequency (CLV and CLV/PM)
Parameter b1-05 sets the operation when the frequency reference is lower than the minimum output frequency set in
parameter E1-09.

b1-05 Action Selection below Minimum Output Frequency 0 to 3 0
Setting 0: Follow the Frequency Reference

The drive adjusts the motor speed following the speed reference, even if the frequency reference is below the setting of
parameter E1-09. When the Run command is removed and the motor speed is smaller than the setting of b2-01, Zero
Speed Control (not position lock) is performed for the time set in parameter b2-04 before the drive output shuts off.
Figure 5.12
Run OFF ON
Command
E1-09 Min.
Frequency
Frequency
reference Zero Speed Zero Speed
IM: Initial Excitation Control
PM: Zero Spd. Contr. Control
b2-01 Zero E1-09
Motor Speed Level
Speed b2-03 b2-04
Zero Speed Time at Start Zero Speed Time at Stop
Figure 5.12 Run at the Frequency Reference
Setting 1: Coast to Stop
When a frequency reference greater than or equal to the setting value of E1-09 is input, the drive will start motor
operation. Once the motor is running and the frequency reference falls below E1-09 the drive output is shut off and the
motor coasts. When the motor speed falls below the zero speed level set in parameter b2-01, Zero Speed Control is
activated for the time set in b2-04.
Figure 5.13
Run OFF ON
Command
E1-09 Min.
Frequency
Frequency
reference Motor
IM: Initial Excitation Coasts
PM: Zero Spd. Contr. Zero Speed
b2-01 Zero Control
Motor Speed Level
Speed b2-03 b2-04
Figure 5.13 Coast to Stop
5.2 b: Application
Setting 2: Run at the minimum frequency

Whenever a Run command is active and the frequency reference is smaller than the value of parameter E1-09, the drive
runs the motor at the speed set in E1-09. When the Run command is removed, the drive decelerates the motor. As soon as
the motor speed reaches the zero speed level set in b2-01, Zero Speed Control is activated for the time set in b2-04.
Figure 5.14
Run OFF ON
Command
E1-09 Min.
Frequency
Frequency
reference Run at
Run at Zero Speed
IM: Initial Excitation E1-09 E1-09
Control
PM: Zero Spd. Contr.
b2-01 Zero
Motor Speed Level
Speed b2-03 b2-04
Figure 5.14 Run at the Minimum Frequency
Setting 3: Zero Speed Control
The drive applies Zero Speed Control whenever the frequency reference setting is below the value of parameter E1-09.
Removing the Run command when the drive is operating at or above the frequency set to E1-09 will activate Zero Speed
Control for the time set in b2-04, regardless of whether Zero Speed Control was already active.
Figure 5.15
Run OFF ON
Command
E1-09 Min.
Frequency
Frequency
reference Zero
Zero Speed
IM: Initial Excitation Speed
Control Control
PM: Zero Spd. Contr.
b2-01 Zero E1-09
Motor Speed Level
Speed b2-03 b2-04
Figure 5.15 Zero Speed Control
 b1-06: Digital Input Reading

This parameter defines how the digital inputs are read. The inputs are acted upon every 1 ms or 2 ms depending upon the
setting.
Parameter Details
b1-06 Digital Input Reading 0 or 1 1
Setting 0: Read once (1 ms scan)

The state of a digital input is read once. If the state has changed, the input command is immediately processed. With this
setting the drive responds more quickly to digital inputs, but a noisy signal could cause erroneous operation. 5
Setting 1: Read twice (2 ms scan)
The state of a digital input is read twice. Only if the state does not change during the double reading, the input command
is processed. This reading process is slower but more resistant against noisy signals.
5.2 b: Application
 b1-07: LOCAL/REMOTE Run Selection

The drive has three separate control sources that can be switched using digital inputs (H1- = 1 (LOCAL/REMOTE
Selection) or 2 (External reference 1/2)) or the LO/RE key on the digital operator. Refer to Setting 1: LOCAL/REMOTE
selection on page 236, Setting 2: External reference 1/2 selection on page 237 and o2-01: LO/RE (LOCAL/REMOTE)
Key Function Selection on page 315 for details.
• LOCAL: Digital operator. The digital operator is used to set the frequency reference and Run command.
• REMOTE: External reference 1. The frequency reference and Run command source are set by b1-01 and b1-02.
• REMOTE: External reference 2. The frequency reference and Run command source are set by b1-15 and b1-16.
When switching from LOCAL to REMOTE, or between External reference 1 and External reference 2, the Run
command may already be present at the location the source was switched to. Parameter b1-07 can be used to determine
how the Run command is treated in this case.

b1-07 LOCAL/REMOTE Run Selection 0 or 1 0
Setting 0: Run command must be cycled

When the Run command source is different in the old and new source (e.g., the old source was the terminals and the new
source is serial communication), and the Run command is active at the new source as the switch over occurs, the drive
will not start or will stop operation if it was running before. The Run command has to be cycled at the new source in
order to start the drive again.
Setting 1: Accept Run command at the new source
When the Run command is active at the new source, the drive starts or continues operation if it was running before.
WARNING! The drive may start unexpectedly if switching control sources when b1-07 = 1. Clear all personnel away from rotating
machinery and electrical connections prior to switching control sources. Failure to comply may cause death or serious injury.
 b1-08: Run command selection while in Programming Mode

As a safety precaution, the drive will not normally respond to a Run command input when the digital operator is being
used to adjust parameters in the Programming Mode (Verify Menu, Setup Mode, Parameter Settings Mode, and
Auto-Tuning Mode). If required by the application, set b1-08 to allow the drive to run while in the Programming Mode.

b1-08 Run Command Selection while in Programming Mode 0 to 2 0
Setting 0: Disabled
A Run command is not accepted while the digital operator is in the Programming Mode.
Setting 1: Enabled
A Run command is accepted in any digital operator mode.
Setting 2: Prohibit programming during run
It is not possible to enter the Programming Mode as long as the drive output is active. The Programming Mode cannot be
displayed during Run.
 b1-14: Phase Order Selection
Sets the phase order for drive output terminals U/T1, V/T2, and W/T3.
Switching motor phases will reverse the direction of the motor.

b1-14 Phase Order Selection 0 or 1 0
Setting 0: Standard phase order

Setting 1: Switched phase order
5.2 b: Application
 b1-15: Frequency Reference Selection 2

b1-15 is enable when H1- = 2 and the terminal is closed. Refer to Setting 2: External reference 1/2 selection on
page 237, and b1-02: Run Command Selection 1 on page 150 for details.

b1-15 Frequency Reference Selection 2 0 to 4 0
 b1-16: Run Command Selection 2

b1-1 is enable when H1- = 2 and the terminal is closed. Refer to Setting 2: External reference 1/2 selection on
page 237, and b1-01: Frequency Reference Selection 1 on page 148 for details.

b1-16 Run Command Selection 2 0 to 3 0
 b1-17: Run Command at Power Up

This parameter is used to determine whether an external Run command that is active during power up will start the drive
or not.

b1-17 Run Command at Power Up 0 or 1 0
Setting 0: Run command at power up is not issued

The Run command has to be cycled to start the drive.
Note: For safety reasons, the drive is initially programmed not to accept a Run command at power up (b1-17 = 0). If a Run command is
issued at power up, the RUN indicator LED will flash quickly.
Setting 1: Run command and power up is issued
If an external Run command is active when the drive is powered up, then the drive will start to operate the motor as soon
as it gets ready for operation (i.e., once the internal start up process is complete).
WARNING! Sudden Movement Hazard. If b1-17 is set to 1 and an external Run command is active during power up, the motor will
begin rotating as soon as the power is switched on. Proper precautions must be taken to ensure that the area around the motor is safe
prior to powering up the drive. Failure to comply may cause serious injury.
 b1-21: Start Condition Selection at Closed Loop Vector Control

Parameter Details
Selects a condition to start Closed Loop Vector Control.
Note: This parameter is not available in models CIMR-A4A0930 and 4A1200.

b1-21 Start Condition Selection at Closed Loop Vector Control 0 to 1 0
Setting 0: Run command is not accepted when b2-01 ≤ motor speed < E1-09. 5
Setting 1: Run command is accepted when b2-01 ≤ motor speed < E1-09.
5.2 b: Application
 b2: DC Injection Braking and Short Circuit Braking

These parameters determine how the DC Injection Braking, Zero Speed Control, and Short Circuit Braking features
operate.
 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).

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 5.16
DC Injection
Braking
E1-09 Min. Frequency
Output Time
frequency
b2-04
Figure 5.16 DC Injection Braking at Stop for V/f, V/f w/PG and OLV
OLV/PM and AOLV/PM (A1-02 = 5, 6)
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.
Figure 5.17
Short Circuit DC Injection

E1-09 Min. Frequency Braking Braking
Output Time
frequency
b2-13 b2-04
Figure 5.17 Short-Circuit Braking at Stop in OLV/PM and AOLV/PM
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.
Figure 5.18
Zero Speed
E1-09 Min. Frequency Control
Output Time
frequency
b2-04
Figure 5.18 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.
5.2 b: Application
 b2-02: DC Injection Braking Current

Sets the DC Injection Braking current as a percentage of the drive rated current. If set larger than 50%, the carrier
frequency is automatically reduced to 1 kHz.
Note: This parameter is not available for AOLV/PM in models CIMR-A4A0930 and 4A1200.
b2-02 DC Injection Braking Current 0 to 100% 50%
The level of DC Injection Braking current affects the strength of the magnetic field attempting to lock the motor shaft.
Increasing the current level will increase the amount of heat generated by the motor windings. This parameter should
only be increased to the level necessary to hold the motor shaft.
 b2-03: DC Injection Braking Time at Start
Sets the time of DC Injection Braking (Zero Speed Control when in CLV and CLV/PM) at start. Used to stop a coasting
motor before restarting it or to apply braking torque at start. Disabled when set to 0.00 s.
b2-03 DC Injection Braking Time at Start 0.00 to 10.00 s 0.00 s
Note: Before starting an uncontrolled rotating motor (e.g., a fan motor driven by windmill effect), DC Injection or Speed Search should
be used to either stop the motor or detect its speed before starting it. Otherwise motor stalling and other faults can occur.
 b2-04: DC Injection Braking Time at Stop

Sets the time of DC Injection Braking (Zero Speed Control when in CLV and CLV/PM) at stop. Used to completely stop
a motor with high inertia load after ramp down. Increase the value if the motor still coasts by inertia after it should have
stopped. Disabled when set to 0.00 s.
b2-04 DC Injection Braking Time at Stop 0.00 to 10.00 s Determined by A1-02
 b2-08: Magnetic Flux Compensation Value

Sets the magnetic flux compensation at start as a percentage of the no-load current value (E2-03). This function allows
better more flux to develop, making it easier to start machines that require high starting torque or motors with a large
rotor time constant.
Parameter Details
b2-08 Magnetic Flux Compensation Value 0 to 1000% 0%
When a Run command is issued, the DC current level injected into the motor changes linearly from the level set to b2-08
to E2-03 within the time set to b2-03.
Figure 5.19
5
Output frequency
b2-08
E2-03
Magnetizing Current
Reference Time
b2-03
Figure 5.19 Magnetic Flux Compensation
When b2-08 ≠ 0%, the current will flow for the time set in b2-03 (DC Injection Braking Time at Start) when DC Injection
Braking starts. The current will change linearly from the setting of b2-08 to the setting of E2-03.
Note that the level of the DC current injected to the motor is limited to 80% of the drive rated current or to the motor
rated current, whichever value is smaller.
Note: 1. If b2-08 is set below 100%, it can take a relatively long time for flux to develop.
2. If b2-08 is set to 0%, the DC current level will be the DC Injection current set to b2-02.
3. As DC Injection can generate a fair amount of noise, b2-08 may need to be adjusted to keep noise levels acceptable.
5.2 b: Application
 b2-12: Short Circuit Brake Time at Start

Short Circuit Braking can be used in OLV/PM and AOLV/PM. By shorting all three motor phases, it produces a braking
torque in the motor and can be used to stop a coasting motor before starting it again.
Parameter b2-12 sets the time for Short-Circuit Brake operation at start. Disabled when set to 0.00 s.

b2-12 Short Circuit Brake Time at Start 0.00 to 25.50 s 0.00 s
Note: Short Circuit Braking cannot prevent a PM motor from being rotated by an external force. To prevent the load from rotating the
motor, use DC Injection.
 b2-13: Short Circuit Brake Time at Stop

The Short Circuit Braking described for parameter b2-12 can also be applied at the end of deceleration in order to
completely stop high inertia loads. Short Circuit Braking is initiated for the time set in b2-13 when the output frequency
falls below the higher of the values b1-02 and E1-09. Parameter b2-13 sets the time for Short Circuit Braking at stop.
Disabled when set to 0.00 s.

b2-13 Short Circuit Brake Time at Stop 0.00 to 25.50 s 0.50 s
 b2-18: Short Circuit Braking Current

Parameter b2-18 sets the current level for Short Circuit Braking operation as a percentage of the motor rated current.
Even though a higher current level can be set using b2-18, the Short Circuit Braking current will not be higher than the
drive rated current (120% for Normal Duty, 150% for Heavy Duty).

b2-18 Short Circuit Braking Current 0.0 to 200.0% 100.0%
 b3: Speed Search

The Speed Search function allows the drive to detect the speed of a rotating motor shaft that is driven by external forces
(e.g., a fan rotating by windmill effect or motor driven by load inertia). The motor operation can be directly started from
the speed detected without needing to stop the machine before.
Example: When a momentary loss of power occurs, the drive output shuts off. This results in a coasting motor. When
power returns, the drive can find the speed of the coasting motor and restart it directly.
For PM motors, only parameter b3-01 is needed to enable Speed Search.
For induction motors, the drive offers two types of Speed Search than can be selected by parameter b3-24 (Speed
Estimation and Current Detection). Both methods are explained below, then followed by a description of all relevant
parameters.
 Current Detection Speed Search (b3-24 = 0)
Current Detection Speed Search is for use with IM motors. Current Detection Speed Search detects the motor speed by
looking at motor current. When Speed Search is started it reduces the output frequency starting either from the maximum
output frequency or the frequency reference while increasing the output voltage using the time set in parameter L2-04.
As long as the current is higher than the level set in b3-02, the output frequency is lowered using the time constant b3-03.
If the output current falls below b3-02, the drive assumes that the output frequency and motor speed are the same and
accelerates or decelerates to the frequency reference.
Be aware that sudden acceleration may occur when using this method of Speed Search with relatively light loads.
The following time chart illustrates how Current Detection Speed Search operates after a momentary power loss (L2-01
must be set to 1 or 2):
5.2 b: Application
Figure 5.20
Output frequency before Decel time

Waits for twice
momentary power loss set to b3-03
as long as L2-04
AC power
supply ON OFF
Selected
Output frequency
reference
frequency
Speed Search operation
current set to b3-02
Output
current
Min. Baseblock Time (L2-03) b3-05
Figure 5.20 Current Detection Speed Search after Power Loss

Note: After power is restored, the drive waits until the time set to b3-05 has passed before performing Speed Search. Thereby the Speed
Search may start not at the end of L2-03 but even later.
When Speed Search is applied automatically with the Run command, the drive waits for the minimum baseblock time
L2-03 before Speed Search is started. If L2-03 is smaller than the time set in parameter b3-05, then b3-05 is used as the
wait time.
Figure 5.21
Decel time set Waits for twice

set to b3-03 as long as L2-04
OFF ON
Run command
Max. output frequency Selected
or the specified frequency
frequency reference reference
Output
frequency
b3-02
(Speed search operation current)
Output current
Minimum Baseblock Time (L2-03)

Figure 5.21 Current Detection Speed Search at Start or Speed Search Command by Digital Input
Notes on Using Current Detection Type Speed Search
• Shorten the Speed Search deceleration time set to b3-03 if an oL1 fault occurs while performing Current Detection
Speed Search.
• Current Detection Speed Search is not available when using Open Loop Vector Control for PM motors.
Parameter Details
• Increase the minimum baseblock time set to L2-03 if an overcurrent or overvoltage fault occurs when performing
Speed Search after power is restored following a momentary power loss.
 Speed Estimation Type Speed Search (b3-24 = 1)
This method can be used for a single induction motor connected to a drive. It should not be used if the motor is one or
more frame sizes smaller than the drive, at motor speeds above 200 Hz, or when using a single drive to operate more than
5
one motor.
Speed Estimation is executed in two steps as described below.
Step 1: Back EMF Voltage Estimation
This method is used by Speed Search after short baseblock (e.g., a power loss where the drive’s CPU kept running and
the Run command was kept active). Here, the drive estimates the motor speed by analyzing the back EMF voltage. It
outputs the estimated frequency and increases the voltage using the time constant set in parameter L2-04. After that, the
motor is accelerated or decelerated to the frequency reference starting from the detected speed. If there is not enough
residual voltage in the motor windings to perform the calculations described above, then the drive will automatically
proceed to step 2.
5.2 b: Application
Figure 5.22
AC power
supply ON OFF Selected
Starts at the speed frequency
that was detected reference
Output
frequency
Output
current
Several miliseconds
Min. Baseblock Time

b3 -05 <1>
(L2-03)
<1> Once AC power is restored, the drive will wait for at least the time set to b3-05. If the power interruption is longer than the minimum
baseblock time set to L2-03, the drive will wait until the time set to b3-05 has passed after power is restored before starting Speed
Search.
Figure 5.22 Speed Search after Baseblock
Step 2: Current Injection
Current Injection is performed when there is not enough residual voltage remaining in the motor. This might occur after
after longer power losses, when Speed Search is applied with the Run command (b3-01 = 1), or if an External search
command is used. It injects the DC current set in b3-06 to the motor and detects the speed by measuring the current
feedback. The drive outputs the detected frequency and increases the voltage using the time constant set in parameter
L2-04 while looking at the motor current. If the current is higher than the level in b3-02, then the output frequency is
reduced. When the current falls below b3-02, the motor speed is assumed to be found and the drive starts to accelerate or
decelerate to the frequency reference.
Figure 5.23
Decelerates at the Speed Waits twice as long as L2-04

Search decel time set to b3-03
OFF ON
Run command Frequency reference
set to the drive
Starts at the speed
speed that was detected
Output
frequency
b3-02 (Speed search operation current)
Output
current 1.0 s
Min. Baseblock Time (L2-03) <1>

<1> The wait time for Speed Search (b3-05) determines the lower limit.
Figure 5.23 Speed Search at Start
Notes on Using Speed Estimation Speed Search
• Rotational Auto-Tuning for V/f Control (T1-01 = 3) needs to be first performed if you plan to use Speed Estimation in
V/f Control. Perform Stationary Auto-Tuning for Line-to-Line Resistance (T1-01 = 2) again if the there is a change in
the cable length between the drive and motor.
• Use Current Detection to search for speeds beyond 200 Hz, if the application is running multiple motors from the same
drive, or if the motor is considerably smaller than the capacity of the drive.
• Speed Estimation may have trouble finding the actual speed if the motor cable is very long. Current Detection should
be used in such situations.
• Use Current Detection instead of Speed Estimation when operating motors smaller than 1.5 kW. Speed Estimation can
end up stopping smaller motors, as it might not be able to detect the speed or rotation direction of such small motors.
• Short Circuit Braking is recommended instead of Speed Search when using OLV/PM and AOLV/PM along with a
fairly long motor cable.
• Use Short Circuit Braking instead of Speed Search if attempting to find the speed of a motor coasting faster than 200
Hz in OLV/PM and AOLV/PM.
5.2 b: Application
 Activating of Speed Search

Speed Search can be activated as described below. Note that the Speed Search type must be selected in parameter b3-24
independent of the activation method.
1. Automatically activate Speed Search with every Run command. Here, external Speed Search commands are ignored.
2. Activate Speed Search using the multi-function input terminals.
The following input functions for H1- can be used.
Table 5.7 Speed Search Activation by Multi-Function Input Terminal
b3-24 = 1 (Current Injection Method of Speed
Setting Description b3-24 = 0 (Current Detection Speed Search)
Estimation)
Closed: Activate Current Detection Speed Search from the
61 External Search Command 1
maximum output frequency (E1-04).
Activate Speed Estimation Speed Search
Closed: Activate Current Detection Speed Search from the
62 External Search Command 2
frequency reference.
To activate Speed Search by the multi-function input terminal, the input must always be set together with the Run
command, or the Run command must be entered after the Speed Search command is given.
3. After automatic fault restart
When the number of maximum fault restarts in parameter L5-01 is set higher than 0, the drive will automatically
perform Speed Search as specified by b3-24 following a fault.
4. After momentary power loss
This mode requires that the Power Loss Ride-Thru function be enabled always or at least enabled during CPU
operation (L2-01 = 1 or 2). Refer to L2-01: Momentary Power Loss Operation Selection on page 274
5. After external baseblock is released
The drive will resume the operation starting with Speed Search if the Run command is present and the output
frequency is above the minimum frequency when the Baseblock command is released.
 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.
Parameter Details
Setting 1: Enabled
Speed Search is performed whenever the Run command is entered. The drive begins running the motor once Speed
Search is complete.
 b3-02: Speed Search Deactivation Current
Sets the operating current for Speed Search as a percentage of the drive rated current. Normally there is no need to 5
change this setting. If the drive has trouble restarting, try lowering this value.

b3-02 Speed Search Deactivation Current 0 to 200% Determined by A1-02
Note: When parameter A1-02 = 0 (V/f Control) the factory default setting is 120. When parameter A1-02 = 2 (Open Loop Vector) the
factory default setting is 100.
 b3-03: Speed Search Deceleration Time

Parameter b3-03 sets the output frequency reduction ramp used by Current Detection Speed Search (b3-24 = 0) and by
the Current Injection Method of Speed Estimation (b3-24 = 1). The time entered into b3-03 will be the time to decelerate
from maximum frequency (E1-04) to minimum frequency (E1-09).

b3-03 Speed Search Deceleration Time 0.1 to 10.0 s 2.0 s
5.2 b: Application
 b3-04: V/f Gain During Speed Search

During Speed Search, the output voltage calculated from the V/f pattern is multiplied with the value set in parameter
b3-04. Changing this setting can be useful in order to reduce the output current during Speed Search.
Note: Available control mode for parameter b3-04 varies by drive model:
CIMR-A2A0004 to 2A0415 and 4A0002 to 4A0675: Available when A1-02 = 0
CIMR-A4A0930 and 4A1200: Available when A1-02 = 0, 2

Determined by C6-01 and
b3-04 V/f Gain During Speed Search 10 to 100%
o2-04
 b3-05: Speed Search Delay Time

In cases where an output contactor is used between the drive and the motor, the contactor must be closed before Speed
Search can be performed. This parameter can be used to delay the Speed Search operation, giving the contactor enough
time to close completely.

b3-05 Speed Search Delay Time 0.0 to 100.0 s 0.2 s
 b3-06: Output Current 1 During Speed Search

Sets the current injected to the motor at the beginning of Speed Estimation Speed Search as a factor of the motor rated
current set in E2-01 (E4-01 for motor 2). If the motor speed is relatively slow when the drive starts to perform Speed
Search after a long period of baseblock, it may be helpful to increase the setting value. The output current during Speed
Search is automatically limited by the drive rated current.

b3-06 Output Current 1 during Speed Search 0.0 to 2.0 Determined by o2-04
Note: If Speed Estimation is not working correctly even after adjusting b3-06, try using Current Detection Speed Search instead.
 b3-07: Output Current 2 during Speed Search (Speed Estimation Type)

Sets the amount of output current during Speed Estimation Speed Search as a coefficient for the no-load current. (output
current during Speed Search is automatically limited by the drive rated current). Increase this setting value in increments
of 0.1 if the drive fails to perform Speed Estimation.
Note: This parameter is available in models CIMR-A4A0930 and 4A1200.

b3-07 Output Current 2 during Speed Search (Speed Estimation Type) 0.0 to 5.0
o2-04
 b3-08: Current Control Gain during Speed Search (Speed Estimation Type)
Sets the proportional gain for the current controller to adjust the responsiveness during a Speed Estimation Speed Search.

A1-02 = 0 to 3: Determined
b3-08 Current Control Gain during Speed Search (Speed Estimation Type) 0.00 to 6.00 by o2-04
A1-02 = 5 or 6: 0.30
 b3-09: Current Control Integral Time during Speed Search (Speed Estimation Type)
Sets the integral time for the current controller to adjust the responsiveness during a Speed Estimation Speed Search.

A1-02 = 0 to 3:
b3-09 Current Control Integral Time during Speed Search (Speed Estimation Type) 0.0 to 1000.0 ms 2.0 ms
A1-02 = 5 or 6: 4.0 ms
5.2 b: Application
 b3-10: Speed Search Detection Compensation Gain

This parameter sets the gain for the detected motor speed of the Speed Estimation Speed Search. The setting should be
increased only if an overvoltage fault occurs when the drive restarts the motor.

b3-10 Speed Search Detection Compensation Gain 1.00 to 1.20 1.05
 b3-12: Minimum Current Detection Level during Speed Search

Sets the minimum current detection level during Speed Search. Increase this setting value in increments of 0.1 if the
drive fails to perform Speed Estimation.

b3-12 Minimum Current Detection Level during Speed Search 2.0 to 10.0 6.0
 b3-14: Bi-Directional Speed Search Selection

Sets how the drive determines the motor rotation direction when performing Speed Estimation Speed Search.

b3-14 Bi-Directional Speed Search Selection 0 or 1 Determined by A1-02
Setting 0: Disabled
The drive uses the frequency reference to determine the direction of motor rotation in order to restart the motor.
Setting 1: Enabled
The drive detects the motor rotation direction in order to restart the motor.
 b3-17: Speed Search Restart Current Level
A large current can flow into the drive if there is a fairly large difference between the estimated frequency and the actual
motor speed when performing Speed Estimation. This parameter sets the current level at which Speed Estimation is
restarted, thus avoiding overcurrent and overvoltage problems. Set as a percentage of the drive rated current.

b3-17 Speed Search Restart Current Level 0 to 200% 150%
 b3-18: Speed Search Restart Detection Time
Parameter Details
Sets the time that the current must be greater than the level set in b3-17 before Speed Search can be restarted.

b3-18 Speed Search Restart Detection Time 0.00 to 1.00 s 0.10 s
 b3-19: Number of Speed Search Restarts 5

Sets the number of times the drive should attempt to find the speed and restart the motor. If the number of restart attempts
exceeds the value set to b3-19, the SEr fault will occur and the drive will stop.

b3-19 Number of Speed Search Restarts 0 to 10 3
 b3-24: Speed Search Method Selection

Sets the Speed Search method used.

b3-24 Speed Search Method Selection 0 or 1 0
Setting 0: Current Detection Speed Search

Setting 1: Speed Estimation Speed Search
Note: For explanations of the Speed Search methods, Refer to Current Detection Speed Search (b3-24 = 0) on page 160 and Refer to
Speed Estimation Type Speed Search (b3-24 = 1) on page 161.
5.2 b: Application
 b3-25: Speed Search Wait Time

Sets the wait time between Speed Search restarts. Increase the wait time if problems occur with overcurrent, overvoltage,
or if the SEr fault occurs.

b3-25 Speed Search Wait Time 0.0 to 30.0 s 0.5 s
 b3-26: Direction Determining Level

Sets the level that determines the direction of motor rotation. Increase this value if the drive fails to detect the direction of
the motor correctly.

b3-26 Direction Determining Level 40 to 60000
o2-04
 b3-27: Start Speed Search Select

Selects a condition to activate Speed Search Selection at Start (b3-01) or External Speed Search Command 1 or 2 from
the multi-function input.

b3-27 Start Speed Search Select 0, 1 0
Setting 0: Triggered when a Run command is issued (normal).

Setting 1: Triggered when an external baseblock is released.
 b3-29: Speed Search Induced Voltage Level
Lower this value in small increments if changes are necessary. However, setting this value too low will prevent the drive
from performing Speed Search.

b3-29 Speed Search Induced Voltage Level 0 to 10% 10%
 b3-33: Speed Search Selection when Driving Instruction is Input in Uv

Activates or deactivates the speed search at start in accordance with whether or not a Run command was issued during an
undervoltage (Uv) if operation during a momentary power loss (L2-01 = 1 or 2), the speed search at start (b3-01 = 1), and
coasting to a stop (b1-03 = 1) are enabled.

b3-33 Speed Search Selection when Driving Instruction is Input in Uv 0 or 1 0
Setting 0: Speed Search disabled

Setting 1: Speed Search enabled
 b4: Delay Timers

The timer function is independent of drive operation and can be used to delay the switching of a digital output triggered
by a digital input signal. An on-delay and off-delay can be separately set. The delay timer can help to get rid of chattering
switch noise from sensors.
To enable the timer function, a multi-function input must be set to “Timer input” (H1-=18) and a multi-function
output must be set to “Timer output” (H2-=12). One timer can be used only.
5.2 b: Application
 b4-01, b4-02: Timer Function On-Delay, Off-Delay Time

b4-01 sets the on-delay time for switching the timer output. b4-02 sets the off-delay time for switching the timer output.

b4-01 Timer Function On-Delay Time 0.0 to 3000.0 s 0.0 s
b4-02 Timer Function Off-Delay Time 0.0 to 3000.0 s 0.0 s
 Timer Function Operation

When the timer function input closes for longer than the value set in b4-01, the timer output switches on. When the timer
function input is open for longer than the value set in b4-02, the timer output function switches off. Figure 5.24
demonstrates the timer function operation.
Figure 5.24
Multi-function Contact On (Closed)

Input: Timer Function (H1- = 18) ON ON
Off (Open)
Multi-function Contact
Output: Timer Function (H2- = 12) ON ON On (Closed)
Off (Open)
b4-01 b4-02 b4-01 b4-02
Figure 5.24 Timer Operation
 b4-03 to b4-08: H2- ON-Delay and OFF-Delay Time

Sets the length of the delay time for contact outputs to open or close for the related functions set in H2-.

b4-03 H2-01 ON Delay Time 0 to 65536 ms 0 ms
b4-04 H2-01 OFF Delay Time 0 to 65536 ms 0 ms
Internal data of H2-01 ON ON On (Closed)

Off (Open)
Parameter Details
Multi-Function Digital
ON ON On (Closed)
Outputs of H2-01
Off (Open)
b4-03 b4-04
b4-03 b4-04
Time period that the multi-function Time period that the multi-function
digital output is closed ≥ 100 ms digital output is closed < 100 ms
Time period that the multi-function

digital output is closed = 100 ms
Note: Even if the length of the off-delay time and on-delay time for multi-function digital output are each less than 100 ms,
5
the multi-function digital output closes for at least 100 ms.
 b5: PID Control

The drive has a built in PID (Proportional + Integral + Derivative) controller that can be used for closed loop control of
system variables such as pressure, temperature, and so on. The difference between the target and the feedback value
(deviation) is fed into the PID controller. The PID controller adjusts the drive output frequency in order to minimize the
deviation, providing accurate control of system variables.
 P Control
The output of P control is the product of the deviation and the P gain so that it follows the deviation directly and linearly.
With P control, only an offset between the target and feedback remains.
5.2 b: Application
 I Control
The output of I control is the integral of the deviation. It minimizes the offset between target and feedback value that
typically remains when pure P control is used. The integral time (I time) constant determines how fast the offset is
eliminated.
 D Control
D control predicts the deviation signal by multiplying its derivative (slope of the deviation) with a time constant, then
adds this value to the PID input. This way the D portion of a PID controller provides a braking action to the controller
response and can reduce the tendency to oscillate and overshoot.
Be aware that D control tends to amplify noise on the deviation signal, which can result in control instability. D control
should therefore only be used when necessary.
 PID Operation
To better demonstrate how PID works, Figure 5.25 shows how the PID output changes when the PID input (deviation)
jumps from 0 to a constant level.
Figure 5.25
PID input
Time
PID output
I control
PID Output D control
P control
Time
Figure 5.25 PID Operation
 Using PID Control

Applications for PID control are listed in Table 5.8.
Table 5.8 Using PID Control
Application Description Sensors Used
Machinery speed is fed back and adjusted to meet the target value. Synchronous control is performed using speed data from
Speed Control Tachometer
other machinery as the target value
Pressure Maintains constant pressure using pressure feedback. Pressure sensor
Fluid Control Keeps flow at a constant level by feeding back flow data. Flow rate sensor
Temperature Control Maintains a constant temperature by controlling a fan with a thermostat. Thermocoupler, Thermistor
 PID Setpoint Input Methods

The PID setpoint input can be input from one of the sources listed in Table 5.9.
If none of the sources listed in Table 5.9 are used, the frequency reference source in b1-01 (or b1-15) or one of the inputs
listed in Table 5.9 becomes the PID setpoint.
Table 5.9 PID Setpoint Sources
PID Setpoint Source Settings
Analog Input A1 Set H3-02 = C
MEMOBUS/Modbus Register 0006H Set bit 1 in register 000FH to 1 and input the setpoint to register 0006H
Pulse Input RP Set H6-01 = 2
Parameter b5-19 Set parameter b5-18 = 1 and input the PID setpoint to b5-19
Note: A duplicate allocation of the PID setpoint input will cause an oPE07 (Multi-Function Analog Input Selection Error) alarm.
5.2 b: Application
 PID Feedback Input Methods

Either one feedback signal can be input for normal PID control, or two feedback signals can be input for controlling a
differential process value.
Normal PID Feedback
The PID feedback signal can be input from one of the sources listed in Table 5.10.
Table 5.10 PID Feedback Sources
PID Feedback Source Settings
Analog Input A1 Set H3-02 = B
Pulse Input RP Set H6-01 = 1
Note: A duplicate allocation of the PID feedback input will cause an oPE07 (Multi-Function Analog Input Selection Error) alarm.
Differential Feedback
The second PID feedback signal for differential feedback can come from the sources listed in Table 5.11. The differential
feedback function is automatically enabled when a differential feedback input is assigned.
Table 5.11 PID Differential Feedback Sources
PID Differential Feedback Source Settings
Analog Input A1 Set H3-02 = 16 (Differential PID Feedback)
Note: A duplicate allocation of the PID differential feedback input will cause an oPE07 (Multi-Function Analog Input Selection Error)
alarm.
Parameter Details
Figure 5.26
170
Frequency Reference
Upper Limit
Frequency Reference
PID disable when: Fmax x109%
Selection 1
b1-01/15 - b5-01 = 0
5.2 b: Application
Frequency Reference 1 to 16 - a JOG Command is Input

0
d1-01 to d1-16 - PID Disable by Digital Input Enabled Bi-directional PID
RUN
1 Ouptut Enable +
Terminal A1/A2/A3 b5-16 On/Off
100% H1- = 7F -
SIEP_C710616_27J_9_0.book 170 ページ
PID Sleep
 PID Block Diagram
2
Serial Comm Delay Time
3 0 50% 100% Always 1 b5-15
Option Card
Rev Run Fwd Run when PID Sleep Function Start Level
Pulse Input 4 1 PID off
Sleep Function
PID Function Setting 0
Disabled 1
b5-01 = 1/2 + Output
0
+ Enabled 0 Frequency
d4-11 SFS
２０２２年３月２４日
b5-01 = 3/4 Bi-directional C1-

PID Accel/Decel Time Output Sel.
b5-17
PID Target Upper Limit
木曜日
PID Ouput
Fmax x109%
Resister, 0FH, bit 1 (U5-03)
MEMOBUS Reg. 0006H 0
1 On PID Setpoint
0
(U5-04) b5-11
b5-18 = 1 not 1
b5-19 Lower Limit 0 1
Off
H6-01 = 2 PID Soft Starter Cancel Enable / Disable Reverse
not 2
午後７時１分
Pulse Input (H1- = 34) Upper Limit

Operation when PID
Fmax x109%
H3-02/06/10 = C Output is Negative
Terminal A1/A2/A3 not C
Always 1 when
PID Input b5-01 = 3/4
(U5-02) Lower Limit
Fmax x109%
Figure 5.26 PID Block Diagram

Proportional Gain Integral Time Integral Limit Setting
PID Feedback Setting (P) Setting (I) PID Primary Delay
0 b5-04
b5-02 b5-03 Time Constant
+
+ 0 0 + 0 + + 0
Pulse Input not 1 P 1/s b5-08 b5-10
H6-01 = 1 - 1 + 1 + +
-1 -1
PID Input 1 1 PID Output
Terminal A1/A2/A3 not B PID Output
H3-02/06/10 = B Limit PID Input Z-1 Gain Setting
PID Adjusted PID Integral Hold PID Integral Limit/Lower Limit b5-07
PID Feedback b5-35 Level Selection H1- = 31 b5-06 / b5-34 PID Output
Feedback Reset Level Selection PID Offset
0 (U5-01) H1- = 35 or
(U5-06) H1- = 30 b5-09 Adjustment
b5-09
not 16 + 1 or 3
- +
+ +
b5-05
Terminal A1/A2/A3
H3-02/06/10 Integral Limit + Derivative b5-01
2 or 4
= 16 + Setting 2 or 4 Time (D)
b5-05 Z-1
+
PID Differential b5-01
1 or 3
Feedback Z-1
(U5-05)
YASKAWA ELECTRIC SIEP C710616 27J YASKAWA AC Drive A1000 Technical Manual
5.2 b: Application
 b5-01: PID Function Setting

Enables or disables the PID operation and selects the PID operation mode.

b5-01 PID Function Setting 0 to 8 <1> 0
<1> The setting range for the CIMR-A4A0930 or CIMR-A4A1200 is 0 to 4.
Setting 0: PID disabled

Setting 1: Output frequency = PID output 1
The PID controller is enabled and the PID output builds the frequency reference. The PID input is D controlled.
Setting 2: Output frequency = PID output 2
The PID controller is enabled and the PID output builds the frequency reference. The PID feedback is D controlled.
Setting 3: Output frequency = frequency reference + PID output 1
The PID controller is enabled and the PID output is added to the frequency reference. The PID input is D controlled.
Setting 4: Output frequency = frequency reference + PID output 2
The PID controller is enabled and the PID output is added to the frequency reference. The PID feedback is D controlled.
Setting 5: Mode compatible with setting 1 of similar products from a previous product line
Note: If the used drive is replaced with Varispeed F7 inverter or a similar product from a past line, use settings 5 to 8 instead of settings
1 to 4.
 b5-02: Proportional Gain Setting (P)

Sets the P gain that is applied to the PID input. A large value will tend to reduce the error, but may cause instability
(oscillations) if set too high. A low value may allow too much offset between the setpoint and feedback.

b5-02 Proportional Gain Setting (P) 0.00 to 25.00 1.00
 b5-03: Integral Time Setting (I)

Sets the time constant that is used to calculate the integral of the PID input. The smaller the integral time set to b5-03, the
Parameter Details
faster the offset will be eliminated. If set too short, it can cause overshoot or oscillation. To turn off the integral time, set
b5-03 = 0.00.

b5-03 Integral Time Setting (I) 0.0 to 360.0 s 1.0 s
 b5-04: Integral Limit Setting 5

Sets the maximum output possible from the integral block. Set as a percentage of the maximum frequency (E1-04).

b5-04 Integral Limit Setting 0.0 to 100.0% 100.0%
Note: On some applications, especially those with rapidly varying loads, the output of the PID function may show a fair amount of
oscillation. To suppress this oscillation, a limit can be applied to the integral output by programming b5-04.
 b5-05: Derivative Time (D)

Sets the time the drive predicts the PID input/PID feedback signal.
Longer time settings will improve the response but can cause vibrations. Shorter settings will reduce the overshoot but
also reduce the controller responsiveness. D control is disabled by setting b5-05 to zero seconds.

b5-05 Derivative Time (D) 0.00 to 10.00 s 0.00 s
5.2 b: Application
 b5-06: PID Output Limit

Sets the maximum output possible from the entire PID controller. Set as a percentage of the maximum frequency
(E1-04).

b5-06 PID Output Limit 0.0 to 100.0% 100.0%
 b5-07: PID Offset Adjustment

Sets the offset added to the PID controller output. Set as a percentage of the maximum frequency.

b5-07 PID Offset Adjustment -100.0 to 100.0% 0.0%
 b5-08: PID Primary Delay Time Constant

Sets the time constant for the filter applied to the output of the PID controller. Normally, change is not required.

b5-08 PID Primary Delay Time Constant 0.00 to 10.00 s 0.00 s
Note: Useful when there is a fair amount of oscillation or when rigidity is low. Set to a value larger than the cycle of the resonant
frequency. Increasing this time constant may reduce the responsiveness of the drive.
 b5-09: PID Output Level Selection

Normally a positive PID input (feedback smaller than setpoint) leads to positive PID output. Parameter b5-09 can be used
to reverse the sign of the PID controller output signal.

b5-09 PID Output Level Selection 0 or 1 0
Setting 0: Normal Output

A negative PID input causes a decrease in the PID output (direct acting).
Setting 1: Reverse Output
A negative PID input causes an increase in the PID output (reverse acting).
 b5-10: PID Output Gain Setting
Applies a gain to the PID output and can be helpful when the PID function is used to trim the frequency reference (b5-01
= 3 or 4).

b5-10 PID Output Gain Setting 0.00 to 25.00 1.00
 b5-11: PID Output Reverse Selection

Determines whether a negative PID output reverses the direction of drive operation or not. When the PID function is used
to trim the frequency reference (b5-01 = 3 or 4), this parameter has no effect and the PID output will not be limited (same
as b5-11 = 1).

b5-11 PID Output Reverse Selection 0 or 1 0
Setting 0: Reverse Disabled

Negative PID output will be limited to 0 and the drive output will be stopped.
Setting 1: Reverse Enabled
Negative PID output will cause the drive to run in the opposite direction.
5.2 b: Application
 PID Feedback Loss Detection

The PID feedback loss detection function can detect broken sensors or broken sensor wiring. It should be used whenever
PID control is enabled to prevent critical machine conditions (e.g., acceleration to max. frequency) caused by a feedback
loss.
Feedback loss can be detected in two ways:
• Feedback Low Detection
Detected when the feedback falls below a certain level for longer than the specified time. This function is set up using
parameters b5-12 to b5-14.
• Feedback High Detection
Detected when the feedback rises beyond a certain level for longer than the specified time. This function is set up using
parameters b5-12, b5-36, and b5-37.
The following figure explains the working principle of feedback loss detection when the feedback signal is too low.
Feedback high detection works in the same way.
Figure 5.27
PID feedback value
PID
Feedback
Detection
Loss Level
(b5-13)
time
no FbL
detection
FbL detection
PID Feedback PID Feedback

Loss Detection Time Loss Detection Time
(b5-14) (b5-14)
Figure 5.27 PID Feedback Loss Detection
 b5-12: PID Feedback Loss Detection Selection

Enables or disables the feedback loss detection and sets the operation when a feedback loss is detected.

b5-12 PID Feedback Loss Detection Selection 0 to 5 0
Setting 0: Multi-Function Digital Outputs Only
Parameter Details
Multi-function digital outputs set for “PID feedback low” (H2- = 3E) will be triggered if the PID feedback value is
below the detection level set to b5-13 for the time set to b5-14 or longer. Multi-function digital outputs set for “PID
feedback high” (H2- = 3F) will be triggered if the PID feedback value is beyond the detection level set to b5-36 for
longer than the times set to b5-37. Neither a fault nor an alarm is displayed on the digital operator. The drive will
continue operation. The multi-function digital outputs reset when the feedback value leaves the loss detection range.
5
Setting 1: Feedback Loss Alarm
If the PID feedback value falls below the level set to b5-13 for longer than the time set to b5-14, a “FBL - Feedback
Low” alarm will be displayed and a digital output set for “PID feedback low” (H2- = 3E) will be triggered. If the
PID feedback value exceeds the level set to b5-36 for longer than the time set to b5-37, a “FBH - Feedback High” alarm
will be displayed and a digital output set for “PID feedback high” (H2- = 3F) will be triggered. Both events trigger
an alarm output (H1- = 10). The drive will continue operation. The alarm and multi-function digital outputs reset
when the feedback value leaves the loss detection range.
Setting 2: Feedback Loss Fault
If the PID feedback value falls below the level set to b5-13 for longer than the time set to b5-14, a “FbL - Feedback Low”
fault will be displayed. If the PID feedback value exceeds the level set to b5-36 for longer than the time set to b5-37, a
“FbH - Feedback High” fault will be displayed. Both events trigger a fault output (H1- = E) and cause the drive to
stop the motor.
5.2 b: Application
Setting 3: Digital output only, even if PID is disabled by digital input

Same as b5-12 = 0. Detection is still active even if PID is disabled by a digital input (H1- = 19).
Setting 4: Feedback loss alarm, even if PID is disabled by digital input
Setting 5: Feedback loss fault, even if PID is disabled by digital input
 b5-13: PID Feedback Low Detection Level
Sets the PID feedback detection low level as a percentage of E1-04 (Maximum Output Frequency). The PID feedback
must fall below this level for longer than the time set to b5-14 before feedback loss is detected.

b5-13 PID Feedback Low Detection Level 0 to 100% 0%
 b5-14: PID Feedback Low Detection Time

Sets the time that the PID feedback has to fall below b5-13 before feedback loss is detected.

b5-14 PID Feedback Low Detection Time 0.0 to 25.5 s 1.0 s
 b5-36: PID Feedback High Detection Level

Sets the excessive PID feedback detection high level as a percentage of E1-04 (Maximum Output Frequency). The PID
feedback must exceed this level for longer than the time set to b5-37 before feedback loss is detected.

b5-36 PID Feedback High Detection Level 0 to 100% 100%
 b5-37: PID Feedback High Detection Time

Sets the time for that the PID feedback has to exceed b5-36 before feedback loss is detected.

b5-37 PID Feedback High Detection Time 0.0 to 25.5 s 1.0 s
 PID Sleep
The PID Sleep function stops the drive when the PID output or the frequency reference falls below the PID Sleep
operation level for a certain time. The drive will resume operating once the PID output or frequency reference rises above
the PID Sleep operation level for the specified time. An example of PID Sleep operation appears in the figure below.
Figure 5.28
PID Output
PID Sleep Level ( b5-15)
Sleep Delay Time
Internal Run b5-16 b5-16 Sleep Delay Time

command Run Stop
External Run Run command enabled
command Continues to output “During Run”
During Run
Figure 5.28 PID Sleep Operation
Notes on using the PID Sleep function
• The PID Sleep function is always active, even if PID control is disabled.
• The PID Sleep function stops the motor according to the stopping method in b1-03.
The parameters necessary that control the PID Sleep function are explained below.
5.2 b: Application
 b5-15: PID Sleep Function Start Level

Sets the level that triggers PID Sleep.
The drive goes into Sleep mode if the PID output or frequency reference is smaller than b5-15 for longer than the time set
in b5-16. It resumes the operation when the PID output or frequency reference is above b5-15 for longer than the time set
in b5-16.

b5-15 PID Sleep Function Start Level 0.0 to 400.0 Hz <1> 0.0 Hz <1>
<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent (0.0 to 100.0%) instead of in Hz.
 b5-16: PID Sleep Delay Time

Sets the delay time to activate or deactivate the PID Sleep function.

b5-16 PID Sleep Delay Time 0.0 to 25.5 s 0.0 s
 b5-17: PID Accel/Decel Time

The PID acceleration/deceleration time is applied on the PID setpoint value.
As the normal acceleration times C1- are applied after the PID output, they reduce the responsiveness of the system
and can cause hunting or overshoot and undershoot when the setpoint changes quickly. Using the PID acceleration/
deceleration time instead helps to avoid such problems.
The PID acceleration/deceleration time can be canceled using a digital input programmed for “PID SFS cancel”
(H1- = 34).

b5-17 PID Accel/Decel Time 0.0 to 6000.0 s 0.0 s
 b5-18: PID Setpoint Selection

Enables or disables parameter b5-19 for PID setpoint.

b5-18 PID Setpoint Selection 0 or 1 0
Setting 0: Disabled
Parameter Details
Parameter b5-19 is not used as the PID setpoint.
Setting 1: Enabled
Parameter b5-19 is used as PID setpoint.
 b5-19: PID Setpoint Value 5
Used as the PID setpoint if parameter b5-18 = 1. The setpoint and PID monitors are displayed as a percentage of the

b5-19 PID Setpoint Value 0.00 to 100.00% 0.00%
5.2 b: Application
 b5-20: PID Setpoint Scaling

Determines the units that the PID setpoint (b5-19) is set in and displayed. Also determines the units for monitors U5-01
and U5-04. The units for setting/display can be changed with b5-20.

b5-20 PID Setpoint Scaling 0 to 3 1
Setting 0: 0.01 Hz
The setpoint and PID monitors are displayed in Hz with a resolution of 0.01 Hz.
Setting 1: 0.01% (100.00%: Maximum Frequency)
The setpoint and PID monitors are displayed as a percentage with a resolution of 0.01%.
Setting 2: min-1 (set the motor poles)
The setpoint and PID monitors are displayed in min-1 with a resolution of 1 min-1.
Setting 3: User Defined (determined by b5-38 and b5-39)
Parameters b5-38 and b5-39 determine the units and resolution used to display the values the setpoint in b5-19, and PID
monitors U1-01 and U1-04.
 b5-34: PID Output Lower Limit
Sets the minimum possible PID controller output as a percentage of the maximum output frequency (E1-04). The lower
limit is disabled when set to 0.00%

b5-34 PID Output Lower Limit -100.0 to 100.0% 0.00%
 b5-35: PID Input Limit

Sets the maximum allowed PID input as a percentage of the maximum output frequency (E1-04). Parameter b5-35 acts as
a bipolar limit.

b5-35 PID Input Limit 0.0 to 1000.0% 1000.0%
 b5-38, b5-39: PID Setpoint User Display, PID Setpoint Display Digits
When parameter b5-20 is set to 3, the parameters b5-38 and b5-39 can be used to set a user defined display for the PID
setpoint (b5-19) and PID feedback monitors (U5-01, U5-04).
Parameter b5-38 determines the display value when the maximum frequency is output. Parameter b5-39 determines the
number of digits. The setting value is equal to the number of decimal places.

b5-38 PID Setpoint User Display 1 to 60000 Determined by b5-20
b5-39 PID Setpoint Display Digits 0 to 3 Determined by b5-20
 b5-40: Frequency Reference Monitor Content During PID

Sets the content of the frequency reference monitor display (U1-01) when PID control is active.

b5-40 Frequency Reference Monitor Content During PID 0 or 1 0
Setting 0: Frequency Reference after PID

Monitor U1-01 displays the frequency reference increased or reduced for the PID output.
Setting 1: Frequency Reference
Monitor U1-01 displays the frequency reference value.
5.2 b: Application
 b5-47: PID Output Reverse Selection 2

Determines whether a negative PID output reverses the direction of drive operation. When the PID function is used to
trim the frequency reference (b5-01 = 3 or 4), this parameter has no effect and the PID output will not be limited (same as
b5-11 = 1).

b5-47 PID Output Reverse Selection 2 0, 1 1
Setting 0: Reverse Disabled

Negative PID output will be limited to 0 and the drive output will be stopped.
Setting 1: Reverse Enabled
Negative PID output will cause the drive to run in the opposite direction.
 Fine-Tuning PID
Once PID control parameters have been set, fine-tuning may be required. Follow the directions below.
Table 5.12 PID Fine Tuning
Goal Tuning Procedure Result
Response Before adjustment
• Reduce the derivative time (b5-05)

Overshoot must be suppressed
• increase the integral time (b5-03)
After adjustment
Time
After adjustment
Response
Quickly achieve stability, and some • Decrease the integral time (b5-03)
overshoot is permissible • Increase the derivative time (b5-05) Before adjustment
Time
Before adjustment
Parameter Details
Response
Suppress long cycle oscillations (longer than

• Increase the integral time (b5-03)
the integral time setting)
After adjustment
5
Time
Before adjustment
Response
• If oscillation cycle time is close to the derivative
time, the derivative part is likely having too much
influence. Reduce the derivative time (b5-05). After adjustment
Suppress short cycle oscillations • If the derivative time is set to 0.00 s and
oscillations are still a problem, try reducing the
proportional gain (b5-02) or try increasing the
PID primary delay time (b5-08)
Time
5.2 b: Application
 b6: Dwell Function

The Dwell function is used to temporarily hold the frequency reference at a predefined value for a set time, then continue
accelerating or decelerating.
If used with induction motors, the Dwell function can help prevent speed loss when starting and stopping a heavy load. If
running a PM motor in V/f control, the pause in acceleration allows the PM motor rotor to align with the stator field of
the motor, thus reducing the starting current.
Figure 5.29 shows how the Dwell function works.
Note: Using the Dwell function requires that the stopping method for the drive be set to “Ramp to stop” (b1-03 = 0).
Figure 5.29
OFF ON OFF
Run Command
b6-01 b6-03
Output Frequency
b6-02 b6-04
Figure 5.29 Dwell Function at Start and Stop
 b6-01, b6-02: Dwell Reference, Dwell Time at Start

b6-01 determines the frequency that is held or the time set in b6-02 during acceleration.

b6-01 Dwell Reference at Start 0.0 to 400.0 Hz <1> 0.0 Hz <1>
b6-02 Dwell Time at Start 0.0 to 10.0 s 0.0 s
 b6-03, b6-04: Dwell Reference, Dwell Time at Stop

Parameter b6-03 determines the frequency that is held for the time set in b6-04 during deceleration.

b6-03 Dwell Reference at Stop 0.0 to 400.0 Hz <1> 0.0 Hz <1>
b6-04 Dwell Time at Stop 0.0 to 10.0 s 0.0 s
 b7: Droop Control (CLV, CLV/PM)

Droop control is a function for setting the motor rated slip as required. Droop control can automatically balance the load
level between two motors that drive the same load, such as in traverse cranes applications. It must be activated in one of
the two drives that control these motors. The drive in which Droop control is activated will automatically reduce the
speed if the torque reference rises, and increase the speed if the torque reference falls again, thereby shifting the load
from one motor to the other.
Note: Disable Feed Forward (n5-01 = 0) whenever using Droop control.
Figure 5.30
Motor A runs faster than B, pulling more load Motor B runs faster than A, pulling more load
A = 100% Load A = 90% Load A = 80% Load A = 90% Load
fref_A = constant fref_A = constant
fref_B increase fref_B decrease
B = 80% Load B = 90% Load B = 100% Load B = 90% Load
Droop Control increases the speed reference in Droop Control decreases the speed reference in
drive B accomplishing load balance drive B accomplishing load balance
Figure 5.30 Droop Control in a Traverse Application
5.2 b: Application
 b7-01: Droop Control Gain

Sets the amount of speed reduction when the torque reference is 100%. The gain is set as a percentage of the maximum
output frequency. A setting of 0.0% disables the Droop control function.

b7-01 Droop Control Gain 0.0 to 100.0% 0.0%
Figure 5.31
Speed
Speed reference
Droop control gain

b7-01
Torque
0 100%
Figure 5.31 Droop Control Gain
 b7-02: Droop Control Delay Time

Adjusts the responsiveness of Droop control. Reduce the setting if the reaction time is too long, and increase it if hunting
occurs.

b7-02 Droop Control Delay Time 0.03 to 2.00 s 0.05 s
 b7-03: Droop Control Limit Selection

Enables or disables the droop control limit.

b7-03 Droop Control Limit Selection 0, 1 1
Setting 0: Disabled
Setting 1: Enabled
 b8: Energy Saving

The Energy Saving feature improves overall system operating efficiency by operating the motor at its most efficient
Parameter Details
level.
Note: 1. Energy Saving is not designed for applications that experience instantaneous heavy loads or applications that rarely operate with light
load conditions.
2. Energy Saving is mainly designed for applications with variable torque (Normal Duty) but is not appropriate for applications where
the load may suddenly increase.
3. As the performance of the Energy Saving function strongly depends on the accuracy of the motor data, always perform Auto-Tuning
and make sure the motor data has been entered correctly before using this function. 5
 b8-01: Energy Saving Control Selection
Enables or disables the Energy Saving function.

b8-01 Energy Saving Control Selection 0 or 1 Determined by A1-02
Setting 0: Disabled
Setting 1: Enabled
 b8-02: Energy Saving Gain (OLV, CLV)
Sets the gain level for Energy Saving. A higher value results in lower magnetization of the motor and thereby less energy
consumption. However, if b8-02 is too high, the motor may stall.

b8-02 Energy Saving Gain 0.0 to 10.0 Determined by A1-02
5.2 b: Application
 b8-03: Energy Saving Control Filter Time Constant (OLV, CLV)

Parameter b8-03 sets the response time for Energy Saving. Although lowering this value allows for a quicker response,
instability may result if it is too low.

Determined by
b8-03 Energy Saving Control Filter Time Constant 0.00 to 10.00 s
A1-02, C6-01, and o2-04
 b8-04: Energy Saving Coefficient Value (V/f, V/f w/PG)

Parameter b8-04 is used to fine-tune Energy Saving control. The default setting depends on the capacity of the drive.
This default setting is for a standard Yaskawa motor. If using a motor other than a standard one, adjust the default setting
of b8-04 in increments of around 5% until the output power monitor U1-08 is at the minimum value, while running the
drive with a light load.
A low setting results in less output voltage and less energy consumption, but too small a value will cause the motor to
stall.

Determined by
b8-04 Energy Saving Coefficient Value 0.00 to 655.00
C6-01, E2-11, and o2-04
Note: This default value changes if the motor rated capacity set to E2-11 is changed. The Energy Saving coefficient is set automatically
when Auto-Tuning for Energy Saving is performed (Refer to Auto-Tuning on page 118).
 b8-05: Power Detection Filter Time (V/f, V/f w/PG)

The Energy Saving function continuously searches out the lowest output voltage in order to achieve minimum output
power. Parameter b8-05 determines how often the output power is measured in ms.
Reducing this setting will increase the response time. If the filter time is too short, the motor may become unstable with a
lighter load.

b8-05 Power Detection Filter Time 0 to 2000 ms 20 ms
 b8-06: Search Operation Voltage Limit (V/f, V/f w/PG)

Sets the voltage limit for the optimal output voltage detection of Speed Search as a percentage of the maximum output
voltage. During the search operation, the drive will keep the output voltage above this level to prevent motor stalling.
Note: If set too low, the motor may stall with a sudden increase to the load. Disabled when b8-06 = 0. Setting this value to 0 does not
disable Energy Saving.

b8-06 Search Operation Voltage Limit 0 to 100% 0%
 b8-16: Energy Saving Parameter (Ki) for PM Motors

Coefficient to adjust torque linearity.
This parameter rarely needs to be changed.
When E5-01 (Motor Code Selection (for PM Motors)) is set to 1 or 2, the automatically calculated value
will be set. This set value cannot be changed. If oscillation occurs when Energy Saving is enabled (b8-01 = 1), then check
the value displayed in monitor U5-21. If the value displayed differs from the Ki value written on the motor nameplate,
then set b8-16 accordingly.

b8-16 Energy Saving Parameter (Ki) for PM Motors 0.00 to 3.00 <1> <2> 1.00
<1> The setting range of the drives is 0.00 to 2.00 for software versions S1018 and earlier.
<2> The setting range is 0.00 to 2.00 for models CIMR-A4A0930 to 4A1200.
5.2 b: Application
 b8-17: Energy Saving Parameter (Kt) for PM Motors

Coefficient to adjust torque linearity.
This parameter rarely needs to be changed.
When E5-01 (Motor Code Selection (for PM Motors)) is set to 1 or 2, the automatically calculated value
will be set. This set value cannot be changed. If oscillation occurs when Energy Saving is enabled (b8-01 = 1), then check
the value displayed in monitor U5-22. If the value displayed differs from the Kt value written on the motor nameplate,
then set b8-17 accordingly.

b8-17 Energy Saving Parameter (Kt) for PM Motors 0.00 to 3.00 <1> <2> 1.00
<1> The setting range of the drives is 0.00 to 2.00 for software versions S1018 and earlier.
 b8-27: q-Axis Current Compensation Method when Output Voltage is Limited

There is normally no need to change this parameter from the default value. Sets a compensation method for the q-Axis
current when output voltage is limited.

q-Axis Current Compensation Method
b8-27 0, 1 0
when Output Voltage is Limited
Setting 0: Output Voltage Limit Priority

Setting 1: q-Axis Current Priority
 b9: Zero Servo

The Zero Servo function is a position loop that can be used to lock the motor at a certain position against external power
to the motor.
It must be activated using a digital input set for H1- = 72. The drive will enter Zero Servo mode and maintain the
current position when the input closes and motor speed falls below the level set in b2-01. Even if the motor speed
exceeds the level set in parameter b2-01 in Zero Servo mode, the drive will continue to maintain the current position. The
drive accelerates when the input assigned to trigger the Zero Servo function is released and the Run command is still
present according to the speed reference.
Parameter Details
Figure 5.32
Run command ON OFF
Zero Servo command ON OFF
Motor Speed
Zero Servo
Decrease the speed b2-01 Operation 5
reference DC Injection Braking
start frequency
Figure 5.32 Zero Servo Operation

When Zero Servo is active, the deviation between the rotor position and the zero position is displayed in monitor U6-22
(monitor value must be divided by 4 to get the deviation in actual encoder pulses).
A digital output programmed for “Zero Servo complete” (H2- = 33) is turned on when the rotor position is within the
zero position, plus or minus the Zero Servo completion width set in parameter b9-02.
Note: 1. The Run command must remain on when using the Zero Servo function. If the Run command is switched off, then Zero Servo will no
longer be able to hold the load in place.
2. When the Zero Servo command has shut off, the Zero Servo Completion digital output width also shuts off.
3. Avoid using Zero Servo to lock 100% load for long periods, as this can trigger a fault. If such loads need to be held in place for long
periods, either make sure the current is less than 50% of the drive rated current during Zero Servo, or use a larger capacity drive.
4. If the load rotates the motor when using CLV/PM, a dv4 fault may occur. To prevent this, either increase the Zero Servo gain (b9-01)
or increase the number of pulses set to F1-19 that are required to trigger dv4.
5.2 b: Application
 b9-01: Zero Servo Gain

Parameter b9-01 adjusts the responsiveness of the Zero Servo position loop. Increase the value if the response is too slow
and the deviation from the zero position rises too high when load is applied. Decrease the value if vibrations occur during
Zero Servo operation.
Note: Before adjusting the Zero Servo gain, make sure the ASR parameters (C5-) are set up properly and vibration or hunting does
not occur when running with a zero speed reference.

b9-01 Zero Servo Gain 0 to 100 5
 b9-02: Zero Servo Completion Width

Sets the output range of the Zero Servo completion signal. Enter the amount of deviation allowable from the desired
position to trigger Zero Servo. An output terminal set for Zero Servo (H2- = 33) will be triggered when the motor
reaches the position Zero Servo position plus or minus b9-02.

b9-02 Zero Servo Completion Width 0 to 16383 10
5.3 C: Tuning
5.3 C: Tuning
C parameters are used to set the acceleration and deceleration characteristics, as well as S-curves. Other parameters in
this group cover settings for slip compensation, torque compensation, and carrier frequency.
 C1: Acceleration and Deceleration Times

 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 Decel 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 5.13.
Table 5.13 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 5.33 shows an operation example for changing accel/decel. times. The example below requires that the stopping
Parameter Details
method be set for “Ramp to stop” (b1-03 = 0).
Figure 5.33
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
5
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 5.33 Timing Diagram of Accel/Decel Time Change
5.3 C: Tuning
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 5.14.
Note: 1. The motor 2 selection function cannot be used when PM motor is used.
2. 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 5.14 Motor Switching and Accel/Decel Time Combinations
Motor 1 Selected Motor 2 Selected
Accel/Decel Time 1 (H1- = 7) (Terminal set to H1- = 16 OFF) (Terminal set to H1- = 16 ON)
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 5.34 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 5.34
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)
When the output frequency < C1-11, drive uses Accel/Decel Time 2 (C1-07, -08)
Figure 5.34 Accel/Decel Time Switching Frequency
 C1-09: Fast Stop Time

Parameter C1-09 will set a special deceleration that is used when certain faults occur or that can be operated by closing a
digital input configured as H1- = 15 (N.O. input) or 17 (N.C. input). A momentary closure of the input terminal will
trigger the Fast Stop operation; it does not need to be closed continuously.
It is not possible to restart the drive after initiating a Fast Stop operation until after completing deceleration, clearing the
Fast Stop input, and cycling the Run command.
A digital output programmed for “During Fast Stop” (H2- = 4C) will be closed as long as Fast Stop is active.
A Fast Stop can be selected as the action the drive should take when certain faults occur, such as L8-03 (Overheat
Pre-Alarm Operation Selection).

C1-09 Fast Stop Time 0.0 to 6000.0 s <1> 10.0 s
<1> The setting range for the Fast Stop Time 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
NOTICE: Rapid deceleration can trigger an overvoltage fault. When faulted, the drive output shuts off, and the motor coasts. To avoid
this uncontrolled motor state and to ensure that the motor stops quickly and safely, set an appropriate Fast Stop time to C1-09.
5.3 C: Tuning
 C1-10: Accel/Decel Time Setting Units

Determines the units for the acceleration and deceleration times set to C1-01 through C1-09.

C1-10 Accel/Decel Time Setting Units 0 or 1 1
Setting 0: 0.01 s units

The accel/decel times are set in 0.01 s units. The setting range will be 0.00 to 600.00 s. C1-10 cannot be set to 0 if any of
the parameters C1-01 to C1-09 is set to 600.1 s or longer.
Setting 1: 0.1 s units
The accel/decel times are set in 0.1 s units. The setting range will be 0.0 to 6000.0 s.
 C1-11: Accel/Decel Time Switching Frequency
Sets the frequency at which the drive switches between accel/decel time settings. Refer to Switching Accel/Decel Times
by a Frequency Level on page 184.

C1-11 Accel/Decel Time Switching Frequency 0.0 to 400.0 Hz <1> Determined by A1-02 <1>
Note: Setting C1-11 to 0.0 Hz (0.0%) disables this function.
 C2: S-Curve Characteristics

Use S-curve characteristics to smooth acceleration and deceleration and to minimize abrupt shock to the load. Set
S-curve characteristic time during acceleration/deceleration at start and acceleration/deceleration at stop. If the STo fault
(Step Out Detection) occurs when starting a PM motor, try increasing the value set to C2-01.
 C2-01 to C2-04: S-Curve Characteristics
C2-01 through C2-04 set separate S-curves for each section of the acceleration or deceleration.

C2-01 S-Curve Characteristic at Accel Start Determined by A1-02
C2-02 S-Curve Characteristic at Accel End 0.20 s
0.00 to 10.00 s
C2-03 S-Curve Characteristic at Decel Start 0.20 s
Parameter Details
C2-04 S-Curve Characteristic at Decel End 0.00 s
Figure 5.35 explains how S-curves are applied.

Figure 5.35
FWD run
REV run
5
C2-02 C2-04
C2-03
Output
frequency C2-01
C2-01 C2-04
C2-02 C2-03
Figure 5.35 S-Curve Timing Diagram - FWD/REV Operation

Setting the S-curve will increase the acceleration and deceleration times.
Actual accel time = accel time setting + (C2-01 + C2-02) / 2
Actual decel time = decel time setting + (C2-03 + C2-04) / 2
5.3 C: Tuning
 C3: Slip Compensation

The Slip Compensation function improves the speed accuracy of an induction motor. By adjusting the output frequency
in accordance with the motor load, it compensates the slip and makes the motor speed equal to the frequency reference.
Note: Perform Auto-Tuning and make sure that the motor rated current (E2-01), the motor rated slip (E2-02), and the no-load current
(E2-03) have all been set properly before making any adjustments to slip compensation parameters.
 C3-01: Slip Compensation Gain

This parameter sets the gain for the motor slip compensation function. Although this parameter rarely needs to be
changed, adjustments might be needed under the following circumstances:
• If the motor at constant speed is slower than the frequency reference, increase C3-01.
• If the motor at constant speed is faster than the frequency reference, decrease C3-01.
C3-01 Slip Compensation Gain 0.0 to 2.5 Determined by A1-02
Note: Default setting is 0.0 in V/f Control (A1-02 = 0), and 1.0 in Open Loop Vector Control (A1-02 = 2). In Closed Loop Vector
Control, slip compensation is used correct inaccuracies that can result from temperature fluctuation in the rotor.
 C3-02: Slip Compensation Primary Delay Time

Adjusts the filter on the output side of the slip compensation function. Although this parameter rarely needs to be
changed, adjustment may help in the following situations:
• Decrease the setting when the slip compensation response is too slow.
• Increase this setting when speed is unstable.
C3-02 Slip Compensation Primary Delay Time 0 to 10000 ms Determined by A1-02
Note: Default for V/f Control (A1-02 = 0) is 2000 ms. Default for Open Loop Vector Control (A1-02 = 2) is 200 ms.
 C3-03: Slip Compensation Limit

Sets the upper limit for the slip compensation function as a percentage of the motor rated slip (E2-02).

C3-03 Slip Compensation Limit 0 to 250% 200%
The slip compensation limit is constant throughout the constant torque range (frequency reference ≤ E1-06). In the
constant power range (frequency reference ≥ E1-06), it is increased based on C3-03 and the output frequency as shown in
Figure 5.36.
Figure 5.36
E1-04
E1-06 × C3-03
C3-03
Output Frequency
E1-06 E1-04
Base Maximum
Frequency Frequency
Figure 5.36 Slip Compensation Limit
5.3 C: Tuning
 C3-04: Slip Compensation Selection during Regeneration

Enables or disables slip compensation during regenerative operation. When slip compensation during regeneration has
been activated and a regenerative load is applied, it might be necessary to use a dynamic braking option (braking resistor,
braking resistor unit, or braking unit).
Even if enabled, this function does not operate when the output frequency is too low.

C3-04 Slip Compensation Selection during Regeneration 0 to 2 0
Setting 0: Disabled
Slip compensation is not provided. Depending on the load and mode of operation, the actual motor speed will be lower or
higher than the frequency reference.
Setting 1: Enabled (6 Hz and above)
Slip compensation is enabled during regenerative operation. It will not be active at output frequencies below 6 Hz.
Setting 2: Enabled (compensation provided wherever possible)
Slip compensation is enabled during regenerative operation, and at frequencies as low as 2 Hz. The drive uses the motor
rated slip set in E2-02 to automatically calculate the frequency range where compensation will be disabled.
 C3-05: Output Voltage Limit Operation Selection
Determines if the motor flux reference is automatically reduced when output voltage reaches the saturation range.
If the input power supply voltage is low or the motor has a high voltage rating, this function can help improve the speed
precision when moving heavy loads at high speeds. When this function is enabled, the reduction in flux causes a slightly
higher current at high speed. Keep this in mind when selecting the drive.
Note: Available control mode for parameter C3-05 varies by drive model:
CIMR-A2A0004 to 2A0415 and 4A0002 to 4A0675: Available when A1-02 = 2, 3
CIMR-A4A0930 and 4A1200: Available when A1-02 = 2, 3, 6, 7

C3-05 Output Voltage Limit Operation Selection 0 or 1 0
Setting 0: Disabled
Setting 1: Enabled
 C3-16: Output Voltage Limit Operation Start Level (Percentage Modulation)
Parameter Details
Sets the output voltage limit operation start level (percentage modulation) when C3-05 is enabled.

C3-16 Output Voltage Limit Operation Start Level 70.0 to 90.0% 85.0%
5
 C3-17: Maximum Output Voltage Limit Level (Percentage Modulation)
Sets the output voltage limit operation determined by C3-18 (percentage modulation) when C3-05 is enabled.

C3-17 Maximum Output Voltage Limit Level 85.0 to 100.0% 90.0%
 C3-18: Output Voltage Limit Level

Sets the maximum percentage of output voltage reduction when C3-05 is enabled.

C3-18 Output Voltage Limit Level 30.0 to 100.0% 90.0%
5.3 C: Tuning
 C3-21: Motor 2 Slip Compensation Gain

Used to improve speed accuracy for motor 2. Functions in the same way that C3-01 functions for motor 1.
Adjust this parameter only after the motor rated current (E4-01), motor rated slip (E4-02), and the motor no-load current
(E4-03) have all been set.
Refer to C3-01: Slip Compensation Gain on page 186 for details on adjusting this parameter.

C3-21 Motor 2 Slip Compensation Gain 0.0 to 2.5 Determined by E3-01
Note: Default setting is 0.0 in V/f Control (E3-01 = 0). Default setting is 1.0 in Open Loop Vector Control (E3-01 = 2) and Closed Loop
Vector Control (E3-01 = 3). In Closed Loop Vector Control, slip compensation gain acts as an adaptable gain.
 C3-22: Motor 2 Slip Compensation Primary Delay Time

Functions for motor 2 in the same way that C3-02 functions for motor 1.
Refer to C3-02: Slip Compensation Primary Delay Time on page 186 for instructions on how to adjust this parameter.

C3-22 Motor 2 Slip Compensation Primary Delay Time 0 to 10000 ms Determined by E3-01
Note: The default for V/f Control (E3-01 = 0) is 2000 ms. The default for Open Loop Vector Control (E3-01 = 2) is 200 ms.
 C3-23: Motor 2 Slip Compensation Limit

Sets the upper limit for the slip compensation function as a percentage of the motor rated slip (E4-02).

C3-23 Motor 2 Slip Compensation Limit 0 to 250% 200%
The slip compensation limit is constant throughout the constant torque range (frequency reference ≤ E3-06). In the
constant power range (frequency reference > E3-06), it is increased based on C3-23 and the output frequency as shown in
Figure 5.37.
Figure 5.37
E3-04
E3-06 × C3-23
C3-23
Output Frequency
E3-06 E3-04
Base Maximum
Frequency Frequency
Figure 5.37 Slip Compensation Limit
 C3-24: Motor 2 Slip Compensation Selection during Regeneration


C3-24 Motor 2 Slip Compensation Selection during Regeneration 0 to 2 0
Setting 0: Disabled
Setting 1: Enabled (6 Hz and above)
Setting 2: Enabled (compensation provided wherever possible)
5.3 C: Tuning
 C4: Torque Compensation

The torque compensation function compensates for insufficient torque production at start-up or when a load is applied.
Note: Make sure the motor parameters and V/f pattern are set properly before setting torque compensation parameters.
 C4-01: Torque Compensation Gain

Sets the gain for the torque compensation function.

C4-01 Torque Compensation Gain 0.00 to 2.50 Determined by A1-02
Torque Compensation in V/f, V/f w/PG, and OLV/PM:

The drive calculates the motor primary voltage loss using the output current and the termination resistor value (E2-05 for
IM, E5-05 for PM motors) and then adjusts the output voltage to compensate insufficient torque at start or when load is
applied. The effects of this voltage compensation can be increased or decreased using parameter C4-01.
Torque Compensation in OLV:
The drive controls the motor excitation current (d-axis current) and torque producing current (q-axis current) separately.
Torque compensation affects the torque producing current only. C4-01 works as a factor of the torque reference value that
builds the torque producing current reference.
Adjustment
Although this parameter rarely needs to be adjusted, changing the torque compensation gain in small steps of 0.05 may
help in the following situations:
• Increase this setting when using a long motor cable.
• Decrease this setting when motor oscillation occurs.
Adjust C4-01 so that the output current does not exceed the drive rated current.
Note: 1. Refrain from adjusting torque compensation in Open Loop Vector Control, as it can have a negative effect on torque accuracy.
2. Refrain from adjusting this parameter in OLV/PM. Too high a value can cause overcompensation, resulting in motor oscillation.
 C4-02: Torque Compensation Primary Delay Time

Sets the delay time used for applying torque compensation.

C4-02 Torque Compensation Primary Delay Time 0 to 60000 ms Determined by A1-02
Parameter Details
Adjustment
Although C4-02 rarely needs to be changed, adjustments may help in the following situations:
• If the motor vibrates, increase C4-02.
• If the motor responds too slowly to changes in the load, decrease C4-02.
 C4-03: Torque Compensation at Forward Start (OLV)
5
Sets the amount of torque at start in the forward direction in order to improve motor performance during start with a
heavy load. Compensation is applied using the time constant set in parameter C4-05. Enable this function when the load
pulls the motor in reverse when starting with a Forward run command. Setting of 0.0% disables this feature.

C4-03 Torque Compensation at Forward Start 0.0 to 200.0% 0.0%
 C4-04: Torque Compensation at Reverse Start (OLV)

Sets the amount of torque reference at start in the reverse direction in order to improve motor performance during start
with heavy load. Compensation is applied using the Torque Compensation Time set in parameter C4-05. Enable this
function if the load pulls the motor in the forward direction when starting with a Reverse run command. Setting 0.0%
disables this feature.

C4-04 Torque Compensation at Reverse Start -200.0 to 0.0% 0.0%
5.3 C: Tuning
 C4-05: Torque Compensation Time Constant (OLV)

This parameter is the time constant for applying the torque compensation at start that is set to C4-03 and C4-04.
C4-05 Torque Compensation Time Constant 0 to 200 ms 10 ms
 C4-06: Torque Compensation Primary Delay Time 2 (OLV)

This time constant is used during Speed Search or during regenerative operation. Adjust the value if an overvoltage fault
occurs with sudden changes in the load or at the end of acceleration with high inertia load.
C4-06 Torque Compensation Primary Delay Time 2 0 to 10000 ms 150 ms
Note: If C4-06 is set to a relatively large value, be sure to also increase the setting in n2-03 (AFR Time Constant 2) proportionally.
 C4-07: Motor 2 Torque Compensation Gain

Refer to C3-01: Slip Compensation Gain on page 186 for details on adjusting this parameter.
C4-07 Motor 2 Torque Compensation Gain 0.00 to 2.50 1.00
 C5: Automatic Speed Regulator (ASR)

The ASR is used for controlling the motor speed in V/f w/PG, CLV, AOLV/PM, and CLV/PM control modes. It adjusts
the output frequency (V/f w/PG) or torque reference (CLV, AOLV/PM, CLV/PM) in order to minimize the difference
between frequency reference and actual motor speed.
Figure 5.38 and Figure 5.39 illustrate how ASR works.
Figure 5.38
+ Output frequency
Frequency
reference
+
ASR limit
+ +
- Change
Detected speed
rate
P
limiter +
I
C5-01
C5-05
C5-03
C5-02, C5-04
Figure 5.38 Speed Control Block Diagram for V/f Control with PG
Figure 5.39
Torque limits
C5-01, C5-03
+ + Torque reference
Frequency Primary
P filter
reference
- I +
I limit
C5-06
L7-01 to L7-04
Detected speed C5-02, C5-04 C5-08
<1>
<1> Advanced Open Loop Vector Control for PM motors estimates the speed using the motor model and does not require an encoder
feedback signal.
Figure 5.39 Speed Control Block Diagram for CLV, AOLV/PM and CLV/PM
 Adjusting the ASR Parameters

Before adjusting ASR parameters make sure all motor data have been set up correctly or Auto-Tuning has been
performed.
Analog output signals should be used to monitor the frequency reference after softstarter (U1-16) and the motor speed
(U1-05) when adjusting the ASR. Refer to H4: Multi-Function Analog Outputs on page 262 for details on setting up
analog output functions.
Generally when tuning the ASR, first optimize the ASR gain, then adjust the integral time settings. Always make
adjustments with the load connected to the motor.
5.3 C: Tuning
Adjusting the ASR Parameters in V/f Control with PG

In V/f Control with PG, the ASR settings change between two sets of parameters depending on the motor speed as
described in C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2 on page 192.
Perform the following steps for adjusting ASR parameters:
1. Run the motor at minimum speed and increase ASR gain 2 (C5-03) as much as possible without oscillation.
2. Run the motor at minimum speed and decrease ASR integral time 2 (C5-04) as much as possible without
oscillation.
3. Check the output current monitor to make sure that the output current is less than 50% of the drive rated current.
If the value is higher than 50%, decrease C5-03 and increase C5-04.
4. Run the motor at maximum speed and increase ASR gain 1 (C5-01) as much as possible without oscillations.
5. Run the motor at maximum speed and decrease ASR integral time 1 (C5-02) as much as possible without
oscillations.
6. If higher speed precision and faster response during acceleration or deceleration is required, enable integral
control during accel/decel by setting parameter C5-12 to 1. Change the speed and make sure no over/
undershoot occurs.
Adjusting the ASR Parameters in CLV, AOLV/PM, and CLV/PM
In CLV, AOLV/PM, and CLV/PM the drive is pre-set to use ASR settings C5-01/02 over the whole speed range. If
required by the application, a second set of ASR parameters (C5-03/04) can be automatically activated depending on the
motor speed or by using a digital input. Also refer to C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR
Integral Time 1, 2 on page 192.
Perform the following steps for adjusting ASR parameters:
1. Run the motor at zero speed and increase the ASR gain (C5-01) as much as possible without oscillation.
2. Run the motor at zero speed and decrease the ASR integral time (C5-02) as much as possible without
oscillation.
3. Run at the normal operating speed. Check for over/undershoot when changing speed and for any oscillation.
4. Should problems occur in step 3, increase the integral time and reduce the gain.
Alternatively, use different ASR settings for high and low speed. Set the values from step 1 and 2 to parameters
C5-03 and C5-04, then set an ASR switching frequency in parameter C5-07. Run the motor at a speed higher
than C5-07 and repeat step 3 while adjusting C5-01 and C5-02.
Solving Problems During ASR Setup
Use Table 5.15 when making adjustments to ASR. Though the parameters listed below are for motor 1, the same changes
can be made to the corresponding motor 2 parameters when running a second motor.
Table 5.15 ASR Setup Problems and Corrective Actions
Parameter Details
Problem Possible Solutions
Speed reference
Slow response to speed changes or speed • Increase the ASR gain.

deviation lasts for too long Motor Speed • Decrease the integral time.
Time 5
Motor Speed
Overshoot or undershoot at the end of • Decrease the ASR gain.

acceleration or deceleration Speed reference • Increase the integral time.
Time
Speed reference
• Decrease the ASR gain.

Vibration and oscillation occur at constant
• Increase the integral time.
speed Motor Speed • Increase the ASR delay time (C5-06).
Time
Speed reference
• Check the pulse number set to F1-01 and the gear ratio in F1-12 and F1-13.
The motor slip is not fully compensated when • Make sure the pulse signal from the encoder is set up properly.
running in V/f Control with PG Motor Speed • Check monitor U6-04 and check if the ASR is working at its output limit (setting of
C5-05). If so, increase C5-05.
Time
5.3 C: Tuning
Problem Possible Solutions

Integral operation is enabled in V/f Control with • Decrease the ASR gain.
PG (C5-15 = 1) and over/undershoot occurs – • Increase the integral time.
when changing speed. • If the problem persists, reduce the ASR output limit set in C5-05.
• V/f control: Use C5-01/02 and C5-03/04 to set up different ASR settings at minimum
Oscillation at low speed and response is too and maximum speed.
–
slow at high speed (or vice versa) • CLV, AOLV/PM, CLV/PM: Use C5-01, C5-02 and C5-03, C5-04 to define optimal
ASR settings for high and low speed. Use C5-07 to define a switching frequency.
 C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2

These parameters can be used to adjust the responsiveness of the ASR.
Note: C5-01 is automatically set when ASR Tuning is performed (T1-01 = 9 or T2-01 = 9).

C5-01 ASR Proportional Gain 1 0.00 to 300.00 Determined by A1-02
C5-02 ASR Integral Time 1 0.000 to 10.000 s Determined by A1-02
C5-03 ASR Proportional Gain 2 0.00 to 300.00 Determined by A1-02
C5-04 ASR Integral Time 2 0.000 to 10.000 s Determined by A1-02
These parameter settings will function differently depending on the control mode.
V/f Control with PG
Parameters C5-01 and C5-02 determine the ASR characteristics at maximum speed, whereas C5-03 and C5-04 determine
the characteristics at minimum speed.
Figure 5.40
P = C5-01
P and I setting
I = C5-02
P = C5-03
I = C5-04
Motor speed
0 E1-09 E1-04
Min. output frequency Max. output frequency
Figure 5.40 ASR Gain and Integral Time in V/fw/PG
CLV, AOLV/PM, and CLV/PM
In these control modes, parameters C5-03 and C5-04 define the ASR gain an integral time at zero speed. The settings in
C5-01 and C5-02 are used at speeds above the setting in C5-07. C5-07 is set to 0 as the default so that C5-01 and C5-02
are used over the entire speed range. Also refer to C5-07: ASR Gain Switching Frequency on page 193.
Figure 5.41
P = C5-01
P, I
I = C5-02
Ramp
P = C5-03
I = C5-04 (Low speed)
Motor speed (Hz)

㧜 C5-07
Figure 5.41 Low-speed and High-speed Gain Settings
The gain set in C5-03 can also be activated with a digital input programmed to “ASR gain switch” (H1- = 77). When
the terminal is open, the drive uses the ASR gain level set by the pattern in the figure above. When the terminal closes,
C5-03 is used. The integral time set to C5-02 is used to change linearly between these settings.
The ASR gain switch command from a multi-function input terminal overrides the switching frequency set to C5-07.
Figure 5.42
ASR Gain Switch signal

(Digital input) OFF ON
Proportional gain
Proportional gain (P) determined
by motor speed.
C5-03 gain setting
C5-02 C5-02
Figure 5.42 ASR Proportional Gain Switch
5.3 C: Tuning
ASR Gain Tuning (C5-01, C5-03)

The higher this setting, the faster is the speed response. Too high of a setting can lead to oscillation. In general, this
setting should be increased with larger loads in order to minimize the speed deviation.
ASR Integral Time Tuning (C5-02, C5-04)
Determines how fast a continuous speed deviation problem is eliminated. Too long of an integral time makes the speed
control less responsive, while a too short of an integral time can cause oscillation.
 C5-05: ASR Limit
Sets the ASR output limit as a percentage of the maximum output frequency (E1-04). If the motor rated slip is high, the
setting might need to be increased to provide proper motor speed control. Use the ASR output monitor U6-04 to
determine if ASR is working at the limit set in C5-05. If so, make sure the PG pulses (F1-01), PG gear teeth (F1-12,
F1-13), and the PG signal are set correctly before making further changes to C5-05.

C5-05 ASR Limit 0.0 to 20.0% 5.0%
 C5-06: ASR Primary Delay Time Constant

This parameter sets the filter time constant for the time from the speed loop to the torque command output.
Increase this setting gradually in increments of 0.01 for loads with low rigidity, or when oscillation is a problem.
Note: This parameter rarely requires adjustment.

C5-06 ASR Primary Delay Time Constant 0.000 to 0.500 s Determined by A1-02
 C5-07: ASR Gain Switching Frequency

Sets the frequency where the drive should switch between ASR proportional gain 1 and 2 (C5-01, C5-03) as well as
between integral time 1 and 2 (C5-02, C5-04).

C5-07 ASR Gain Switching Frequency 0.0 to 400.0 Hz <1> Determined by A1-02 <1>
Note: A multi-function input set for the ASR gain switch (H1- = 77) takes priority over the ASR gain switching frequency.
Switching the proportional gain and integral time in the low or high speed range can help stabilize operation and avoid
Parameter Details
resonance problems. A good switching point is about 80% of the frequency where oscillation occurs, or at 80% of the
target speed. Refer to C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2 on page 192.
 C5-08: ASR Integral Limit
Sets the upper limit for ASR as a percentage of the rated load.
5
C5-08 ASR Integral Limit 0 to 400% 400%
 C5-12: Integral Operation during Accel/Decel (V/f w/PG)

Enables integral operation during acceleration and deceleration. Integral operation should be used when driving a heavy
load or a high inertia load, but can cause problems with overshoot at the end of acceleration and deceleration. Refer to
ASR Setup Problems and Corrective Actions on page 191 to solve such problems.

C5-12 Integral Operation during Accel/Decel 0, 1 0
Setting 0: Disabled
Integral operation occurs only during constant speed and not during acceleration or deceleration.
Setting 1: Enabled
Integral operation is always enabled.
5.3 C: Tuning
 C5-17, C5-18: Motor Inertia, Load Inertia Ratio

C5-17 and C5-18 determine the ratio of the machine inertia to the inertia of the motor being used.
Example: Setting C5-18 to 2.0 reflects a load inertia that is twice the motor inertia.
These parameters are set automatically when Inertia Tuning and ASR Tuning are performed in CLV and CLV/PM control
modes. Refer to Auto-Tuning on page 118 for details on Auto-Tuning or enter the data manually.

Determined by C6-01, E5-01 and
C5-17 Motor Inertia 0.0001 to 600.00 kgm2 o2-04
C5-18 Load Inertia Ratio 0.0 to 6000.0 1.0
 C5-21, C5-23 / C5-22, C5-24: Motor 2 ASR Proportional Gain 1, 2 / Integral Time 1, 2
These parameters function for motor 2 in the same way that C5-01 through C5-04 function for motor 1. For more details,
see C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2 on page 192.

C5-21 Motor 2 ASR Proportional Gain 1 0.00 to 300.00 Determined by E3-01
C5-22 Motor 2 ASR Integral Time 1 0.000 to 10.000 s Determined by E3-01
C5-23 Motor 2 ASR Proportional Gain 2 0.00 to 300.00 Determined by E3-01
C5-24 Motor 2 ASR Integral Time 2 0.000 to 10.000 s Determined by E3-01
 C5-25: Motor 2 ASR Limit

Functions for motor 2 in the same way that C5-05 functions for motor 1. Sets the ASR output limit for motor 2 as a
percentage of the maximum output frequency (E4-04). For more details, see C5-05: ASR Limit on page 193.

C5-25 Motor 2 ASR Limit 0.0 to 20.0% 5.0%
 C5-26: Motor 2 ASR Primary Delay Time Constant

Sets the filter time constant for the time from the speed loop to the torque command output. For more details, see C5-06:
ASR Primary Delay Time Constant on page 193.
Note: This parameter rarely requires adjustment.

C5-26 Motor 2 ASR Primary Delay Time Constant 0.000 to 0.500 s Determined by E3-01
 C5-27: Motor 2 ASR Gain Switching Frequency

Sets the frequency for motor 2 to change ASR proportional gain 1 and 2 (C5-21, C5-23) as well as the integral time 1 and
2 (C5-22, C5-24). For more details, see C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time
1, 2 on page 192.

C5-27 Motor 2 ASR Gain Switching Frequency 0.0 to 400.0 Hz 0.0 Hz
Note: A multi-function input set for the ASR gain switch (H1- = 77) takes priority over the ASR gain switching frequency.
 C5-28: Motor 2 ASR Integral Limit

Sets the upper limit for ASR as a percentage of the rated load.

C5-28 Motor 2 ASR Integral Limit 0 to 400% 400%
5.3 C: Tuning
 C5-32: Integral Operation during Accel/Decel for Motor 2

Enables integral operation during acceleration and deceleration. Refer to C5-12: Integral Operation during Accel/Decel
(V/f w/PG) on page 193 for more details.

C5-32 Integral Operation during Accel/Decel for Motor 2 0, 1 0
Setting 0: Disabled
Integral operation occurs only during constant speed and not during acceleration or deceleration.
Setting 1: Enabled
Integral operation is always enabled.
 C5-37, C5-38: Motor 2 Inertia, Motor 2 Load Inertia Ratio
These parameters function for motor 2 in the same way that C5-17 and C5-18 function for motor 1.
These parameters are set automatically when Inertia Tuning and ASR Tuning are performed for motor 2 in CLV and
CLV/PM control modes. Refer to Auto-Tuning on page 118 for details on Auto-Tuning or enter the data manually.

C5-37 Motor 2 Inertia 0.0001 to 600.00 kgm2 Determined by C6-01 and o2-04
C5-38 Motor 2 Load Inertia Ratio 0.0 to 6000.0 1.0
 C5-39: ASR Primary Delay Time Constant 2

Sets the filter time constant in seconds for the time from the speed loop to the torque reference output when the Single
Drive KEB Ride-Thru 2 is enabled (L2-29 = 1). If oscillation occurs during Single Drive KEB Ride-Thru 2, then
gradually increase this setting in increments of 0.01 s.

C5-39 ASR Primary Delay Time Constant 2 0.000 to 0.500 s 0.000 s
 C6: Carrier Frequency

 C6-01: Drive Duty Mode Selection
Parameter Details
The drive has two different “duty modes” to select from based on the load characteristics. The drive rated current,
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 Heavy
Duty and Normal Duty Ratings on page 444 for details about the rated current.
5
C6-01 Drive Duty Mode Selection 0 or 1 0 (HD)
Table 5.16 Differences between Heavy and Normal Duty

Characteristics Heavy Duty Rating (HD) Normal Duty Rating (ND)
C6-01 0 1
Overload
150% Overload
120%
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.
5.3 C: Tuning
Characteristics Heavy Duty Rating (HD) Normal Duty Rating (ND)

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
150% 120%
(L3-06)
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: 1. Increasing the carrier frequency above the default value automatically lowers the drive’s current rating. Refer to Rated Current
Depending on Carrier Frequency on page 450.
2. When using a PM motor, the default carrier frequency is 5.0 kHz. 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.

Determined by A1-02, o2-04.
C6-02 Carrier Frequency Selection 1 to F <1>
Reset when C6-01 is changed.
<1> The setting range for models CIMR-A2A0004 to 4A0630 is:
A1-02 = 0, 1, 2, 5: 1 to A, F
A1-02 = 3, 7: 1 to 6, F
A1-02 = 6: 1 to 6
The setting range for models CIMR-A4A0930 to 4A1200 is:
A1-02 = 0, 1, 2, 3, 5, 7: 1, 2, F
A1-02 = 6: 1, 2
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 Table 5.17.
<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.
Table 5.17 Wiring Distance and Carrier Frequency

Wiring Distance Up to 50 m Up to 100 m Greater than 100 m
1 to 2 (up to 5 kHz), 1 (up to 2 kHz),
Recommended setting value for C6-02 1 to F (up to 15 kHz)
7 (Swing PWM) 7 (Swing PWM)
The maximum cable length is 100 m when using OLV/PM (A1-02 = 5) or AOLV/PM (A1-02 = 6).
5.3 C: Tuning
 C6-03, C6-04, C6-05: Carrier Frequency Upper Limit, Lower Limit, Proportional Gain
Use these parameters to set a user defined or a variable carrier frequency. To set the upper and lower limits and the carrier
frequency proportional gain, first set C6-02 to F.

C6-03 Carrier Frequency Upper Limit 1.0 to 15.0 kHz <1> <2>
C6-04 Carrier Frequency Lower Limit (V/f Control only) 1.0 to 15.0 kHz <1> <2> Determined by C6-02
C6-05 Carrier Frequency Proportional Gain (V/f Control only) 0 to 99 <1>
Setting a Fixed User Defined Carrier Frequency

A carrier frequency between the fixed selectable values can be entered in parameter C6-03 when C6-02 is set to F. In V/f
Control, parameter C6-04 must also be adjusted to the same value as C6-03.
Setting a Variable Carrier Frequency (V/f Control)
In V/f Control, the carrier frequency can be set up to change linearly with the output frequency. To do this, set the upper
and lower limits for the carrier frequency and the carrier frequency proportional gain (C6-03, C6-04, C6-05) as shown in
Figure 5.43.
Figure 5.43
Carrier Frequency
C6-03
Output
C6-04 Frequency × C6-05
Output Frequency
E1-04
Max Output Frequency
Figure 5.43 Carrier Frequency Changes Relative to Output Frequency

Note: When C6-05 is set lower than 7, C6-04 is disabled and the carrier frequency will be fixed to the value set in C6-03.
 C6-09: Carrier Frequency during Rotational Auto-Tuning

C6-09 determines what the carrier frequency should be while Rotational Auto-Tuning is performed.
This parameter rarely requires adjustment, but can be helpful solving problems with overcurrent when Auto-Tuning a
high frequency motor or a low impedance motor. In such cases, first set C6-03 to high value, then set C6-09 = 1.
Parameter Details

C6-09 Carrier Frequency during Rotational Auto-Tuning 0, 1 0
Setting 0: Carrier Frequency = 5 kHz <1>

Setting 1: Same value set to C6-03 <2> 5
<1> In PM control mode, this value is 2 kHz.
<2> In PM control mode, this value is the carrier frequency that is set in C6-02.
5.4 d: Reference Settings

The figure below gives an overview of the reference input, selections, and priorities.
Figure 5.44
b1-01
(Freq. Reference Source 1)
LO/RE Key on Digital Operator or
=4 Digital Input H1- = 1
Pulse Train Input
=3
Option Card
=2
MEMOBUS comm.
Digital Input 0
=1 Remote
Terminal A1/A2/A3 H1- = 2 1
MS 1
=0
d1-01 Local
(Freq.Ref 1)
Set to supply the

auxiliary frequency reference
Terminal A2
b1-15 H3-10 = 2
(Freq. Reference Source 2) MS 2
d1-02
H3-10 = 2
=4
Terminal A3 NetRef
Pulse Train Input 1 ComRef Frequency
=3 H3-06 = 3 1 Reference
MS 3
Option card Open
d1-03 0
=2 H3-06 = 3 Close 0
MEMOBUS comm. MS 4
d1-04 Memobus Register 0001h, bit 4 if
=1
Terminal A1/A2/A3 Frequency standard 2 wire sequence selected,
=0 Reference MS 15 usually 0
d1-01 d1-15
4 through 16 Set from Communications
(Freq. Ref. 1) MS 16
Option Card, usually 0
d1-16
Jog Digital Input (H1-)
Jog Frequency d1-17 Jog Reference (=6),
Multi-Step Speed FJOG(=12), RJOG(=13)
Figure 5.44 Frequency Reference Setting Hierarchy
 d1: Frequency Reference

 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-Step Speed 1, 2, and 3:
• Multi-Step Speed 1
When setting terminal A1’s analog input to Multi-Step Speed 1, set b1-01 to 1, and when setting d1-01 (Frequency
Reference 1) to Multi-Step Speed 1, set b1-01 to 0.
When setting terminal A3’s analog input to Multi-Step Speed 2, set H3-06 (Terminal A3 Function Selection) to 2
(Auxiliary frequency reference 1). When setting d1-02 (Frequency Reference 2) to Multi-Step Speed 2, set H3-06 to F
(Through mode).
When setting terminal A2’s analog input to Multi-Step Speed 3, set H3-10 (Terminal A2 Function Selection) to 3
(Auxiliary frequency reference 2).
When inputting 0 to 10 V to terminal A2’s analog input, set H3-09 to 0, and DIP switch S1 on the control circuit
terminal board to V (voltage).
The different speed references can be selected as shown in Table 5.18. Figure 5.45 illustrates the multi-step speed
selection.
Table 5.18 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
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
Jog Frequency Reference (d1-17) <1> − − − − ON
<1> The Jog frequency overrides whatever frequency reference is being used.
Figure 5.45
Frequency d1-16
reference d1-15
d1-14
Parameter Details
d1-09
d1-08
d1-07
d1-06
d1-05
d1-04 5
d1-03
(A3)
d1-02
(A2)
d1-01
(A1) d1-17
Time
FWD (REV) Run/Stop ON
ON ON ON ON ON ON
Multi-step Speed Ref. 1
ON ON ON
ON ON
Multi-step Speed Ref. 4 ON
Jog Reference ON
Figure 5.45 Preset Reference Timing Diagram
 d2: Frequency Upper/Lower Limits

By entering upper or lower frequency limits, the user can keep motor speed from going above or below levels that may
cause resonance or equipment damage.
 d2-01: Frequency Reference Upper Limit
Sets the maximum frequency reference as a percentage of the maximum output frequency. This limit applies to all
frequency references.
Even if the frequency reference is set to a higher value, the drive internal frequency reference will not exceed this value.

d2-01 Frequency Reference Upper Limit 0.0 to 110.0% 100.0%
 d2-02: Frequency Reference Lower Limit

Sets the minimum frequency reference as a percentage of the maximum output frequency. This limit applies to all
frequency references.
If a lower reference than this value is entered, the drive will run at the limit set to d2-02. If the drive is started with a
lower reference than d2-02, it will accelerate up to d2-02.

d2-02 Frequency Reference Lower Limit 0.0 to 110.0% 0.0%
Figure 5.46
Internal frequency
reference
d2-01
Frequency Reference Upper Limit
Operating
range
Frequency Reference Lower Limit

d2-02
Set frequency reference

Figure 5.46 Frequency Reference: Upper and Lower Limits
 d2-03: Master Speed Reference Lower Limit

Unlike frequency reference lower limit (d2-02) that affects the all frequency references wherever they are sourced from
(i.e., analog input, preset speed, Jog speed, etc.), the master speed lower limit (d2-03) sets a lower limit that will only
affect a frequency reference entered from the analog input terminals (A1, A2, or A3).
Set as a percentage of the maximum output frequency.
Note: When lower limits are set to both parameters d2-02 and d2-03, the drive uses the greater of those two values as the lower limit.

d2-03 Master Speed Reference Lower Limit 0.0 to 110.0% 0.0%
 d3: Jump Frequency

 d3-01 to d3-04: Jump Frequencies 1, 2, 3 and Jump Frequency Width
To avoid operating at a speed that causes resonance in driven machinery, the drive can be programmed with three
separate Jump frequencies. The Jump frequencies are frequency ranges that the drive will not operate at. If the speed
reference falls within a Jump frequency dead band, the drive will clamp the frequency reference just below the dead band
and only accelerate past it when the frequency reference rises above the upper end of the dead band.
Setting parameters d3-01 through d3-03 to 0.0 Hz disables the Jump frequency function.

d3-01 Jump Frequency 1 0.0 to 400.0 Hz <1> 0.0 Hz <1>
d3-04 Jump Frequency Width 0.0 to 20.0 Hz <2> 1.0 Hz <2>
<2> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent instead of in Hz. The Setting range is 0.0 to
40.0% and the default is 1.0%.
Figure 5.47 shows the relationship between the Jump frequency and the frequency reference.
Figure 5.47
Frequency
reference
Frequency
reference Frequency
decreases reference
increases
d3-04 d3-04
d3-04 d3-04
d3-04 d3-04
Output
Jump Jump Jump Frequency
Frequency Frequency Frequency
3 2 1
(d3-03) (d3-02) (d3-01)
Figure 5.47 Jump Frequency Operation

Note: 1. The drive will use the active accel/decel time to pass through the specified dead band range, but will not allow continuous operation
in that range.
2. When setting more than one Jump frequency, make sure that the parameters do not overlap.
 d4: Frequency Reference Hold and Up/Down 2 Function

 d4-01: Frequency Reference Hold Function Selection
This parameter is effective when either of the digital input functions listed below is used.
• Accel/decel ramp hold function (H1-= A)
• Up/Down function (H1- = 10 and 11)
• Up/Down 2 function (H1- = 75 and 76)
Parameter Details
Parameter d4-01 determines whether the frequency reference or the frequency bias (Up/Down 2) value is saved when the
Stop command is entered or the power supply is shut down.

d4-01 Frequency Reference Hold Function Selection 0 or 1 0
The operation depends on the function used with parameter d4-01. 5

Setting 0: Disabled
• Acceleration hold
The hold value will be reset to 0 Hz when the Stop command is entered or the drive power is switched off. The active
frequency reference will be the value the drive uses when it restarts.
• Up/Down
The frequency reference value will be reset to 0 Hz when the Stop command is entered or the drive power is switched
off. The drive will start from 0 Hz when it is turned back on again.
• Up/Down 2
The frequency bias is not saved when the Stop command is entered, or 5 s after the Up/Down 2 command has been
released. The Up/Down 2 function will start with a bias of 0% when the drive is restarted.
Setting 1: Enabled
• Acceleration hold
The last hold value will be saved when the Run command or the drive power is switched off. The drive will use the
value that was saved as the frequency reference when it restarts. The multi-function input terminal set for “Accel/decel
ramp hold” (H1- = A) must be enabled the entire time, or else the hold value will be cleared when the power is
switched on.
Figure 5.48
ON ON
Power supply
OFF
OFF ON OFF ON
Forward Run / Stop
OFF ON OFF ON
Hold Accel/Decel
Frequency reference
Output frequency d4-01 = 1
d4-01 = 0
Hold Hold
Figure 5.48 Frequency Reference Hold with Accel/Decel Hold Function
• Up/Down
The frequency reference value will be saved when the Run command or the drive power is switched off. The drive will
use the frequency reference that was saved when it restarts.
• Up/Down 2 with frequency reference from digital operator
When a Run command is active and the Up/Down 2 command is released for longer than 5 s, the Up/Down 2 bias
value is added to the frequency reference and then reset to 0. This new frequency reference is saved and will also be
used to restart the drive after the power is cycled.
Figure 5.49
Bias is added to frequency

reference and reset to 0
Output
frequency
Frequency
reference
Bias 5s
5s
Up 2 command
Figure 5.49 Up/Down 2 Example with Reference from Digital Operator and d4-01 = 1
• Up/Down 2 with frequency reference from input sources other than the digital operator
When a Run command is active and the Up/Down 2 command is released for longer than 5 s, the bias value will be
saved in parameter d4-06. When restarting after the power is switched off, the drive will add the value saved in d4-06
as a bias to the frequency reference.
Figure 5.50
Bias is saved in parameter d4-06

Output
frequency
d4-06 value
5s
Bias
5s
Up 2 command
Figure 5.50 Up/Down 2 Example with Other Reference than Digital Operator and d4-01 = 1
Note: Make sure to set the limits for Up/Down 2 properly when using d4-01 = 1 in combination with the Up/Down 2 function. Refer to
d4-08: Frequency Reference Bias Upper Limit (Up/Down 2) on page 205 and Refer to d4-09: Frequency Reference Bias
Lower Limit (Up/Down 2) on page 205 for details on the limit settings.
Clearing the Value that was Saved
Depending on which function is used, the frequency reference value that was saved can be cleared by:
• Releasing the input programmed for Acceleration hold.
• Setting an Up or Down command while no Run command is active.
• Parameter d4-06 is reset to zero. Refer to d4-06: Frequency Reference Bias (Up/Down 2) on page 204 for details.
 d4-03: Frequency Reference Bias Step (Up/Down 2)
Sets the bias that is added to or subtracted from the frequency reference by the Up/Down 2 function.

d4-03 Frequency Reference Bias Step (Up/Down 2) 0.00 to 99.99 Hz 0.00 Hz
The operation depends on the set value:

Setting d4-03 = 0.00 Hz
Parameter Details
While the Up 2 or Down 2 command is enabled, the bias value is increased or decreased using the accel/decel time
determined by parameter d4-04.
Figure 5.51
Output
frequency
5
Bias value is increased using the
accel/decel times as set in d4-04
Bias
Up 2 command
Figure 5.51 Up/Down 2 Bias when d4-03 = 0.00 Hz
Setting d4-03 ≠ 0.00 Hz

When an Up 2 or Down 2 command is enabled, the bias is increased or decreased in steps for the value set in d4-03. The
frequency reference changes with the accel/decel times determined by parameter d4-04.
Figure 5.52
Output
frequency
Bias value is increased in steps as

defined in d4-03
Drive uses accel/decel times as
set in d4-04
Bias
Up 2 command
Figure 5.52 Up/Down 2 Bias when d4-03 ≠ 0.00 Hz
 d4-04: Frequency Reference Bias Accel/Decel (Up/Down 2)

Parameter d4-04 determines the accel/decel times that are used for increasing/decreasing the frequency reference or bias
when the Up/Down 2 function is used.

d4-04 Frequency Reference Bias Accel/Decel (Up/Down 2) 0 or 1 0
Setting 0: Current Accel/Decel Time

The drive uses the currently active accel/decel time.
Setting 1: Accel/Decel Time 4
The drive uses accel/decel time 4 set to parameters C1-07 and C1-08.
 d4-05: Frequency Reference Bias Operation Mode Selection (Up/Down 2)
Determines if the bias value is held or not when the Up/Down 2 inputs are both released or both enabled. The parameter
is effective only when parameter d4-03 is set to 0.00.

d4-05 Frequency Reference Bias Operation Mode Selection (Up/Down 2) 0 or 1 0
Setting 0: Hold Bias Value

The bias value will be held if no input Up 2 or Down 2 is active.
Setting 1: Reset Bias Value
The bias is reset to 0% when both inputs Up 2 and Down 2 are either on or off. The drive will use the accel/decel time as
selected in d4-04 to accelerate or decelerate to the frequency reference value.
 d4-06: Frequency Reference Bias (Up/Down 2)
This parameter is used to save the frequency reference bias value set by the Up/Down 2 function. It is set as a percentage
of the maximum output frequency. The function of d4-06 depends on how the Up/Down 2 function is configured.
• This parameter is normally not used when the frequency reference is set by the digital operator. The user can set d4-06
to a certain value that will be applied during run, but this value will be reset when the frequency reference changes
(including multi-step references) or will be disabled when d4-01 = 0 and the Run command is removed.
• When d4-01 = 0 and the frequency reference is set by a source other than the digital operator, the value set in d4-06 is
generally added to or subtracted from the frequency reference.
• When d4-01 = 1 and the frequency reference is set by a source other than the digital operator, the bias value adjusted
with the Up/Down 2 inputs is stored in d4-06 once 5 s have passed after the Up 2 or Down 2 command is released. The
frequency reference will then return to what it was without the Up/Down 2 command.
d4-06 Frequency Reference Bias (Up/Down 2) -99.9 to 100.0% 0.0%
Conditions that Generally Reset or Disable Parameter d4-06

• When the Up/Down 2 function has not been assigned to the multi-function terminals
• When the frequency reference source has been changed (including LOCAL/REMOTE or External reference 1/2 switch
over by digital inputs)
• If d4-03 = 0.00 Hz, d4-05 = 1 and the Up/Down 2 commands are both open or both closed
• Any changes to the maximum frequency set to E1-04
 d4-07: Analog Frequency Reference Fluctuation Limit (Up/Down 2)
This parameter is for handling changes in the frequency reference while the terminal set for Up 2 or Down 2 is enabled.
If the frequency reference changes for more than the level set to d4-07, then the bias value will be held, and the drive will
accelerate or decelerate following the frequency reference. When the frequency reference is reached, the bias hold is
released and the bias follows the Up/Down 2 input commands.
Parameter d4-07 is applicable only if the frequency reference is set by an analog or pulse input.

d4-07 Analog Frequency Reference Fluctuation Limit (Up/Down 2) 0.1 to 100.0% 1.0%
 d4-08: Frequency Reference Bias Upper Limit (Up/Down 2)

Parameter d4-08 sets the upper limit of the Up/Down 2 bias (monitor U6-20) and the value that can be saved in parameter
d4-06. Set this parameter to an appropriate value before using the Up/Down 2 function.
Note: When the frequency reference is set by the digital operator (b1-01 = 0) and d4-01 = 1, the bias value will be added to the
frequency reference if no Up/Down 2 command is received for 5 s, and will be reset to 0 afterwards. From that point, the bias can
be increased up to the limit set in d4-08 again.

d4-08 Frequency Reference Bias Upper Limit (Up/Down 2) 0.0 to 100.0% 100.0%
 d4-09: Frequency Reference Bias Lower Limit (Up/Down 2)

Parameter d4-09 sets the lower limit of the Up/Down 2 bias (monitor U6-20) and the value that can be saved in parameter
d4-06. Set this parameter to an appropriate value before using the Up/Down 2 function.
Note: When the frequency reference is set by the digital operator (b1-01 = 0) and d4-01 = 1, the bias value will be added to the
frequency reference if no Up/Down 2 command is received for 5 s, and will be reset to 0 afterwards. If the bias is increased using
the Up 2 command, it cannot be reduced with a Down 2 command when the limit set in d4-09 is 0. To allow speed reduction in
this situation, set a negative lower limit in d4-09.
Parameter Details
d4-09 Frequency Reference Bias Lower Limit (Up/Down 2) -99.9 to 0.0% 0.0%
 d4-10: Up/Down Frequency Reference Limit Selection

Selects how the lower frequency limit is set when the Up/Down function is used. Refer to Setting 10, 11: Up, Down
command on page 238 for details on the Up/Down function in combination with frequency reference limits.
5
d4-10 Up/Down Frequency Reference Limit Selection 0 or 1 0
Setting 0: Lower Limit is Determined by d2-02 or Analog Input

The lower frequency reference limit is determined by the higher value of either parameter d2-02 or an analog input (A1,
A2, A3) that is programmed for “Frequency bias”.
Note: For example, if the command to switch the external reference (H1- = 2) is used to switch between the Up/Down function and
an analog input as the reference source, then the analog value would become the lower reference limit when the Up/Down
command is active. Change d4-10 to 1 to make the Up/Down function independent of the analog input value.
Setting 1: Lower Limit is Determined by Parameter d2-02
Only parameter d2-02 sets the lower frequency reference limit.
 d4-11: Bi-Directional Output Selection

Selects if the frequency reference or PID output value is converted into bi-directional internal frequency reference. Refer
also to the PID block diagram in Figure 5.26 to see how bi-directional output works.
Note: When used in combination with PID control, the bi-directional output function can be enabled or disabled using a digital input
(H1- = 7F)

d4-11 Bi-Directional Output Selection 0 or 1 0
Setting 0: No Conversion
The frequency reference or PID output value is used as it is without being converted. The drive will operate in the
direction selected from 0 to 100% of the maximum output frequency.
Setting 1: Bi-Directional Output Conversion
When the frequency reference or PID output is below 50%, the drive reverses the selected direction. When it is above
50% the drive works in the selected direction.
 d4-12: Stop Position Gain
Sets the gain for adjusting the stopping accuracy when simple positioning is selected as the stopping method (b1-03 = 9).

d4-12 Stop Position Gain 0.50 to 2.55 1.00
Increase the value if the motor stops before the desired stop position is reached. Decrease it if the motor stops too late.
Also refer to b1-03: Stopping Method Selection on page 150 for details on simple positioning.
 d5: Torque Control

Torque Control is available for CLV and CLV/PM (A1-02 = 3, 7). It allows to define a setpoint for the torque produced
by the motor.
 Torque Control Operation
Torque control can be enabled either by setting parameter d5-01 to 1 or by a digital input (H1- = 71). Figure 5.53
illustrates the working principle.
Figure 5.53
Torque Compensation
d5-02
U1-09
External Torque Reference Torque Reference Delay
d5-08 L7-
C1- , C2-
+ Torque Internal Torque
Soft Limits Reference
External Speed Limit +
Starter 1 d5-03
2
Speed Limiter
Speed Limit set in d5-04
Compensated torque
reference
Speed Feedback
Speed Limit Bias d5-05
Figure 5.53 Torque Control Block Diagram

The externally input torque reference is used as the target value for the motor output torque. If the motor torque reference
and the load torque are not in balance when in Torque Control, the motor accelerates or decelerates. An operation beyond
the speed limit is prevented by compensating the external torque reference value if the motor speed reaches the limit. The
compensation value is calculated using the speed limit, speed feedback, and the speed limit bias.
If an external torque compensation value is input, it is added to the speed limit compensated torque reference value. The
value calculated is limited by the L7- settings, and is then used as the internal torque reference, which can be
monitored in U1-09. The L7- settings have highest priority, i.e., the motor cannot be operated with a higher torque
than the L7- settings, even if the external torque reference value is increased.
 Setting the Torque Reference, Speed Limit, and Torque Compensation Values
Torque Control Reference Sources
Input values for Torque Control can be set like explained in Table 5.19.
Table 5.19 Torque Control Input Value Selection
Input Value Signal Source Settings Remarks
Make sure the signal level settings for the input terminal selected
Analog inputs A1/A2/A3 H3-02, H3-10, or H3-06 = 13 <1> match the signal used. Refer to H3: Multi-Function Analog Inputs
on page 257 for details on adjusting analog input signals.
The H3- settings become effective for the option board input
terminals. Make sure the signal level settings for the input terminal
• F2-01 = 0
Analog Option Card selected match the signal used. Refer to H3: Multi-Function
• H3-02, H3-10, or H3-06 = 13 <1>
Analog Inputs on page 257 for details on adjusting analog input
Torque Reference signals.
• b1-01 = 2
MEMOBUS Register 0004H • Set Register 000FH, Bit 2 = 1 to enable Torque –
reference from register 0004H
• b1-01 = 3
• F6-06 = 1
Communication Option Card –
Refer to the option card manual for details about
setting the torque reference.
d5-03 = 1
Signal selected as frequency The speed limit is taken from the input selected as The settings in C1- for accel/decel times and in C2- for
Speed Limit reference source frequency reference source in parameter b1-01 or S-curves are applied to the speed limit value.
b1-15. <1>
Parameter d5-04 d5-03 = 2 –
Make sure the signal level settings for the input terminal selected
Analog inputs A1/A2/A3 H3-02, H3-10, or H3-06 = 14 <1> match the signal used. Refer to H3: Multi-Function Analog Inputs
on page 257 for details on adjusting analog input signals.
The H3- settings become effective for the option card input
• F2-01 = 0
Analog Option Card terminals. Make sure the signal level settings for the input terminal
• H3-02, H3-10, or H3-06 = 14 <1>
selected match the signal used.
Torque Compensation
• b1-01 = 2
MEMOBUS Register 0005H • Set Register 000FH, bit 3 = 1 to enable the torque –
compensation setting by register 0005H
• b1-01 = 3
Communication Option Card • Refer to the option card manual for details about –
setting the torque compensation value.
<1> Sets analog input terminals A1, A2, and A3 to supply the speed limit, torque reference, or torque compensation. An oPE07 error
(Multi-Function Analog Input Selection Error) will occur if two analog inputs are set for the same function.
Input Value Polarity

The direction of the input values described above depends on the polarity of the Run command and the input value.
• With a Forward run command and a positive torque reference signal the internal torque reference will be positive, i.e.,
in the forward direction.
Parameter Details
• With a Forward run command and a negative torque reference signal the internal torque reference will be negative, i.e.,
in the reverse direction.
When analog inputs are used, negative input values can be generated by
• applying negative voltage input signals.
• using positive analog input signals but setting the analog input bias to negative values so that the input value can be 5
negative.
• applying positive voltage input signals and using a digital input that is programmed for H1- = 78.
When MEMOBUS/Modbus communication or a communication option card is used, only positive input values can be
set.
 Speed Limitation and Speed Limit Bias

The speed limit setting is read from the input selected in parameter d5-03. A bias can be added to this speed limit using
parameter d5-05 while parameter d5-08 determines how the speed limit bias is applied. Table 5.20 explains the relation
between these settings.
Table 5.20 Speed Limit, Speed Bias and Speed Limit Priority Selection
Operating Conditions
Run Command Forward Reverse Forward Reverse Forward Reverse Forward Reverse
Torque Reference
Positive (Forward) Positive (Forward) Negative (Reverse) Negative (Reverse) Negative (Reverse) Negative (Reverse) Positive (Forward) Positive (Forward)
Direction
Speed Limit
Positive (Forward) Negative (Reverse) Negative (Reverse) Positive (Forward) Positive (Forward) Negative (Reverse) Negative (Reverse) Positive (Forward)
Direction
Motor Rotation
Forward Reverse Forward Reverse
Direction
Torque Torque Torque Torque
Torque Δn Speed Limit Torque Torque Torque Δn
Limit Bias d5-05 Limit Limit Limit Δn
Speed Limit
Speed Limit Internal
Bias d5-05
Speed Bias d5-05 Torque
Internal
Torque Limit Speed Reference
Speed Limit
Bidirectional Speed Reference Limit Bias
Limit Bias Speed Speed Speed d5-05 Speed
0 0
(d5-08 = 0) 0 0
<1> Internal Speed
Torque Internal Limit Bias
Speed Limit Speed Reference Δn Speed
Torque d5-05
Bias d5-05 Limit Limit
Reference
Torque Speed Limit Torque Torque Torque

Limit Bias d5-05 Δn Limit Δn d5-05 Limit Limit
Torque Torque Torque Torque

Torque Δn Torque Torque Torque Δn
Limit Δn Limit Limit Speed Limit Limit Δn
Bias d5-05
Speed Speed Limit
Internal Internal
Torque Limit Bias d5-05 Speed Limit Torque
Unidirectional Reference
Speed Reference
Speed Limit Bias Speed Speed 0 Speed
(d5-08 = 1) 0
0 0
<1> Internal Internal
Torque Speed
Speed Torque
Speed Reference Reference Speed Limit Bias
Limit Bias
Limit Limit d5-05
d5-05
Torque Δn Torque Δn Torque Torque

Limit Δn Limit Δn Limit Limit
Winder Unwinder
Speed Torque Speed Torque Torque Speed Torque Speed
Application Example Line Direction Line Direction
M Line Direction M M M Line Direction
<1> The value of delta n in the drawings depends on the ASR setting in parameters C5-.
 Indicating Operation at the Speed Limit

A digital output can be programmed to close when the drives is operating at or beyond the speed limit (H2- = 32).
Use this output to notify a PLC or some other control device of abnormal operating conditions.
 Switching Between Torque and Speed Control

A digital input can be used to switch Torque Control and Speed Control (H1- = 71). When switching from Speed
Control to Torque Control, the torque limit becomes the torque reference and the speed reference becomes the speed
limit. This change is reversed when switching back to Speed Control.
If required by the application, a delay time can be set up using parameter d5-06. The reference values (torque reference/
speed limit in Torque Control or speed reference/torque limit in Speed Control) are held during this switch delay time. Be
sure to change the reference values from the controller within this delay time.
Note: 1. The switching delay time d5-06 is not applied when the Stop command is entered. Here the operation switches immediately to speed
control and the drive decelerates to stop at the torque limit.
2. Set d5-01 to 0 when switching between Torque Control and Speed Control. An oPE15 (Torque Control Setting Error) alarm will be
triggered if parameter d5-01 is set to 1 while H1- is set to 71 at the same time.
Figure 5.54
Speed/Torque control OFF ON OFF ON

input (H1- = 71)
Run command OFF ON
Operation Mode Speed Control Torque Control Speed Control Torque Control Speed Control
Frequency refernce Speed Ref. Speed Limit Speed Ref. Speed Limit Speed Ref.
signal or d5-04
Torque reference signal/

Torque Limit Torque Reference Torque Limit Torque Reference Torque Limit
Torque limit
d5-06 d5-06 d5-06
Figure 5.54 Speed/Torque Control Switching Time
 d5-01: Torque Control Selection

d5-01 Torque Control Selection 0 or 1 0
Setting 0: Disabled
Speed Control will be active. Also use this setting when H1- = 71 (Speed/Torque Control Switch).
Setting 1: Enabled
Parameter Details
Torque Control is always enabled.
 d5-02: Torque Reference Delay Time
A filter with the time constant set in parameter d5-02 can be applied to the torque reference signal in order to eliminate
oscillation that results from an unstable torque reference signal. A higher filter time will stabilize control, but also reduce
the responsiveness. 5
d5-02 Torque Reference Delay Time 0 to 1000 ms Determined by A1-02
 d5-03: Speed Limit Selection

Parameter d5-03 determines how the speed limit is set.
d5-03 Speed Limit Selection 1 or 2 1
Setting 1: Frequency Reference Input

The frequency reference value at the active reference source (digital operator, External reference 1 or External reference
2) will be used as speed limit. Note that in this case all settings for accel/decel times (C1-01 to C1-08) and S-curves
(C2-01 to C2-04) will apply for the speed limit.
Setting 2: Parameter d5-04
The speed limit is set by parameter d5-04.
 d5-04: Speed Limit

Sets the speed limit during torque control if parameter d5-03 is set to 2. Refer to Speed Limitation and Speed Limit Bias
on page 208.

d5-04 Speed Limit -120 to 120% 0%
 d5-05: Speed Limit Bias

Using d5-05 a bias can be applied to the speed limit value. The bias is set as a percentage of the maximum output
frequency. Refer to Speed Limitation and Speed Limit Bias on page 208.

d5-05 Speed Limit Bias 0 to 120% 10%
 d5-06: Speed/Torque Control Switchover Time

Sets the delay time for switching from Speed Control to Torque Control and vice versa.

d5-06 Speed/Torque Control Switchover Time 0 to 1000 ms 0 ms
 d5-08: Unidirectional Speed Limit Bias

Parameter d5-08 selects how the speed limit bias is applied.

d5-08 Unidirectional Speed Limit Bias 0 or 1 1
Setting 0: Disabled
The speed limit bias is applied in both directions, the speed limit and the opposite direction.
Setting 1: Enabled
The speed limit bias is applied in the opposite direction of the speed limit only.
 d6: Field Weakening and Field Forcing

Field Weakening
The Field Weakening function reduces the output voltage to a pre-defined level in order to reduce the energy
consumption of the motor. It can be activated using a digital input programmed for H1- = 63. Field Weakening
should only be used with a known and unchanging light load condition. Use the Energy Saving function (b8-
parameters) when Energy Saving for various different load conditions is required.
Field Forcing
The Field Forcing function compensates the delaying influence of the motor time constant when changing the excitation
current reference. Field Forcing can improve the motor responsiveness. It is ineffective during DC Injection Braking.
 d6-01: Field Weakening Level
Sets the level to what the output voltage is reduced when Field Weakening is activated. Set as percentage of the drive
maximum output voltage.

d6-01 Field Weakening Level 0 to 100% 80%
 d6-02: Field Weakening Frequency Limit

Sets the minimum output frequency for that field weakening can be activated. For frequencies below d6-02, Field
Weakening cannot be activated.

d6-02 Field Weakening Frequency Limit 0 to 400.0 Hz 0.0 Hz
 d6-03: Field Forcing Selection

Enables or disables the Field Forcing function.

d6-03 Field Forcing Selection 0 or 1 0
Setting 0: Disabled
Setting 1: Enabled
 d6-06: Field Forcing Limit
Sets the maximum level to what the Field Forcing function can boost the excitation current reference. The value is set as
a percentage of the motor no load current.

d6-06 Field Forcing Limit 100 to 400% 400%
Note: Adjustment is not normally required.
 d7: Offset Frequency

 d7-01 to d7-03: Offset Frequency 1 to 3
Three different offset values can be added to the frequency reference. They can be selected using digital inputs
programmed for Offset frequency 1, 2, and 3 (H1- = 44, 45, 46). The selected offset values are added together if
multiple inputs are closed at the same time. The value is set as a percentage of the Maximum Output Frequency.
Note: This function can be used to replace the “Trim Control” function (H1- = 1C, 1D) of earlier Yaskawa drives.

d7-01 Offset Frequency 1 -100.0 to 100.0% 0%
Figure 5.55 illustrates the Offset frequency function.

Figure 5.55
Frequency
Frequency SFS reference after
reference
soft starter
Multi-function
input (44) = on
Offset Frequency 1 [d7-01]
Parameter Details
(Signed)
Multi-function
input (45) = on
(Signed)
Multi-function
input (46) = on
5
(Signed)
Figure 5.55 Offset Frequency Operation
5.5 E: Motor Parameters

E parameters cover V/f pattern and motor data settings.
 E1: V/f Pattern for Motor 1

 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 undervoltage detection level as well as DC bus levels used by the KEB function
and the overvoltage suppression function.
(Approximate Values)
Setting Value of Dynamic Braking
Voltage Desired DC Bus ov Suppression /
E1-01 ov Detection Level Transistor Detection Uv Detection Level
Level <1> (L2-05) Voltage during KEB Stall Prevention Level
(rr Detection Level) (L2-11) (L3-17)
200 V Class All settings 410 V 394 V 190 V 260 V 375 V

setting ≥ 400 V 820 V 788 V 380 V 500 V 750 V
400 V Class
setting < 400 V 820 V 788 V 350 V 460 V 750 V
<1> The braking transistor operation levels are valid for the drive internal braking transistor. If a CDBR braking chopper is used, refer to the
instruction manual (TOBP C720600 00 or TOBP C720600 01) 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> Settings 0 through E are not available when using any of the vector control modes.
Setting a Predefined V/f Pattern (Setting 0 to E)

Choose the V/f pattern that best meets the application demands from Table 5.21. 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 5.21 Predefined V/f Patterns
Setting Specification Characteristic Application
0 50 Hz
1 60 Hz 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)
Setting Specification Characteristic Application

4 50 Hz, Heavy Duty 2
5 50 Hz, Heavy Duty 1 For fans, pumps, and other applications where the required torque
Derated torque
6 60 Hz, Heavy Duty 1 changes as a function of the speed.
7 60 Hz, Heavy Duty 2
8 60 Hz, mid starting torque
Select high starting torque when:
9 60 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)
For general purpose applications. Torque remains constant regardless of
F <1> 50 Hz Constant torque
changes to speed.
<1> Setting F enables a custom V/f pattern by changing parameters E1-04 to E1-13. When the drive is shipped, the default values for parameters
E1-04 to E1-13 are the same as those of setting 0.
The following tables show details on predefined V/f patterns.

Predefined V/f Patterns for models CIMR-A2A0004 to 0021 (HD), CIMR-A2A0004 to 0018 (ND),
CIMR-A4A0002 to 0011 (HD), and CIMR-A4A0002 to 0009 (ND)
The following graphs are for 200 V class drives. Double the values when using a 400 V class drive.
Table 5.22 Constant Torque Characteristics, Settings 0 to 3, F
Setting = 0, F 50 Hz Setting = 1 60 Hz Setting = 2 60 Hz Setting = 3 72 Hz
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)
Table 5.23 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

Voltage (V)
Voltage (V)
Voltage (V)
Voltage (V)
50 50
35 35
Parameter Details
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 5.24 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

5
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 5.25 Rated Output Operation, Settings C to E

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

Voltage (V)
Voltage (V)
Voltage (V)
15 15 15
9 9 9
0 1.5 3 60 90 0 1.5 3 60 120 0 1.5 3 60 180
Frequency (Hz) Frequency (Hz) Frequency (Hz)
Predefined V/f Patterns for Models CIMR-A2A0030 to 0211 (HD), CIMR-A2A0021 to 0169 (ND),
The following graphs are for 200 V class drives. Double values when using a 400 V class drive.
Table 5.26 Rated Torque Characteristics, Settings 0 to 3, F
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 5.29 Constant Output, Settings C to E

200 200 200

Voltage (V)
Voltage (V)
Voltage (V)
14 14 14
7 7 7
0 1.5 3 60 90 0 1.5 3 60 120 0 1.5 3 60 180
Predefined V/f Patterns for Models CIMR-A2A0250 to 0415 (HD), CIMR-A2A0211 to 0415 (ND),
The following graphs are for 200 V class drives. Double values when using a 400 V class drive.
Table 5.30 Rated Torque Characteristics, Settings 0 to 3, F
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 5.33 Constant Output, Settings C to E

Parameter Details
200 200 200
Voltage (V)
Voltage (V)
Voltage (V)
12 12 12
6 6 6
0 1.5 3 60 90 0 1.5 3 60 120 0 1.5 3 60 180
5
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.
 V/f Pattern Settings E1-04 to E1-13

Set E1-03 ≤ E to monitor, but not change, the V/f pattern using parameters E1-04 to E1-13. To create a new V/f pattern,
set E1-03 to F. Refer to Figure 5.56 for an example custom V/f pattern.
Note: Certain E1- parameters might not be visible depending on the selected control mode. Refer to Parameter Table on page 459
for details.

E1-04 Maximum Output Frequency 40.0 to 400.0 Hz <1> <2> <3>
E1-05 Maximum Voltage 0.0 to 255.0 V <4> <2> <3>
E1-06 Base Frequency 0.0 to [E1-04] <1> <2> <3>
E1-07 Middle Output Frequency 0.0 to [E1-04] <2>
E1-08 Middle Output Frequency Voltage 0.0 to 255.0 V <4> <2>
E1-09 Minimum Output Frequency 0.0 to [E1-04] <1> <2> <3>
E1-10 Minimum Output Frequency Voltage 0.0 to 255.0 V <4> <2>
E1-11 <5> Middle Output Frequency 2 0.0 to [E1-04] 0.0 Hz
E1-12 <5> Middle Output Frequency Voltage 2 0.0 to 255.0 V <4> 0.0 V
E1-13 Base Voltage 0.0 to 255.0 V <4> 0.0 V <6>
<1> Default setting is determined by E5-01 in OLV/PM. The setting range is 0.0 to 400.0 Hz when E5-01 = FFFF.
<2> Default setting is determined by the Drive Model, Control Method, and Drive Duty.
<3> When using PM motors, the default setting is determined by the motor code set to E5-01.
<5> Parameter ignored when E1-11 and E1-12 are set to 0.0.
<6> When Auto-Tuning is performed, E1-13 and E1-05 will be set to the same value.
Figure 5.56
Output Voltage (V)
Frequency (Hz)
Figure 5.56 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: Motor 1 Parameters

These parameters contain the motor data needed for motor 1. They are set automatically when Auto-Tuning is performed
(this includes Rotational Auto-Tuning, Stationary Auto-Tuning 1 and 2). If Auto-Tuning cannot be performed, refer to
Auto-Tuning Fault Detection on page 362 for detail.
Note: As the motor parameters for a PM motor are set up in the E5- parameters, parameters for induction motors (E2-) are
hidden when a PM motor control mode is selected for motor 1 (i.e., parameter A1-02 is set to 5, 6, or 7).
 E2-01: Motor Rated Current

Provides motor control, protects the motor, and calculates torque limits. Set E2-01 to the full load amps (FLA) stamped
on the motor nameplate. If Auto-Tuning completes successfully, the value entered to T1-04 will automatically be saved
to E2-01.

Determined by
E2-01 Motor Rated Current 10% to 200% of the drive rated current.
C6-01 and o2-04
Note: Display is in the following units.

 E2-02: Motor Rated Slip

Sets the motor rated slip in Hz to provide motor control, protect the motor and calculate torque limits. This value is
automatically set during Auto-Tuning (Rotational Auto-Tuning, Stationary Auto-Tuning 1 and 2).

E2-02 Motor Rated Slip 0.00 to 20.00 Hz
o2-04
If Auto-Tuning cannot be performed, calculate the motor rated slip using the information written on the motor nameplate
and the formula below:
E2-02 = f - (n × p)/120
(f: rated frequency (Hz), n: rated motor speed (min-1), p: number of motor poles)
 E2-03: Motor No-Load Current
Set the no-load current for the motor in amperes when operating at the rated frequency and the no-load voltage. The drive
sets E2-03 during the Auto-Tuning process (Rotational Auto-Tuning and Stationary Auto-Tuning 1, 2). The motor
no-load current listed in the motor test report can also be entered to E2-03 manually. Contact the motor manufacturer to
receive a copy of the motor test report.

0 to [E2-01] Determined by C6-01 and
E2-03 Motor No-Load Current
(unit: 0.01 A) o2-04

 E2-04: Number of Motor Poles

Set the number of motor poles to E2-04. If Auto-Tuning completes successfully, the value entered to T1-06 will
automatically be saved to E2-04.

E2-04 Number of Motor Poles 2 to 48 4
 E2-05: Motor Line-to-Line Resistance
Parameter Details
Sets the line-to-line resistance of the motor stator winding. If Auto-Tuning completes successfully, this value is
automatically calculated. Remember that this value must be entered as line-to-line and not for each motor phase.
If Auto-Tuning is not possible, then contact the motor manufacturer to find out the line-to-line resistance or measure it
manually. When using the manufacturer motor test report, calculate E2-05 by the formulas below.
• E-type insulation: Multiply 0.92 times the resistance value (Ω) listed on the test report at 75°C 5
• B-type insulation: Multiply 0.92 times the resistance value (Ω) listed on the test report at 75°C.
• F-type insulation: Multiply 0.87 times the resistance value (Ω) listed on the test report at 115°C.
E2-05 Motor Line-to-Line Resistance 0.000 to 65.000 Ω <1>
o2-04
<1> The units are expressed in mΩ for models CIMR-A4A0930 and 4A1200.
 E2-06: Motor Leakage Inductance

Sets the voltage drop due to motor leakage inductance as a percentage of motor rated voltage. This value is automatically
set during Auto-Tuning (Rotational Auto-Tuning, Stationary Auto-Tuning 1, 2).

E2-06 Motor Leakage Inductance 0.0 to 40.0%
o2-04
 E2-07: Motor Iron-Core Saturation Coefficient 1

Sets the motor iron saturation coefficient at 50% of the magnetic flux. If Rotational Auto-Tuning completes successfully,
then this value is automatically calculated and set to E2-07. This coefficient is used when operating with constant output.

E2-07 Motor Iron-Core Saturation Coefficient 1 0.00 to 0.50 0.50
 E2-08: Motor Iron-Core Saturation Coefficient 2

Sets the motor iron saturation coefficient at 75% of the magnetic flux. If Rotational Auto-Tuning completes successfully,
then this value is automatically and set to E2-08. This coefficient is used when operating with constant output.

E2-08 Motor Iron-Core Saturation Coefficient 2 E2-07 to 0.75 0.75
 E2-09: Motor Mechanical Loss

This parameter sets to the motor mechanical loss as a percentage of motor rated power (kW) capacity. Adjust this setting
in the following circumstances:
• When there is a large amount of torque loss due to motor bearing friction.
• When there is a large amount of torque loss in a fan or pump application.
The setting for the mechanical loss is added to the torque.

E2-09 Motor Mechanical Loss 0.0 to 10.0% 0.0%
 E2-10: Motor Iron Loss for Torque Compensation

This parameter sets the motor iron loss in watts.

E2-10 Motor Iron Loss for Torque Compensation 0 to 65535 W
o2-04
 E2-11: Motor Rated Power

This parameter sets the motor rated power in kW. If Auto-Tuning completes successfully, the value entered to T1-02 will
automatically be saved to E2-11.

Determined by
E2-11 Motor Rated Power 0.00 to 650.00 kW
C6-01 and o2-04
Drives with a maximum output up to 300 kW will display this value in units of 0.01 kW (two decimal places). Drives with a
maximum output greater than 300 kW will display this value in units of 0.1 kW (one decimal place). Refer to Nameplate on
 Setting Motor Parameters Manually

Follow the instructions below when setting motor-related parameters manually instead of using the Auto-Tuning feature.
Refer to the motor test report included with the motor to make sure the correct data is entered into the drive.
Setting the Motor Rated Current
Enter the motor rated current listed on the nameplate of the motor to E2-01.
Setting the Motor Rated Slip
Use the base speed listed on the motor nameplate to calculate the rated slip. Refer to the formula below, then enter that
value to E2-02.
Motor rated slip = rated frequency [Hz] –base speed [min-1] × (no. of motor poles) / 120
Setting the No-Load Current

Enter the no-load current at rated frequency and rated voltage to E2-03. The no-load current is not usually listed on the
nameplate. Contact the motor manufacturer if the data cannot be found.
The default setting of the no-load current is for performance with a 4-pole Yaskawa motor.
Setting the Number of Motor Poles
Enter the number of motor poles as indicated on motor nameplate. This is required when A1-02 = 0 to 3 (induction motor
control methods).
Setting the Line-to-Line Resistance
E2-05 is normally set during Auto-Tuning. If Auto-Tuning cannot be performed, contact the manufacturer of the motor to
find out what the correct resistance is between motor lines. The motor test report can also be used to calculate this value:
• E-type insulation: Multiply 0.92 times the resistance value (Ω) listed on the test report at 75°C.
• B-type insulation: Multiply 0.92 times the resistance value (Ω) listed on the test report at 75°C.
• F-type insulation: Multiply 0.87 times the resistance value (Ω) listed on the test report at 115°C.
Setting the Motor Leakage Inductance
The motor leakage inductance set to E2-06 determines the amount of voltage drop relative to the motor rated voltage.
This value should be entered particularly for motors with a low degree of inductance, such as high-speed motors. As this
information is not listed on the motor nameplate, contact the motor manufacturer to find out the correct value for the
motor leakage inductance.
Setting the Motor Iron-Core Saturation Coefficient 1, 2
E2-07 and E2-08 are set when Auto-Tuning is performed.
Setting the Motor Mechanical Loss
The drive only requires this information when using Closed Loop Vector Control. The drive compensates for the degree
of mechanical loss with torque compensation. Although E2-09 rarely needs to be changed, adjustment may benefit the
following circumstances:
Setting the Motor Iron Loss for Torque Compensation
This value only needs to be set when using V/f Control. Enter this value in watts to E2-10. The drive uses this setting to
improve the precision of torque compensation.
Parameter Details
 E3: V/f Pattern for Motor 2
These parameters set the V/f pattern used for motor 2. Refer to Setting 16: Motor 2 selection on page 240 for details on
switching motors.
Note: As the function for switching between two motors cannot be used with a PM motor, the E3- parameters will be hidden when
a PM motor control mode is selected (A1-02 = 5, 6, or 7). 5
 E3-01: Motor 2 Control Mode Selection
Selects the control mode for motor 2. A control mode for PM motors cannot be selected for motor 2.
Note: 1. E3-01 dependant parameters are reset to the default settings when E3-01 is changed.
2. Protection from motor overload (oL1) is determined by L1-01, just as it is for motor 1.

E3-01 Motor 2 Control Mode Selection 0 to 3 0
Setting 0: V/f Control

Setting 1: V/f Control with PG
Setting 2: Open Loop Vector Control
Setting 3: Closed Loop Vector Control
 E3-04 to E3-13
Parameters E3-04 through E3-13 set up the V/f pattern used for motor 2 as shown in Figure 5.57.
Note: Certain E3- parameters might not be visible depending on the control mode. Refer to Parameter Table on page 459.

E3-04 Motor 2 Max Output Frequency 40.0 to 400.0 Hz <2>
E3-05 Motor 2 Max Voltage 0.0 to 255.0 <1> <2>
E3-06 Motor 2 Base Frequency 0.0 to [E3-04] <2>
E3-07 Motor 2 Mid Output Frequency 0.0 to [E3-04] <2>
E3-08 Motor 2 Mid Output Frequency Voltage 0.0 to 255.0 <1> <2>
E3-09 Motor 2 Minimum Output Frequency 0.0 to [E3-04] <2>
E3-10 Motor 2 Minimum Output Frequency Voltage 0.0 to 255.0 <1> <2>
E3-11 Motor 2 Mid Output Frequency 2 0.0 to [E3-04] 0.0 Hz <4>
E3-12 Motor 2 Mid Output Frequency Voltage 2 0.0 to 255.0 <1> 0.0 V <3> <4>
E3-13 Motor 2 Base Voltage 0.0 to 255.0 <1> 0.0 V <3>
<1> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<2> Default setting is determined by the control mode selected for motor 2 (E3-01).
<3> The drive sets this value when Auto-Tuning is performed (Rotational Auto-Tuning and Stationary Auto-Tuning 1, 2).
<4> Parameter ignored when E3-11 and E3-12 are set to 0.0.
Figure 5.57
Output (V)
E3-05
E3-12
E3-13
E3-08
E3-10
E3-09 E3-07 E3-06 E3-11 E3-04

Frequency (Hz)
Figure 5.57 V/f Pattern for Motor 2

Note: 1. The following conditions must be true when setting up the V/f pattern: E3-09 ≤ E3-07 < E3-06 ≤ E3-11 ≤ E3-04
2. To make the V/f pattern a straight line at a frequency lower than E3-06, set E3-09 = E3-07. With this setting, E3-08 is disregarded.
3. Parameters E3-04 through E3-13 are reset to their default values when the drive is initialized.
4. E3-11, E3-12, and E3-13 rarely need to be changed, and should only be used to fine-tune the V/f pattern in the constant output range.
 E4: Motor 2 Parameters

E4 parameters contain the motor data for motor 2. These parameters are usually set automatically during the
Auto-Tuning process (Rotational Auto-Tuning, Stationary Auto-Tuning 1 and 2). If Auto-Tuning cannot be performed,
refer to Auto-Tuning Fault Detection on page 362 for detail.
Note: As the function for switching between two motors cannot be used with a PM motor, the E5- parameters will be hidden when
a PM motor control mode is selected (A1-02 = 5, 6, or 7).
 E4-01: Motor 2 Rated Current

Set E4-01 to the full load amps (FLA) stamped on the nameplate of motor 2. 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 E4-01.

E4-01 Motor 2 Rated Current 10 to 200% of the drive rated current.
o2-04
Note: 1. Display is in the following units.

2. If the motor rated current in E4-01 is set lower than the motor no-load current in E4-03, then a parameter setting error will occur
(oPE02). E4-03 must be set correctly to prevent this error.
 E4-02: Motor 2 Rated Slip

This parameter sets the motor 2 rated slip frequency. Slip compensation is based on this value. The drive calculates this
value automatically during Auto-Tuning (Rotational Auto-Tuning and Stationary Auto-Tuning 1, 2).
For information on calculating the motor rated slip, refer to E2-02: Motor Rated Slip on page 217.

E4-02 Motor 2 Rated Slip 0.00 to 20.00 Hz
o2-04
 E4-03: Motor 2 Rated No-Load Current

Set the no-load current for motor 2 in amperes when operating at the rated frequency and the no-load voltage. The drive
sets E2-03 during the Auto-Tuning process (Rotational Auto-Tuning and Stationary Auto-Tuning 1, 2). The motor
no-load current listed in the motor test report can also be entered to E2-03 manually. Contact the motor manufacturer to
receive a copy of the motor test report.

E4-03 Motor 2 Rated No-Load Current 0 to [E4-01]
o2-04

 E4-04: Motor 2 Motor Poles

Set the pole number of motor 2 to E4-04. If Auto-Tuning completes successfully, the entered value to T1-06 will be
automatically saved to E4-04.

E4-04 Motor 2 Motor Poles 2 to 48 4
 E4-05: Motor 2 Line-to-Line Resistance

Sets the line-to-line resistance for the motor 2 stator winding. If Auto-Tuning completes successfully, this value is
automatically calculated. Remember this value must be entered as line-to-line and not for each motor phase. Refer to
E2-05: Motor Line-to-Line Resistance on page 217 to manually enter this parameter setting.
Parameter Details
E4-05 Motor 2 Line-to-Line Resistance 0.000 to 65.000 Ω <1>
o2-04
<1> The units are expressed in mΩ for models CIMR-A4A0930 and 4A1200.
 E4-06: Motor 2 Leakage Inductance

Sets the voltage drop due to motor leakage inductance as a percentage of rated voltage of motor 2. This value is 5
automatically set during Auto-Tuning (Rotational Auto-Tuning and Stationary Auto-Tuning 1, 2).

E4-06 Motor 2 Leakage Inductance 0.0 to 40.0%
o2-04
 E4-07: Motor 2 Motor Iron-Core Saturation Coefficient 1

Sets the motor 2 iron saturation coefficient at 50% of magnetic flux. This value is automatically set during Rotational
Auto-Tuning. Adjust this parameter when operating in the constant output range.

E4-07 Motor 2 Motor Iron-Core Saturation Coefficient 1 0.00 to 0.50 0.50
 E4-08: Motor 2 Motor Iron-Core Saturation Coefficient 2

Sets the motor iron saturation coefficient at 75% of magnetic flux. This value is automatically set during Rotational
Auto-Tuning. Adjust this parameter when operating in the constant output range.

E4-08 Motor 2 Motor Iron-Core Saturation Coefficient 2 [E4-07] to 0.75 0.75
 E4-09: Motor 2 Mechanical Loss

Sets the motor mechanical loss as a percentage of motor rated power (kW).
This parameter may need to be adjusted in the following circumstances:
The setting for the mechanical loss is added to the torque.

E4-09 Motor 2 Mechanical Loss 0.0 to 10.0% 0.0%
 E4-10: Motor 2 Iron Loss

Sets the motor 2 iron loss in watts.

E4-10 Motor 2 Iron Loss 0 to 65535 W
o2-04
 E4-11: Motor 2 Rated Power

Sets the motor 2 rated power. If Auto-Tuning completes successfully, the value entered to T1-02 will automatically be
saved to E4-11.

E4-11 Motor 2 Rated Power 0.00 to 650.00 kW Determined by o2-04
Drives with a maximum output up to 300 kW will display this value in units of 0.01 kW (two decimal places). Drives with a
maximum output greater than 300 kW will display this value in units of 0.1 kW (one decimal place). Refer to Nameplate on
 E5: PM Motor Settings

These parameters set the motor data of a PM motor.
When Yaskawa motors are used, entering the motor code written on the motor nameplate will set up the E5-
parameters.
For all other PM motors, Auto-Tuning can be performed. If motor data is known, it can also be entered manually.
Note: 1. E5- parameters are visible only when a PM motor control mode is selected (A1-02 = 5, 6, or 7).
2. E5- parameters are not reset when the drive is initialized using parameter A1-03.
When using a Yaskawa motor without a motor code or when using a PM motor from another company, set the parameters
according to the motor nameplate values and test report values.
 E5-01: Motor Code Selection (for PM Motors)

If a Yaskawa motor that does not have a motor code or a PM motor from another company is used, set the parameters
according to the motor nameplate values and test report values. Refer to Parameters that Change with the Motor Code
Selection (for PM Motors) on page 536 for details on the supported motor codes and their parameter settings.
Setting parameter E5-01 to FFFF will allow to set the motor data manually using the E5- parameters.

Determined by A1-02,
E5-01 Motor Code Selection (for PM Motors) 0000 to FFFF
C6-01 and o2-04
Note: 1. E5- parameters are not reset when the drive is initialized using parameter A1-03.
2. When E5-01 is set to a value other than FFFF, the drive will not initialize using parameter A1-03.
3. Changing E5-01 to FFFF from value other than FFFF will not change the values of parameters E5-02 through E5-24.
4. Set E5-01 to FFFF when using a motor other than a Yaskawa SMRA, SSR1, or SST4 series.
5. Default settings are:
• OLV/PM, AOLV/PM: Yaskawa SSR1 Series (1750 min-1)
• CLV/PM: Yaskawa SST4 Series (1750 min-1)
6. Selection may vary depending on the motor code entered to E5-01.
7. If an alarm or hunting occurs even though a motor code is used, enter the value indicated on the name plate. For details, refer to
Auto-Tuning for Permanent Magnet Motors on page 119.
 E5-02: Motor Rated Power (for PM Motors)

Sets the rated power of the motor. Determined by the value set to T2-04 during Stationary Auto-Tuning for PM motors or
by entering the motor code to E5-01.

E5-02 Motor Rated Power (for PM Motors) 0.10 to 650.00 kW Determined by E5-01
 E5-03: Motor Rated Current (for PM Motors)

Sets the motor rated current in amps. This parameter is automatically set when the value is entered to T2-06 during the
Auto-Tuning process.

E5-03 Motor Rated Current (for PM Motors) 10 to 200% of drive rated current Determined by E5-01

Parameter Details
 E5-04: Number of Motor Poles (for PM Motors)

Sets the number of motor poles. This parameter is automatically set when the value is entered to T2-08 during the
Auto-Tuning process. 5
E5-04 Number of Motor Poles (for PM Motors) 2 to 48 Determined by E5-01
 E5-05: Motor Stator Resistance (r1) (for PM Motors)

Set the resistance for one motor phase. When measuring the resistance manually, make sure not to enter the line-to-line
resistance into E5-05.

E5-05 Motor Stator Resistance (for PM Motors) 0.000 to 65.000 Ω Determined by E5-01
 E5-06: Motor d-Axis Inductance (Ld) (for PM Motors)

Sets the d-axis inductance in 0.01 mH units. This parameter is set during the Auto-Tuning process.

E5-06 Motor d-Axis Inductance (for PM Motors) 0.00 to 300.00 mH Determined by E5-01
 E5-07: Motor q-Axis Inductance (Lq) (for PM Motors)

Sets the q-axis inductance in 0.01 mH units. This parameter is set during the Auto-Tuning process.

E5-07 Motor q-Axis Inductance (for PM Motors) 0.00 to 600.00 mH Determined by E5-01
 E5-09: Motor Induction Voltage Constant 1 (Ke) (for PM Motors)

Sets the induced peak voltage per phase in units of 0.1 mV/(rad/s) [electrical angle]. Set this parameter when using an
IPM motor with derated torque (SSR1 series or equivalent) or an IPM motor with constant torque (SST4 series or
equivalent).
Set the voltage constant with E5-09 or E5-24 when E5-01 is set to FFFF. This parameter is set during Auto-Tuning for
Yaskawa SSR1 or SST4 series PM motors.

E5-09 Motor Induction Voltage Constant 1 (for PM Motors) 0.0 to 2000.0 mV/(rad/s) Determined by E5-01
Note: Ensure that E5-24 = 0 when setting parameter E5-09. An alarm will be triggered, however, if both E5-09 and E5-24 are set 0, or
if neither parameter is set to 0. When E5-01 = FFFF, then E5-09 = 0.0.
 E5-11 Encoder Z-Pulse Offset (Δθ) (for PM Motors)

Sets the offset between the rotor magnetic axis and the Z-pulse of the encoder connected. This parameter is set during
Parameter Auto-Tuning for PM motors and during Z Pulse Tuning.

E5-11 Encoder Z-Pulse Offset (for PM Motors) -180.0 to 180.0 deg 0.0 deg
 E5-24: Motor Induction Voltage Constant 2 (Ke) (for PM Motors)

Set the induced phase-to-phase rms voltage in units of 0.1 mV/(min-1) [mechanical angle]. Set this parameter when using
an SPM Motor (SMRA Series or equivalent).
When E5-01 is set to FFFF, use either E5-09 or E5-24 for setting the voltage constant. This parameter is set during
Parameter Auto-Tuning for PM motors.

E5-24 Motor Induction Voltage Constant 2 (for PM Motors) 0.0 to 6500.0 mV/(min-1) Determined by E5-01
Note: Ensure that E5-09 = 0 when setting parameter E5-24. An alarm will be triggered, however, if both E5-09 and E5-24 are set 0, or
if neither parameter is set to 0. When E5-01 = FFFF, then E5-09 = 0.0.
 E5-25: Polarity Switch for Initial Polarity Estimation (for PM Motors)

Switches polarity for initial polarity estimation. If “Sd = 1” is listed on the nameplate or in a test report for a Yaskawa
motor, E5-25 should be set to 1.
Note: Available control mode for parameter E5-25 varies by drive model:
CIMR-A4A0930 and 4A1200: Available when A1-02 = 5, 6, or 7

E5-25 Polarity Switch for Initial Polarity Estimation (for PM Motors) 0, 1 0
Setting 0: “Sd = 1” is not listed

Setting 1: “Sd = 1” is listed
5.6 F: Option Settings

 F1: PG Speed Control Card Settings
Yaskawa offers a PG-X3, PG-B3, PG-RT3, and PG-F3 motor encoder PG option card. Use the CN5-C port when using
only one PG option card and use the CN5-C and CN5-B ports when using two PG option cards. When programming one
of the multi-function input terminals to act as a switch between two motors (H1- = 16), use the card connected to
port CN5-C for motor 1 and use the card connected to CN5-B for motor 2.
Table 5.34 lists the parameters that must be set for each option card port.
Table 5.34 Option Card Ports and Corresponding Parameters
Port Parameters
CN5-C and CN5-B (common) F1-02 to F1-04, F1-08 to F1-11, F1-14
CN5-C only F1-01, F1-05, F1-06, F1-12, F1-13, F1-18 to F1-21
CN5-B only F1-31 to F1-37
 F1-01, F1-31: PG 1 and PG 2 Pulses Per Revolution

Sets the number encoder number of pulses per revolution.
No. Parameter Name Option Port Setting Range Default

F1-01 PG 1 Pulses Per Revolution CN5-C 1 to 60000 ppr <1> Determined by A1-02
F1-31 PG 2 Pulses Per Revolution CN5-B 1 to 60000 ppr 1024 ppr
<1> The setting range is 0 to 15000 ppr in PM motor control modes.
 F1-02, F1-14: PG Open (PGo) Circuit Operation Selection, Detection Time

A PGo fault is triggered if the drive receives no pulse signal for longer than the time set in F1-14. The stopping method
when PGo occurs should be set to parameter F1-02.
Note: Depending on the motor speed and load conditions, an error such as ov or oC may occur.

F1-02 Operation Selection at PG Open Circuit (PGo) CN5-B, CN5-C 0 to 4 1
F1-14 PG Open-Circuit Detection Time CN5-B, CN5-C 0.0 to 10.0 s 2.0 s
Parameter F1-02 Settings:

Setting 0: Ramp to stop (uses the deceleration time set to C1-02)
Parameter Details
Setting 2: Fast Stop (uses the Fast Stop time set to C1-09)
Setting 3: Alarm only
Setting 4: No alarm display
Note: Due to potential damage to motor and machinery, the “Alarm only” and “No alarm display” setting should be used only under
special circumstances.
 F1-03, F1-08, F1-09: Overspeed (oS) Operation Selection, Detection Level, Delay Time
5
An overspeed error (oS) is triggered when the speed feedback exceeds the value set in F1-08 for longer than the time set
in F1-09. The stopping method when an overspeed fault occurs can be selected in parameter F1-03.
Note: In AOLV/PM, the motor will coast to a stop (F1-03 = 1). The setting for F1-03 cannot be changed to 0,2,or 3.

F1-03 Operation Selection at Overspeed (oS) CN5-B, CN5-C 0 to 3 1
F1-08 Overspeed Detection Level CN5-B, CN5-C 0 to 120% 115%
F1-09 Overspeed Detection Delay Time CN5-B, CN5-C 0.0 to 2.0 s Determined by A1-02
Parameter F1-03 Settings:

Note: Due to potential damage to motor and machinery, the “Alarm only” setting should be used only under special circumstances.
 F1-04, F1-10, F1-11: Operation at Speed Deviation (dEv), Detection Level, Delay Time
A speed deviation error (dEv) is triggered when the difference between the frequency reference and the speed feedback
exceeds the value set in F1-10 for longer than the time set in F1-1. The stopping method when a speed deviation fault
occurs can be selected in parameter F1-04.

F1-04 Operation Selection at Deviation (dEv) CN5-B, CN5-C 0 to 3 3
F1-10 Excessive Speed Deviation Detection Level CN5-B, CN5-C 0 to 50% 10%
F1-11 Excessive Speed Deviation Detection Delay Time CN5-B, CN5-C 0.0 to 10.0 s 0.5 s
Settings for Parameter F1-04:

Setting 3: Alarm only (drive continues operating while “dEv” flashes on the screen)
 F1-05, F1-32: PG 1, PG 2 Rotation Selection
Determines the direction indicated by the pulses from the PG feedback encoder for motor 1 and motor 2.
See PG option card instruction manual for details on how to set the direction for the PG encoder and the motor.

F1-05 PG 1 Rotation Selection CN5-C 0, 1 Determined by A1-02 <1>
F1-32 PG 2 Rotation Selection CN5-B 0, 1 0
<1> Determined by the control mode: 0 when A1-02 = 1 or 3, 1 when A1-02 = 7.
Setting 0: A pulse leads with Forward run command.

Setting 1: B pulse leads with Forward run command.
 F1-06, F1-35: PG 1, PG 2 Division Rate for PG Pulse Monitor
Sets the ratio between the pulse input and the pulse output of a PG option card as a three digit number, where the first
digit (n) sets the numerator and the second and third digit (m) set the denominator as shown below:
(1 + n)
fPulse Input = fPulse Output m
Example: To have a ratio of 1/32 between the PG card pulse input and output, set F1-06 = 032.
F1-06 PG 1 Division Rate for PG Pulse Monitor CN5-C 001 to 032, 102 to 132 (1 to 1 ) 001
32
F1-35 PG 2 Division Rate for PG Pulse Monitor CN5-B 001 to 032, 102 to 132 (1 to 1 ) 001
32
 F1-12, F1-13, F1-33, F1-34: PG 1, PG 2 Gear Teeth 1, 2 (V/f w/PG only)

Sets the gear ratio between the motor shaft and the PG encoder. F1-12 and F1-33 set the number of gear teeth on the
motor side, while F1-13 and F-34 set the number of gear teeth for the load side. The drive uses the formula below to
calculate the motor speed.
Input pulses frequency from PG × 60 Load-side PG gear teeth (F1-12/33)

min-1 =
Pulses per Rev (F1-01/31) Motor-side PG gear teeth (F1-13/34)

F1-12 PG 1 Gear Teeth 1 CN5-C 0 to 1000 0
F1-13 PG 1 Gear Teeth 2 CN5-C 0 to 1000 0
F1-33 PG 2 Gear Teeth 1 CN5-B 0 to 1000 0
F1-34 PG 2 Gear Teeth 2 CN5-B 0 to 1000 0
Note: A gear ratio of 1 will be used if any of these parameters is set to 0.
 F1-18: dv3 Detection Selection (CLV/PM)

A dv3 situation is detected when the torque reference and speed reference are in opposite directions while the difference
between the actual motor speed and the speed reference is greater than 30%. Parameter F1-18 sets the number of times
such a situation must occur before a dv3 fault is triggered. Setting F1-18 to 0 disables dv3 detection.

F1-18 dv3 Detection Selection CN5-B, CN5-C 0 to 10 10
Note: A common cause for a dv3 fault is the incorrect setting of E5-11. Make sure the correct Z pulse offset has been entered to E5-11.
 F1-19: dv4 Detection Selection (CLV/PM)

A dv4 fault is triggered when there is a motor speed deviation opposite to the frequency reference and larger than the
number of pulses set in F1-19. Setting F1-19 to 0 disables dv4 detection.

F1-19 dv4 Detection Selection CN5-B, CN5-C 0 to 5000 128
Note: 1. A common cause for a dv4 fault is the incorrect setting of E5-11. Make sure the correct Z pulse offset is set to E5-11.
2. Set F1-19 to 0 for applications where the direction of the load is the opposite of the speed reference.
 F1-20, F1-36: PG Option Card Disconnect Detection

Selects whether the drive detects a PG hardware fault (PGoH).

F1-20 PG Option Card Disconnection Detection 1 CN5-C 0, 1 1
F1-36 PG Option Card Disconnection Detection 2 CN5-B 0, 1 1
Setting 0: Disabled
Setting 1: Enabled
 F1-21, F1-37: PG 1, PG 2 Signal Selection (V/f w/PG only)
Determines whether the signal to the PG option card is single track or two track.

F1-21 PG 1 Signal Selection CN5-C 0, 1 0
F1-37 PG 2 Signal Selection CN5-B 0, 1 0
Parameter Details
Setting 0: Single track (A track only)
Setting 1: Two track (tracks A and B)
 F1-30: PG Option Card Port for Motor 2 Selection
Specifies the drive port for the PG option card used for motor 2. This parameter should be set when switching between
motor 1 and motor 2, where both motors supply a speed feedback signal to the drive. If the speed feedback signals from 5
both motor 1 and motor 2 are selected externally and supplied to a single PG option card, set F1-30 = 0. If each motor has
its own PG card connected to the drive, then set F1-30 to 1.
Note: The motor 2 selection function cannot be used when PM motor is used.

F1-30 PG Option Card Port for Motor 2 Selection 0, 1 1
Setting 0: CN5-C
Setting 1: CN5-B
 F1-50: Encoder Selection

Sets up the type of encoder connected to a PG-F3 option card.
Note: 1. This parameter is not available in models CIMR-A4A0930 and 4A1200.
2. The use of EnDat2.2/22 encoders requires a PG-F3 option with software version 0102 or later.
To identify the PG-F3 software version refer to the PG-F3 labeling in the field designated “C/N” (S + four digit
number).”

F1-50 Encoder Selection 0 to 2 0
Setting 0: EnDat 2.1/01, 2.2/01 Serial Communications operation + Sin/Cos

Setting 1: EnDat 2.2/22 Serial Communications operation
Setting 2: Hiperface
 F1-51: PGoH Detection Level
Sets the level for detecting PG Hardware Fault (PGoH).
Usually the relation between the sin and cos track is sin2θ + cos2θ = 1 . If the value of the square root falls below the
the level set in F1-51, a speed feedback hardware fault is detected. Available when F1-20 = 1.

F1-51 PGoH Detection Level 1 to 100% 80%
 F1-52: Communication Speed of Serial Encoder Selection

Selects the speed for serial communication between a PG-F3 option card and serial encoder.

F1-52 Communication Speed of Serial Encoder Selection 0 to 3 0
Setting 0: 1M bps/9600 bps (EnDat 2.2/22 / Hiperface)

Setting 1: 500k bps/19200 bps (EnDat 2.2/22 / Hiperface)
 F2: Analog Input Card Settings

These parameters are used to setup the drive for operation with the analog input option card AI-A3. If the AI-A3 option
card is not connected, the drive terminals A1 to A3 are enabled regardless of the setting of F2-01. This section describes
parameters that govern operation with an input option card. Refer to the instruction manual packaged with the option
card for specific details on installation, wiring, input signal level selection, and parameter setup.
 F2-01: Analog Input Option Card Operation Selection
Determines how the input terminals on the AI-A3 option card are to be used.

F2-01 Analog Input Option Card Operation Selection 0, 1 0
Setting 0: Separate functions for each terminal (V1, V2, V3 replace terminals A1, A2, A3)
Apply this setting to replace the drive terminals A1, A2, and A3 by the option board terminals V1, V2, and V3.
Functions, gain, and bias levels for an analog reference supplied by AI-A3 are set using the H3- parameters as
described in H3-03, H3-04: Terminal A1 Gain and Bias Settings on page 257.
Note: Parameter setting error oPE05 will occur if option card terminals are set for separate input functions (F2-01 = 0) while b1-01 = 3.
Setting 1: Combine input terminal values to create frequency reference (V1, V2, V3 are combined)
With this setting, all three input signals on the AI-A3 option card are added together to create the frequency reference.
When the option card is the source of the frequency reference for the drive, parameter b1-01 must be set to 3. Gain and
bias settings for the frequency reference supplied from AI-A3 can be set using parameters F2-02 and F2-03.
 F2-02, F2-03: Analog Input Option Card Gain, Bias
Parameter F2-02 sets the gain and parameter F2-03 sets the bias for the AI-A3 input signal when the card is used in the
combined input signals mode (F2-01 = 1). Both gain and bias are set as a percentage of the maximum output frequency.

F2-02 Analog Input Option Card Gain -999.9 to 999.9% 100.0%
F2-03 Analog Input Option Card Bias -999.9 to 999.9% 0.0%
Note: Enabled only when F2-01 = 1.
 F3: Digital Input Card Settings

These parameters set up the drive for operation with the option card DI-A3. This section describes parameters that
govern operation with a digital input option card. Refer to the instruction manual packaged with the option card for
specific details on installation, wiring, input signal level selection, and parameter setup.
 F3-01: Digital Input Option Card Input Selection
Determines the type of input for digital option card DI-A3 when o1-03 is set to 0 or 1.

F3-01 Digital Input Option Card Input Selection 0 to 7 0
Setting 0: BCD, 1% units

Setting 1: BCD, 0.1% units
Setting 2: BCD, 0.01% units
Setting 3: BCD, 1 Hz units
Setting 4: BCD, 0.1 Hz units
Setting 5: BCD, 0.01 Hz units
Setting 6: BCD, special setting (5 digit input), 0.02 Hz units
Setting 7: Binary
The unit and the setting range are determined by F3-03.
F3-03 = 0: 255/100% (-255 to +255)
Parameter Details
F3-03 = 1: 4095/100% (-4095 to +4095)
F3-03 = 2: 30000/100% (-33000 to +33000)
Note: BCD input when o1-03 = 2 or 3. Units are determined by o1-03.
 F3-03: Digital Input Option DI-A3 Data Length Selection

5
Determines the number of bits for the option card input that sets the frequency reference.

F3-03 Digital Input Option DI-A3 Data Length Selection 0 to 2 2
Setting 0: 8 bit
Setting 1: 12 bit
Setting 2: 16 bit
 F4: Analog Monitor Card Settings

These parameters set up the drive for operation with the analog output option card AO-A3. This section describes
parameters that govern operation with an analog output option card. Refer to the instruction manual packaged with the
option card for specific details on installation, wiring, input signal level selection, and parameter setup.
 F4-01, F4-03: Terminal V1, V2 Monitor Selection
Selects the data to output from analog terminal V1. Enter the final three digits of U- to determine which monitor
data is output from the option card. Some monitors are only available in certain control modes.

F4-01 Terminal V1 Monitor Selection 000 to 999 102
F4-03 Terminal V2 Monitor Selection 000 to 999 103
Note: Set “000” or “031” when using the terminal in through mode. This setting can adjust the V1 and V2 terminal output from PLC
via MEMOBUS/Modbus communications or a communications option.
 F4-02, F4-04, F4-05, F4-06: Terminal V1, V2 Monitor Gain and Bias
Parameters F4-02 and F4-04 determine the gain, while parameters F4-05 and F4-06 set the bias. These parameters are set
as a percentage of the output signal from V1 and V2 where 100% equals 10 V output. The terminal output voltage is
limited to 10 V.

F4-02 Terminal V1 Monitor Gain -999.9 to 999.9% 100.0%
F4-04 Terminal V2 Monitor Gain -999.9 to 999.9% 50.0%
F4-05 Terminal V1 Monitor Bias -999.9 to 999.9% 0.0%
F4-06 Terminal V2 Monitor Bias -999.9 to 999.9% 0.0%
Using Gain and Bias to Adjust Output Signal Level

The output signal is adjustable while the drive is stopped.
Terminal V1
1. View the value set to F4-02 (Terminal V1 Monitor Gain) on the digital operator. A voltage equal to 100% of the
parameter being set in F4-01 will be output from terminal V1.
2. Adjust F4-02 viewing the monitor connected to the terminal V1.
3. View the value set to F4-05 on the digital operator, terminal V1 will output a voltage equal to 0% of the parameter
being set in F4-01.
Adjust F4-05 viewing the output signal on the terminal V1.
Terminal V2
1. View the value set to F4-02 (Terminal V2 Monitor Gain) on the digital operator. A voltage equal to 100% of the
parameter being viewed in F4-03 will be output from terminal V2.
2. Adjust F4-04 viewing the monitor connected to the terminal V2.
3. View the value set to F4-06 on the digital operator, terminal V2 will output a voltage equal to 0% of the parameter
being set in F4-03.
4. Adjust F4-06 viewing the output signal on the terminal V2.
 F4-07, F4-08: Terminal V1, V2 Signal Level
Sets the output signal level for terminals V1 and V2.

F4-07 Terminal V1 Signal Level 0, 1 0
F4-08 Terminal V2 Signal Level 0, 1 0
Setting 0: 0 to 10 V
Setting 1: -10 to 10 V
 F5: Digital Output Card Settings

These parameters set up the drive for operation with the digital output option card DO-A3. This section describes
parameters that govern operation with a digital output option card. Refer to the instruction manual packaged with the
option card for specific details on installation, wiring, input signal level selection, and parameter setup.
 F5-01 through F5-08: Digital Output Option Card Terminal Function Selection
When F5-09 = 2, the parameters listed in the table below are used to assign functions to the output terminals on the
option card.

F5-01 Terminal P1-PC Output Selection 0 to 192 0: During run
F5-02 Terminal P2-PC Output Selection 0 to 192 1: Zero speed
F5-03 Terminal P3-PC Output Selection 0 to 192 2: Speed agree
F5-04 Terminal P4-PC Output Selection 0 to 192 4: Frequency detection 1
F5-05 Terminal P5-PC Output Selection 0 to 192 6: Drive ready
F5-06 Terminal P6-PC Output Selection 0 to 192 37: During frequency output
F5-07 Terminal M1-M2 Output Selection 0 to 192 F: Not used
F5-08 Terminal M3-M4 Output Selection 0 to 192 F: Not used
 F5-09: DO-A3 Output Mode Selection

Determines how the DO-A3 option card is to work with the drive.

F5-09 DO-A3 Output Mode Selection 0 to 2 0
Note: Refer to TOBP C730600 41 YASKAWA AC Drive-Option Card DO-A3 Installation Manual for more details on F5-09 settings.
Setting 0: Separate output functions for each of 8 terminals
Setting 1: Binary output
Setting 2: Output functions assigned by F5-01 through F5-08
 F6 and F7: Communication Option Card

These parameters are to configure communication option cards and communication fault detection methods.
Some parameters apply to all communication option cards, while some parameters are used only for certain network
options.
Parameter Details
Communication Protocol
Parameter
CC-Link MECHATROLINK-II MECHATROLINK-III PROFIBUS-DP CANopen DeviceNet LONWORKS Modbus TCP/IP EtherNet/IP
F6-01 to F6-03         
F6-04  – – – – – – – –
F6-06 to F6-08          5
F6-10, F6-11  – – – – – – – –
F6-14         
F6-20, F6-21 –   – – – – – –
F6-22 –  – – – – – – –
F6-23 to F6-26 –   – – – – – –
F6-30 to F6-32 – – –  – – – – –
F6-35 to F6-36 – – – –  – – – –
F6-50 to F6-63 – – – – –  – – –
F7-01 to F7-15 – – – – – – –  
F7-16         
F7-17 to F7-42 – – – – – – – – 
F7-60 to F7-79 – – –  – – – – –
 F6-01: Communications Error Operation Selection

Determines drive operation if a communication error occurs.

F6-01 Communications Error Operation Selection 0 to 5 1

Setting 3: Alarm only (continue operation) <1>
Setting 4: Alarm and Run at d1-04 <1>
Setting 5: Alarm and Ramp to stop (automatic recovery)
<1> Take proper safety measures, such as installing an emergency stop switch, when setting F6-01 to 3 or 4.
 F6-02: External Fault from Comm. Option Detection Selection

Determines the detection method of an external fault initiated by a communication option (EF0).

F6-02 External Fault from Comm. Option Detection Selection 0 or 1 0
Setting 0: Always detected

Setting 1: Detection during run only
 F6-03: External Fault from Comm. Option Operation Selection
Determines the operation when an external fault is initiated by a communication option (EF0).

F6-03 External Fault from Comm. Option Operation Selection 0 to 3 1

Setting 2: Fast Stop
Setting 3: Alarm only (continue operation)
 F6-06: Torque Reference/Torque Limit Selection from Comm. Option
Used to select if torque reference and torque limit values are assigned to the drive from the network.

F6-06 Torque Reference/Torque Limit Selection from Comm. Option 0, 1 0
Setting 0: Disabled
Setting 1: Enabled
 F6-07: Multi-Step Speed Enable/Disable when NetRef/ComRef is Selected
Selects how multi-step speed inputs are treated when the NetRef command is set.

F6-07 NetRef/ComRef Function Selection 0, 1 0
Setting 0: Multi-step speed operation disabled

If the NetRef command is selected, multi-step speed input frequency references are disabled.
Setting 1: Multi-step speed operation enabled
Even if the NetRef command is selected, multi-step speed inputs are still active and can override the frequency reference
from the communications option.
 F6-08: Reset Communication Parameters

Determines whether communication-related parameters (F6-/F7-) are reset when the drive is initialized using
parameter A1-03.

F6-08 Reset Communication Parameters 0, 1 0
Setting 0: Do not reset parameters F6-/F7- when the drive is initialized with A1-03
Setting 1: Reset F6-/F7- when the drive is initialized with A1-03
Note: F6-08 is not reset when the drive is initialized.
 F6-14: bUS Error Auto Reset

Selects whether a bUS error can be automatically reset if automatic fault retry is enabled.

F6-14 bUS Error Auto Reset 0, 1 0
Setting 0: Disabled, Auto Reset Not Possible

Setting 1: Enabled, Auto Reset Possible
 F7-16: Communication Loss Time Out
Sets the time-out value for communication loss detection in tenths of a second. A value of 0.0 disables the connection
timeout.
Example: A value of “100” represents 10.0 seconds.

F7-16 Communication Loss Time Out 0.0 to 30.0 s 0.0 s
 CC-Link Parameters
Parameters F6-04, F6-10, and F6-11 set up the drive to operate on a CC-Link network.
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option CC-Link Installation Manual
and Technical Manual.
 MECHATROLINK-II Parameters
Parameters F6-20 through F6-26 set up the drive to operate on a MECHATROLINK-II network.
Parameter Details
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option MECHATROLINK-II
Installation Manual and Technical Manual.
 MECHATROLINK-III Parameters
Parameters F6-20, F6-21, F6-23 through F6-26 set up the drive to operate on a MECHATROLINK-III network.
5
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option MECHATROLINK-III
Installation Manual and Technical Manual.
 PROFIBUS-DP Parameters
Parameters F6-30 through F6-32 and F7-60 through F7-79 set up the drive to operate on a PROFIBUS-DP network.
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option PROFIBUS-DP Installation
Manual and Technical Manual.
 CANopen Parameters
Parameters F6-35 and F6-36 set up the drive to operate on a CANopen network.
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option CANopen Installation Manual
 DeviceNet Parameters
Parameters F6-50 through F6-63 set up the drive to operate on a DeviceNet network.
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option DeviceNet Installation Manual
 Modbus TCP/IP Parameters
Parameters F7-01 through F7-15, U6-80 through U6-93, U6-98, and U6-99 set up the drive to operate on a Modbus TCP/
IP network.
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option Modbus TCP/IP Installation
Manual and Technical Manual.
 EtherNet/IP Parameters
Parameters F7-01 through F7-15, F7-17 through F7-42, U6-80 through U6-93,U6-98, and U6-99 set up the drive to
operate on an EtherNet/IP network.
For details on parameter settings, refer to the YASKAWA AC Drive 1000-Series Option EtherNet/IP Installation Manual
5.7 H: Terminal Functions

H parameters are used to assign functions to the external terminals.
 H1: Multi-Function Digital Inputs

 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 5.35.
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)
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 (N.O., always detected, coast to stop)
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 (A1-03 = 3330).
Table 5.35 Multi-Function Digital Input Terminal Settings

Setting Function Page Setting Function Page
0 3-wire sequence 236 34 PID soft starter cancel 242
1 Local/remote selection 236 35 PID input level selection 242
2 External reference 1/2 selection 237 40 Forward run command (2-wire sequence)
242
3 Multi-Step Speed Reference 1 41 Reverse run command (2-wire sequence)
4 Multi-Step Speed Reference 2 237 42 Run command (2-wire sequence 2)
242
5 Multi-Step Speed Reference 3 43 FWD/REV command (2-wire sequence 2)
6 Jog reference selection 237 44 Offset frequency 1
7 Accel/decel time selection 1 237 45 Offset frequency 2 242
8 Baseblock command (N.O.) 46 Offset frequency 3
237
9 Baseblock Command (N.C.) 47 Node setup 242
A Accel/decel ramp hold 237 60 DC Injection Braking command 243
B Drive overheat alarm (OH2) 238 61 External Speed Search command 1 243
C Analog terminal input selection 238 62 External Speed Search command 2 243
D PG encoder disable 238 63 Field Weakening 243
E ASR integral reset 238 65 KEB Ride-Thru 1 (N.C.)
Parameter Details
243
F Through mode 238 66 KEB Ride-Thru 1 (N.O.)
10 Up command 67 Communications test mode 243
238
11 Down command 68 High Slip Braking 243
12 Forward jog 6A Drive enabled 243
239
13 Reverse jog 71 Speed/Torque Control switch 244
14 Fault reset 239 72 Zero Servo 244
15 Fast Stop (N.O.) 239 75 Up 2 command
244
5
16 Motor 2 selection 240 76 Down 2 command
17 Fast Stop (N.C.) 239 77 ASR gain switch 244
18 Timer function input 240 78 External torque reference polarity inversion 244
19 PID disable 240 7A KEB Ride-Thru 2 (N.C.)
245
1A Accel/decel time selection 2 241 7B KEB Ride-Thru 2 (N.O.)
1B Program lockout 241 7C Short Circuit Braking (N.O.)
245
1E Reference sample hold 241 7D Short Circuit Braking (N.C.)
20 to 2F External fault 241 7E Forward/reverse detection 245
30 PID integral reset 242 7F Bi-directional PID output enable 245
31 PID integral hold 242 90 to 97 DriveWorksEZ Digital input 1 to 8 245
32 Multi-step speed reference 4 242 9F DriveWorksEZ disabled 245
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,
S1 becomes the Run command input, and S2 becomes the Stop command input.
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. 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.
Note: When 3-wire sequence is selected, the Run and Stop commands must be input via S1 and S2.
Figure 5.58
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)
SN
Sequence Input Common
SC
SP
Figure 5.58 3-Wire Sequence Wiring Diagram

Figure 5.59
2 ms min.
Run command Can be either ON or OFF

2 ms min.
Stop command Can be either ON or OFF
Forward/reverse
command OFF (forward) ON (reverse)
Motor speed
Stop Forward Reverse Stop Foward
Figure 5.59 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.
Setting 1: LOCAL/REMOTE selection

This setting allows the input terminal to determine if the drive will run in LOCAL mode or REMOTE mode.
Status Description
Closed LOCAL: Frequency reference and Run command are input from the digital operator.
REMOTE: Frequency reference and Run command are input from the external reference that has been selected in accordance with settings of b1-01 and b1-02 or
Open
b1-15 and b1-16.
Note: 1. If one of the multi-function input terminals is set to for LOCAL/REMOTE, then the LO/RE key on the operator will be disabled.
2. When the drive is set to LOCAL, the LO/RE LED will light.
3. The default setting of the drive is not to allow switching between LOCAL and REMOTE during run. To allow the drive to switch
between LOCAL and REMOTE during run, Refer to b1-07: LOCAL/REMOTE Run Selection on page 156.
Setting 2: External reference 1/2 selection

This function can be used to switch the Run command and frequency reference source between External reference 1 and
2 if the drive is in the REMOTE mode.
Status Description
Open External reference 1 is used (defined by parameters b1-01 and b1-02)
Closed External reference 2 is used (defined by parameters b1-15 and b1-16)
Note: With default settings the drive is not to allow switching between External reference 1 and 2 during run. Refer to b1-07: LOCAL/
REMOTE Run Selection on page 156 if this feature is required by the application.
Setting 3 to 5: Multi-Step Speed Reference 1 to 3
Used to switch multi-step speed frequency references d1-01 to d1-08 by digital inputs. Refer to d1: Frequency
Reference on page 198 for details.
Setting 6: Jog reference selection
The Jog frequency set in parameter d1-17 becomes the frequency reference when the input terminal closes.
Refer to d1: Frequency Reference on page 198 for details.
Setting 7: Accel/decel time selection 1
Used to switch between accel/decel times 1 (C1-01 and C1-02) and 2 (C1-03 and C1-04). Refer to C1-01 to C1-08:
Accel, Decel Times 1 to 4 on page 183 for details.
Setting 8, 9: Baseblock command (N.O., N.C.)
When the drive receives a Baseblock command, the output transistor stop switching and the motor coasts to stop. During
this time, the alarm “bb” will flash on the digital operator to indicate baseblock. When baseblock ends and a Run
command is active, the drive performs Speed Search to get the motor running again.
Drive Operation
Digital Input Function
Input Open Input Closed
Setting 9 (N.C.) Baseblock (Interrupt output) Normal operation
Setting 8 (N.O.) Normal operation Baseblock (Interrupt output)
NOTICE: If using baseblock in hoist applications, make sure the brake closes when the drive output is cut off by a Baseblock
command triggered via one of the input terminals. Failure to do so will result in the motor suddenly coasting when the Baseblock
command is entered, causing the load to slip.
Figure 5.60
OFF ON
Run command
Parameter Details
Baseblock
ON release
Baseblock input
Frequency 5
reference
Begin Speed Search from the
previous frequency reference
Output frequency
Output off, motor coasts
Figure 5.60 Baseblock Operation During Run

Setting A: Accel/decel ramp hold
When the digital input programmed for the Accel/decel ramp hold function closes, the drive will lock (“hold”) the output
frequency. Acceleration or deceleration will resume once the input is opened again.
If the Accel/decel ramp hold function is enabled (d4-01 = 1), the drive will save the output frequency to memory
whenever the Ramp Hold input is closed. When the drive is restarted after stop or after power supply interruption, the
output frequency that was saved will become the frequency reference (provided that the Accel/decel ramp hold input is
still closed). Refer to d4-01: Frequency Reference Hold Function Selection on page 201 for details.
Setting B: Drive overheat alarm (oH2)

Triggers an oH2 alarm when the contact closes. Because this is an alarm, drive operation is not affected.
Setting C: Analog terminal input selection (terminal A1, A2, A3)
When closed, the terminals specified in H3-14 are enabled. When open, the drive disregards the input signal to the analog
terminals.
Setting D: PG encoder disable
When closed the drive disregards PG feedback from the motor when using V/f Control with PG. When the terminal is
opened again, the drive resumes using PG feedback to control motor speed.
Setting E: ASR integral reset
Switches between PI control or simply P control by resetting the integral value. As long as the terminal is closed, integral
operation is disabled and the drive uses P control. When the terminal opens, PI control resumes.
Setting F: Through mode
Select this setting when the terminal is not used or when using the terminal in the pass-through mode. When set to F, an
input does not trigger any function in the drive. Setting F, however, still allows the input status to be read out by a PLC
via a communication option or MEMOBUS/Modbus communications.
Setting 10, 11: Up, Down command
Using the Up/Down function allows the frequency reference to be set by two push buttons. One digital input must be
programmed as the Up input (H1- = 10) to increase the frequency reference, and the other one must be programmed
as the Down input (H1- = 11) to decrease the frequency reference.
The Up/Down function has priority over the frequency references from the digital operator, the analog inputs, and the
pulse input (b1-01 = 0, 1, 4). If the Up/Down function is used, then references provided by these sources will be
disregarded.
The inputs operate as shown in Table 5.36.
Table 5.36 Up, Down command
Status
Drive Operation
Up (10) Down (11)
Open Open Hold current frequency reference
Closed Open Increase frequency reference
Open Closed Decrease frequency reference
Closed Closed Hold current frequency reference
Note: 1. An oPE03 alarm will occur when only one of the functions Up/Down is programmed for a digital input.
2. An oPE03 alarm will occur if the Up/Down function is assigned to the terminals while another input is programmed for the Accel/
decel ramp hold function. For more information on alarms, Refer to oPE Codes, Causes, and Possible Solutions on page 359.
3. The Up/Down function can only be used for parameter b1-01. Consider this when using parameter b1-15 switching command
(H1- = 2).
Using the Up/Down Function with Frequency Reference Hold (d4-01)

• When the frequency reference hold function is disabled (d4-01 = 0), the Up/Down frequency reference will be reset to
0 when the Run command is cleared or the power is cycled.
• When d4-01 = 1, the drive will save the frequency reference set by the Up/Down function. When the Run command or
the power is cycled, the drive will restart with the reference value that was saved. The value that was saved can be reset
by closing either the Up or Down input without having a Run command active. Refer to d4-01: Frequency Reference
Hold Function Selection on page 201.
Using the Up/Down Function with Frequency Reference Limits
The upper frequency reference limit is determined by parameter d2-01.
The value for the lower frequency reference limit depends on the setting of parameter d4-10, and can be set by an analog
input or parameter d2-02. Refer to d4-10: Up/Down Frequency Reference Limit Selection on page 205 for details.
When a Run command is applied, the lower limits work as follows:
• If the lower limit is set by d2-02 only, the drive will accelerate to this limit as soon as a Run command is entered.
• If the lower limit is determined by an analog input only, the drive will accelerate to the limit as long as the Run
command and an Up or Down command are active. It will not start running if only the Run command is on.
• If the lower limit is set by both an analog input and d2-02, and the analog limit is higher than the d2-02 value, then the
drive will accelerate to the d2-02 value when a Run command is input. Once the d2-02 value is reached, it will
continue acceleration to the analog limit only if an Up or Down command is set.
Figure 5.61 shows an Up/Down function example with a lower frequency reference limit set by d2-02, and the frequency
reference hold function both enabled (d4-01 = 1) and disabled (d4-01 = 0).
Figure 5.61
Output frequency
upper limit
Accelerates to
lower limit d4-01 = 1
Same
frequency
d4-01 = 0
Lower limit
FWD run/stop ON
ON
Up command
ON Hold
Frequency
reset
Down command
ON ON
Power supply
Figure 5.61 Up/Down Command Operation

Setting 12, 13: Forward Jog, Reverse Jog
Digital inputs programmed as Forward Jog (H1- = 12) and Reverse Jog (H1- = 13) will be Jog inputs that do not
require a Run command. Closing the terminal set for Forward Jog input will cause the drive to ramp to the Jog frequency
reference (d1-17) in the forward direction. The Reverse Jog will cause the same action in the reverse direction. The
Forward Jog and Reverse Jog command can be set independently.
Note: The Forward Jog and Reverse Jog commands override all other frequency references. However, if the drive is set to prohibit
reverse rotation (b1-04 = 1), then activating Reverse Jog will have no effect. If both the Forward Jog and Reverse Jog are input
simultaneously for 500 ms or more, an alarm will occur and the drive will ramp to stop.
Figure 5.62
d1-17
Parameter Details
Output
Frequency
d1-17
ON
FJOG
ON
RJOG
5
Figure 5.62 FJOG/RJOG Operation
Setting 14: Fault reset
Whenever the drive detects a fault condition, the fault output contact will close and the drive’s output will shut off. The
motor then coasts to stop (specific stopping methods can be selected for some faults such as L1-04 for motor overheat).
Once the Run command is removed, the fault can be cleared by either the RESET key on the digital operator or by
closing a digital input configured as a Fault Reset (H1- = 14).
Note: Fault Reset commands are ignored as long as the Run command is present. To reset a fault, first remove the Run command.
Setting 15, 17: Fast Stop (N.O., N.C.)
The Fast Stop function operates much like an emergency stop input to the drive. If a Fast Stop command is input while
the drive is running, the drive will decelerate to a stop by the deceleration time set to C1-09 (Refer to C1-09: Fast Stop
Time on page 184). The drive can only be restarted after is has come to a complete stop, the Fast Stop input is off, and
the Run command has been switched off.
• To trigger the Fast Stop function with a N.O. switch, set H1- = 15.
• To trigger the Fast Stop function with a N.C. switch, set H1- = 17.
Figure 5.63 shows an operation example of Fast Stop.

Figure 5.63
Run/Stop
ON ON
Fast-Stop
H1- = 17 ON ON
Decelerates at C1-09
Output Frequency
TIME
Figure 5.63 Fast Stop Sequence
NOTICE: Rapid deceleration can trigger an overvoltage fault. When faulted, the drive output shuts off, and the motor coasts. To avoid
this uncontrolled motor state and to ensure that the motor stops quickly and safely, set an appropriate Fast Stop time to C1-09.
Setting 16: Motor 2 selection

The drive has the capability to control two induction motors independently. A second motor may be selected using a
multi-function digital input as shown in Figure 5.64.
Note: The motor 2 selection function cannot be used when PM motor is used.
Figure 5.64
Drive M Motor 1
Motor switch input
M Motor 2
Figure 5.64 Motor Selection

When switching between motor 1 and motor 2, the parameters used to control those motors also change. Below,
Table 5.37 lists the parameters that correspond to each motor.
Table 5.37 Parameters for Switching Between Two Motors
No. Setting 16 Open (Motor 1)  Setting 16 Closed (Motor 2)
C1-: Acceleration/Deceleration Time C1-01 to C1-04  C1-05 to C1-08
C3-: Motor Slip Compensation C3-01 to C3-04  C3-21 to C3-24
C4-: Motor Torque Compensation C4-01  C4-07
C5-: Speed Control (ASR) C5-01 to C5-08, C5-12, C5-17, C5-18  C5-21 to C5-28, C5-32, C5-37, C5-38
E1-, E3-: V/f Pattern
E1-, E2-  E3- to E4-
E2-, E4-: Motor Parameters
F1- (PG Constant) F1-01 to F1-21  F1-02 to F1-04, F1-08 to F1-11, F1-14, F1-31 to F1-37
Note: 1. When using 2 motors, the motor overload protection selection (oL1) set to L1-01 applies to both motor 1 and motor 2.
2. It is not possible to switch between motor 1 and motor 2 during run. Doing so will trigger the “rUn” alarm.
3. There is a 500 ms delay when switching during CLV control and a 200 ms delay for all other control modes. Wait for at least these
times after switching the motor before issuing the next Run command.
4. The motor 2 selection function cannot be used when PM motor is used.
If a digital output is programmed for “Motor 2 selection” (H2-01, H2-02, or H2-03 = 1C), the output is closed when
motor 2 is selected.
Setting 18: Timer function input
This setting configures a digital input terminal as the input for the timer function. Use this setting combination with the
timer function output (H2- = 12). Refer to b4: Delay Timers on page 166 for details.
Setting 19: PID disable
When the PID function has been enabled by parameter b5-01, it can be indefinitely disabled by closing a digital input.
When the input is released, the drive resumes PID operation. Also refer to PID Block Diagram on page 170.
Setting 1A: Accel/decel time selection 2

Used to select accel/decel times 1 to 4 in combination with the Accel/decel time selection 1 command. Refer to C1-01 to
C1-08: Accel, Decel Times 1 to 4 on page 183 for details.
Setting 1B: Program lockout
Parameter values cannot be changed when an input is programmed for Program Lockout and the input is open. It is still
possible, however, to view and monitor parameter settings.
Setting 1E: Reference sample hold
This function allows the user to sample an analog frequency reference signal being input to terminal A1, A2, or A3 and
hold the frequency reference at the sampled level. Once the Analog Frequency Reference Sample/Hold function is held
for at least 100 ms, the drive reads the analog input and changes the frequency reference to the newly sampled speed as
illustrated in Figure 5.65.
When the power is shut off and the sampled analog frequency reference is cleared, the frequency reference is reset to 0.
Figure 5.65
Frequency
reference
al
s ign
a log
An
Time
Referenece OFF ON
Sample Hold Input
100 ms 100 ms
Figure 5.65 Analog Frequency Reference Sample/Hold
An oPE03 error will occur when one of the following functions is used simultaneously with the Analog frequency
reference sample/hold command.
• Hold accel/decel stop (setting: A)
• Up command, Down command (setting: 10, 11)
• Offset frequency (setting: 44 to 46)
• Up or Down functions (setting: 75, 76)
Setting 20 to 2F: External fault
By using the External fault command, the drive can be stopped when problems occur with external devices.
Parameter Details
To use the External fault command, set one of the multi-function digital inputs to any value between 20 to 2F. The digital
operator will display EF where  is the number of the terminal to which the external fault signal is assigned.
For example, if an external fault signal is input to terminal S3, “EF3” will be displayed.
Select the value to be set in H1- from a combination of any of the following three conditions:
• Signal input level from peripheral devices (N.O., N.C.) 5
• External fault detection method
• Operation after external fault detection
Table 5.38 shows the relationship between the conditions and the value set to H1-:
Table 5.38 Stopping Method for External Fault
Terminal Status <1> Detection Conditions <2> Stopping Method
Setting Detected during Ramp to Stop Coast to Stop Fast Stop Alarm Only
N.O. N.C. Always Detected
Run only (fault) (fault) (fault) (continue running)
20  –  –  – – –
21 –   –  – – –
22  – –   – – –
23 –  –   – – –
24  –  – –  – –
25 –   – –  – –
26  – –  –  – –
27 –  –  –  – –
28  –  – – –  –
Terminal Status <1> Detection Conditions <2> Stopping Method

Setting Detected during Ramp to Stop Coast to Stop Fast Stop Alarm Only
N.O. N.C. Always Detected
Run only (fault) (fault) (fault) (continue running)
29 –   – – –  –
2A  – –  – –  –
2B –  –  – –  –
2C  –  – – – – 
2D –   – – – – 
2E  – –  – – – 
2F –  –  – – – 
<1> Determine the terminal status for each fault, i.e., whether the terminal is normally open or normally closed.
<2> Determine whether detection for each fault should be enabled only during run or always detected.
Setting 30: PID integral reset
By configuring one of the digital inputs for PID integral reset (H1- = 30), the value of the integral component in PID
control will be reset to 0 whenever the terminal is closed. Refer to PID Block Diagram on page 170 for more details.
Setting 31: PID integral hold
By configuring a digital input for Integral Hold (H1- = 31), the value of the integral component of the PID control is
locked as long as the input is active. The PID controller resumes integral operation from the hold value as soon as the
integral hold input is released. Refer to PID Block Diagram on page 170 for more information on this function.
Setting 32: Multi-Step Speed Reference 4
Used to select the multi-step speeds d1-09 to d1-16 in combination with the input terminal set for Multi-Step Speed 1, 2
and 3. Refer to d1-01 to d1-17: Frequency Reference 1 to 16 and Jog Frequency Reference on page 198.
Setting 34: PID soft starter cancel
A digital input configured as a PID soft starter cancel input (H1- = 34) can be used to enable or disable the PID soft
starter and thereby canceling the PID accel/decel time (b5-17). Refer to PID Block Diagram on page 170.
Setting 35: PID input level selection
Allows and input terminal to switch the sign of the PID input. Refer to PID Block Diagram on page 170 for details.
Setting 40, 41: Forward run, Reverse run command for 2-wire sequence
Configures the drive for a 2-wire sequence.
When an input terminal set to 40 closes, the drive operates in the forward direction. When an input set for 41 closes, the
drive will operate in reverse. Closing both inputs at the same time will result in an external fault.
Note: 1. This function cannot be used simultaneously with settings 42 and 43.
2. The same functions are assigned to terminals S1 and S2 when the drive is initialized for 2-wire sequence.
Figure 5.66
Drive
Forward Run
S1
Reverse Run
S2
SN Digital Input Common

SC
SP
Figure 5.66 Example Wiring Diagram for 2-Wire Sequence

Setting 42, 43: Run and direction command for 2-wire sequence 2
Sets the drive for 2-wire sequence 2.
When an input terminal programmed for 42 is closed, the drive will operate in the direction selected. When the input
opens, the drive will stop. The input programmed for 43 selects the direction. If it is open, forward direction is selected.
If it is closed, reverse direction is selected.
Note: This function cannot be used simultaneously with settings 40 and 41.
Setting 44, 45, 46: Offset frequency 1, 2, 3
These inputs can be used to add offset frequencies d7-01, d7-02, and d7-03 to the frequency reference. Refer to d7-01 to
d7-03: Offset Frequency 1 to 3 on page 211 for details.
Setting 47: Node setup

If the SI-S3 option card is connected, closing this terminal will set a node address for operation on a CANopen network.
Setting 60: DC Injection Braking command
When a DC Injection Braking command is input while the drive is stopped, DC Injection Braking operation is activated.
When a Run command or a Jog command is input, DC Injection Braking is released. Refer to b2: DC Injection Braking
and Short Circuit Braking on page 158 for details on setting up the DC Injection Braking function.
The diagram below illustrates how the DC Injection Braking function works.
Figure 5.67
DC Injection braking OFF ON OFF

command
OFF ON OFF
FWD Run command
DC Injection
DC Injection braking
braking DC Injection Braking
Start Frequency
(b2-01)
Output frequency
Figure 5.67 DC Injection Braking Input Timing Diagram

Setting 61, 62: External Speed Search command 1, 2
These input functions can be used to enable Speed Search even if parameter b3-01 = 0 (no Speed Search at start). Refer
to Activating of Speed Search on page 163 for details on how to use the input signals. Refer to b3: Speed Search on
page 160 for more about Speed Search.
Note: Operator error oPE03 will result if both Speed Search 1 and Speed Search 2 are set to the input terminals at the same time.
Setting 63: Field Weakening
Enabled in V/f Control. When closed, Field Weakening is performed. For details, Refer to d6: Field Weakening and
Field Forcing on page 210.
Setting 65, 66: KEB Ride-Thru 1 (N.C.), 2 (N.O.)
Used to enable the KEB Ride-Thru function selected in parameter L2-29. Refer to KEB Ride-Thru Function on
page 275 for more information on this function.
Drive Operation
Parameter Details
Setting 65 (N.C.) KEB Ride-Thru Deceleration Normal operation
Setting 66 (N.O.) Normal operation KEB Ride-Thru Deceleration
Note: Both KEB Ride-Thru 1 and 2 cannot be assigned to the input terminals at the same time. This will trigger setting error oPE03.
Setting 67: Communication test mode
The drive has a built-in function for self-diagnosing serial communications operation. The test involves wiring the send 5
and receive terminals of the RS-485/422 port together. The drive transmits data and then confirms that the
communications are received normally. Refer to Self-Diagnostics on page 579 for details on how to use this function.
Setting 68: High Slip Braking (HSB)
Closing an input programmed for this function triggers High Slip Braking (available only in V/f and V/f w/PG control
modes). Once HSB is started, the drive has to come to a complete stop and the HSB command must be removed before a
restart can be performed. Refer to n3: High Slip Braking (HSB) and Overexcitation Braking on page 303.
Setting 6A: Drive enable
A digital input configured as a “Drive enable” (H1- = 6A) will prevent the drive from executing a Run command
until the input is closed. When the input is open, the digital operator will display “dnE” to indicate that the drive is
disabled.
If a Run command is enabled before the terminal set for “Drive enable” closes, then the drive will not run until the Run
command is cycled (i.e., a new Run command is required). If the input is opened while the drive is running, the drive will
stop according to the stop method set to b1-03 (Refer to b1-03: Stopping Method Selection on page 150).
Setting 71: Speed/Torque Control switch

Switches the drive between Torque Control and Speed Control. Torque Control is enabled when the terminal is closed,
and Speed Control is enabled when the terminal is open. Note that parameter d5-01 must be set to 0 when using this
function. Refer to d5: Torque Control on page 206 and Switching Between Torque and Speed Control on page 209.
Setting 72: Zero Servo
Used to activate the Zero Servo function that can be used to lock the rotor at a certain position. Refer to b9: Zero Servo
Setting 75, 76: Up 2, Down 2 command
The Up 2 and Down 2 function can be used to add a bias to the frequency reference. The input programmed for 75 will
increase the bias and the input programmed for 76 will decrease it. Table 5.39 explains how the Up/Down 2 function
works depending on the frequency reference source and parameters d4-01, d4-03, and d4-05. Refer to d4: Frequency
Reference Hold and Up/Down 2 Function on page 201 for detailed explanations of these and other Up/Down 2 related
parameters.
Note: 1. The Up 2 and Down 2 functions must be set as a pair.
2. When using the Up 2 and Down 2, set appropriate bias limit values to parameters d4-08 and d4-09.
Table 5.39 Up/Down 2 Operations
Condition Freq. Ref. Source d4-03 d4-05 d4-01 Operation Frequency Saved
1 0 • Accelerates (increases the bias) while the Up 2 terminal is closed. Not saved
• Decelerates (decreases the bias) while Down 2 is closed.
• Holds output frequency (holds the bias) when no Up 2 or Down 2 If the bias and frequency reference are
0 constant for 5 s, the bias is added to the
2 1 input or both active.
Multi-Step Speed • Resets the bias when the reference changes. active frequency reference and reset
0
Reference • Operates with the frequency reference in all other situations. afterwards.
• Accelerates (increases the bias) while the Up 2 terminal is closed.
3 1 – • Decelerates (decreases the bias) while Down 2 is closed. Not saved
• Otherwise operates at the frequency reference.
4 0 • When the Up 2 is enabled, drive accelerates up to the frequency Not saved
reference plus d4-03 (bias is increased for d4-03).
• When Down 2 is enabled, drive decelerates down to the
Multi-Step Speed Value other frequency reference minus d4-03 (bias is decreased for d4-03). If the bias and frequency reference are
– constant for 5 s, the bias is added to the
5 Reference than 0 1 • Holds output frequency (holds the bias) when no Up 2 or Down 2
input or both active. active frequency reference and reset
• Resets the bias when the reference changes. afterwards.
• Operates with the frequency reference in all other situations.
6 0 • Accelerates (increases the bias) while the Up 2 terminal is closed. Not saved
• Decelerates (decreases the bias) while Down 2 is closed.
• Holds output frequency (holds the bias) when no Up 2 or Down 2 If the bias is constant for 5 s, it is saved to
Other
0 0 input or both active. parameter d4-06. The frequency reference
7 (analog comm., etc.) 1 • If the frequency reference changes for more than d4-07 during cannot be overwritten, so only the bias is
accel/decel, bias value is held until the output frequency meets saved.
the reference (speed agree).
• Accelerates (increases the bias) while the Up 2 terminal is closed.
8 0 1 – • Decelerates (decreases the bias) while Down 2 is closed. Not saved
• Otherwise operates at the frequency reference
9 0 • When Up 2 is enabled, drive accelerates up to the frequency Not saved
Other reference plus d4-03 (increases the bias for d4-03).
(analog comm, etc.) • When Down 2 is enabled, drive decelerates down to the If the bias is constant for 5 s, it is saved to
Value other
– frequency reference minus d4-03 (decreases the bias for d4-03). parameter d4-06. The frequency reference
10 than 0 1 • If the frequency reference changes for more then d4-07 during cannot be overwritten, so only the bias is
accel/decel, bias value is held until the output frequency meets saved.
the reference (speed agree).
Setting 77: ASR gain switch

Switches the ASR gain between the values set to C5-01 and C5-03. The gain set to C5-03 is enabled when the terminal is
closed, and C5-01 is enabled when the terminal opens again. See C5-01, C5-03/C5-02, C5-04: ASR Proportional Gain
1, 2 / ASR Integral Time 1, 2 on page 192 for a more detailed description.
Setting 78: External torque reference polarity inversion
Reverses the direction of the torque reference when the terminal closes. Refer to d5: Torque Control on page 206 and
Setting the Torque Reference, Speed Limit, and Torque Compensation Values on page 207 for details.
Setting 7A, 7B: KEB Ride-Thru 2 (N.C., N.O.)

An input terminal set to 7A or 7B can trigger Single Drive KEB Ride-Thru during deceleration. If enabled, L2-29 is
disregarded. Refer to KEB Ride-Thru Function on page 275 for details.
Drive Operation
Setting 7A (N.C.) Single Drive KEB Ride-Thru 2 Normal operation
Setting 7B (N.O.) Normal operation Single Drive KEB Ride-Thru 2
Note: KEB Ride-Thru 1 and 2 cannot both be assigned to the input terminals at the same time. Doing so will trigger an oPE3 error.
Setting 7C, 7D: Short Circuit Braking (N.O., N.C.) (OLV/PM, AOLV/PM)
An input programmed for this function can be used to activate Short Circuit Braking in Open Loop Vector control modes
for PM motors. By linking all three phases of a PM motor, Short Circuit Braking creates a braking torque that can be used
to stop a rotating motor or prevent a motor from coasting due to external forces (such as the windmill effect in fan
applications). Parameter b2-18 can be used to limit the current during Short Circuit Braking.
Drive Operation
Setting 7C (N.O.) Normal operation Short Circuit Braking
Setting 7D (N.C.) Short-Circuit Braking Normal operation
Setting 7E: Forward/reverse detection

Determines the motor rotation direction for V/f Control with Simple PG feedback or V/f Control with PG feedback when
F1-21 (PG 1 Signal Selection) or F1-37 (PG 2 Signal Selection) are set to 0 (A Pulse Detection).
If the input is open, the speed feedback signal is considered to be forward. If the input is closed, it is considered to be in
reverse. Refer to H6: Pulse Train Input/Output on page 264.
Setting 7F: Bi-Directional PID Output Selection
If PID output to bi-directional output conversion is enabled in parameter d4-11, a digital input programmed for 7F can be
used to switch between normal output or bi-directional output. If the digital input is open, the PID output builds the out-
put frequency reference.
If the input is closed, the PID output is converted to bi-directional output frequency reference. Refer to d4-11:
Bi-Directional Output Selection on page 206.
Setting 90 to 97: DriveWorksEZ Digital Input 1 to 8
These settings are for digital inputs functions used in DriveWorksEZ. Normally there is no need to change these settings.
Parameter Details
Setting 9F: DriveWorksEZ Disable
This function is used to enable or disable a DriveWorksEZ program in the drive. An input programmed for this function
is effective only if A1-07 = 2.
Status Description 5
Open DriveWorksEZ enabled
Closed DriveWorksEZ disabled
 H2: Multi-Function Digital Outputs

 H2-01 to H2-03: Terminal M1-M2, M3-M4, and M5-M6 Function Selection
The drive has three multi-function output terminals. Table 5.40 lists the functions available for theses terminals using
H2-01, H2-02, and H2-03.

H2-01 Terminal M1-M2 Function Selection 0 to 192 0: During run
H2-02 Terminal M3-M4 Function Selection 0 to 192 1: Zero Speed
H2-03 Terminal M5-M6 Function Selection 0 to 192 2: Speed agree 1
Table 5.40 Multi-Function Digital Output Terminal Settings

0 During run 246 1E Restart enabled 253
1 Zero Speed 247 1F Motor overload alarm (oL1) 253
2 Speed agree 1 247 20 Drive overheat pre-alarm (oH) 253
3 User-set speed agree 1 248 22 Mechanical Weakening detection 253
4 Frequency detection 1 248 2F Maintenance period 254
5 Frequency detection 2 249 30 During torque limit 254
6 Drive ready 249 31 During speed limit 254
7 DC bus undervoltage 249 32 During speed limit in Torque Control 254
8 During baseblock (N.O.) 249 33 Zero Servo complete 254
9 Frequency reference source 249 37 During frequency output 254
A Run command source 250 38 Drive enabled 254
B Torque detection 1 (N.O.) 250 39 Watt hour pulse output 254
C Frequency reference loss 250 3C LOCAL/REMOTE Status 255
D <1> Braking resistor fault 250 3D During Speed Search 255
E Fault 250 3E PID feedback low 255
F Through mode 250 3F PID feedback high 255
10 Minor fault 250 4A During KEB operation 255
11 Fault reset command active 250 4B During Short Circuit Braking 255
12 Timer output 250 4C During Fast Stop 255
13 Speed agree 2 251 4D oH pre-alarm time limit 255
14 User-set speed agree 2 251 4E <2> Braking transistor fault (rr) 255
15 Frequency detection 3 252 4F <2> Braking resistor overheat (rH) 255
16 Frequency detection 4 252 60 Internal cooling fan alarm 255
17 Torque detection 1 (N.C.) 61 Rotor Position Detection Completed 255
250
18 Torque detection 2 (N.O.) 62 <1> Memobus Regs1 (It selects it with H2-07 and H2-08.) 255
19 Torque detection 2 (N.C.) 250 63 <1> Memobus Regs2 (It selects it with H2-09 and H2-10.) 255
1A During reverse 253 90 DriveWorksEZ digital output 1
1B During baseblock (N.C.) 253 91 DriveWorksEZ digital output 2 255
1C Motor 2 selection 253 92 DriveWorksEZ digital output 3
1D During regeneration 253 100 to 192 Functions 0 to 92 with inverse output 256
<2> Not available in models CIMR-A2A0169 to 2A0415 and 4A0088 to 4A1200.
Setting 0: During Run

Output closes when the drive is outputting a voltage.
Status Description
Open Drive is stopped.
Closed A Run command is input or the drive is during deceleration or during DC injection.
Figure 5.68
Run command OFF ON
Baseblock OFF ON
command
Output
frequency
During Run OFF ON
Figure 5.68 During Run Time Chart
Setting 1: Zero Speed

Terminal closes whenever the output frequency or motor speed (CLV, CLV/PM) becomes less than the minimum output
frequency set to E1-09 or b2-01.
Status Description
Open Output frequency is more than or equal to the minimum output frequency set to E1-09 or b2-01
Closed Output frequency becomes less than the minimum output frequency set to E1-09 or b2-01
Note: When using CLV or CLV/PM control modes, the output terminal will close when the motor speed becomes less than the zero
speed level set for b2-01. In all other control modes, the output terminal will close when the output frequency becomes less than
the minimum output frequency set for E1-09.
Figure 5.69
Output frequency
or
E1-09 (Min. Output Frequency) or
motor speed
b2-01 (Zero Speed Level)
OFF ON
Zero Speed
Figure 5.69 Zero-Speed Time Chart
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 5.70
Frequency
reference
Output Frequency L4-02

or Motor Speed
Parameter Details
L4-02
Speed agree 1 OFF ON
Figure 5.70 Speed Agree 1 Time Chart

Refer to L4-01, L4-02: Speed Agreement Detection Level and Detection Width on page 288 for more details.
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 5.71
Frequency reference+ L4-02

Frequency reference
L4-01+ L4-02
Frequency reference– L4-02
L4-01
L4-01– L4-02 Output frequency

During
Forward
0 Hz
During Reverse
Output frequency –L4-01+ L4-02
–L4-01
–L4-01– L4-02
Frequency reference

User Set OFF OFF OFF
ON ON ON ON
Speed Agree 1
Figure 5.71 User Set Speed Agree 1 Time Chart

Refer to L4-01, L4-02: Speed Agreement Detection Level and Detection Width on page 288 for more instructions.
Setting 4: Frequency Detection 1
Output opens when the output frequency or motor speed (CLV, CLV/PM) rises above the detection level set in L4-01 plus
the detection width set in L4-02. The terminal remains open until the output frequency or motor speed falls below the
level set in L4-01.
Status Description
Open Output frequency or motor speed exceeded L4-01 + L4-02.
Closed Output frequency or motor speed is below L4-01 or has not exceeded L4-01 + L4-02.
Figure 5.72
Output Frequency
or Motor Speed
L4-02
L4-01
L4-01
L4-02
Frequency
ON OFF
detection 1<1>
<1> This is the time chart when L4-07 (Speed Agree Detection Selection) is set to 1 (detection always enabled). The default setting for L4-07 is 0
(no detection during baseblock). When L4-07 = 0, the terminal opens during baseblock.
Figure 5.72 Frequency Detection 1 Time Chart
Setting 5: Frequency Detection 2

Output closes whenever the output frequency or motor speed (CLV, CLV/PM) is above the detection level set in L4-01.
The terminal remains closed until the output frequency or motor speed falls below L4-01 minus the setting of L4-02.
Status Description
Open Output frequency or motor speed is below L4-01 minus L4-02 or has not exceeded L4-01.
Closed Output frequency or motor speed exceeded L4-01.
Figure 5.73
Output Frequency
or Motor Speed L4-02
L4-01
L4-01
L4-02
Frequency
OFF ON
Detection 2
Figure 5.73 Frequency Detection 2 Time Chart
Setting 6: Drive ready
Output closes whenever the drive is ready to operate the motor. The terminal will not close under the conditions listed
below, and any Run commands will be disregarded.
• When the power is shut off
• During a fault
• When the drive’s internal power supply has malfunctioned
• When a parameter setting error makes it impossible to run
• Although stopped, an overvoltage or undervoltage situation occurs
• While editing a parameter in the Programming Mode (when b1-08 = 0)
Setting 7: DC bus undervoltage
Output closes whenever the DC bus voltage or control circuit power supply drops below the trip level set in L2-05. A
fault in the DC bus circuit will also cause the terminal to set for “DC bus undervoltage” to close.
Parameter Details
Status Description
Open DC bus voltage is above the level set to L2-05
Closed DC bus voltage has fallen below the trip level set to L2-05.
Setting 8: During baseblock (N.O.)

5
Output closes to indicate that the drive is in a baseblock state. While in baseblock, output transistors do not switch and no
main circuit voltage is output.
Status Description
Open Drive is not in a baseblock state.
Closed Baseblock is being executed.
Setting 9: Frequency reference source

A digital output programmed for this function shows the frequency reference source that is currently selected.
Status Description
Open Frequency reference is provided from External reference 1 (b1-01) or External reference 2 (b1-15)
Closed Frequency reference is being sourced from the digital operator.
Setting A: Run command source

A digital output programmed for this function shows the Run command source that is currently selected.
Status Description
Open Run command is provided from External reference 1 (b1-02) or 2 (b1-16).
Closed Run command is being sourced from the digital operator.
Setting B, 17, 18, 19: Torque detection 1 (N.O., N.C.), Torque detection 2 (N.O., N.C.)
These digital output functions can be used to signal an overtorque or undertorque situation to an external device.
Set up the torque detection levels and select the output function from the table below. Refer to L6: Torque Detection on
Setting Status Description

Torque detection 1 (N.O.):
B Closed Output current/torque exceeds (overtorque detection) or is below (undertorque detection) the torque value set in parameter L6-02 for longer than
the time specified in parameter L6-03.
Torque detection 1 (N.C.):
17 Open Output current/torque exceeds (overtorque detection) or is below (undertorque detection) the torque value set in parameter L6-02 for longer than
Torque detection 2 (N.O.):
18 Closed Output current/torque exceeds (overtorque detection) or is below (undertorque detection) the torque value set in parameter L6-05 for longer than
Torque detection 2 (N.C.):
19 Open Output current/torque exceeds (overtorque detection) or is below (undertorque detection) the torque value set in parameter L6-05 for longer than
Setting C: Frequency reference loss

An output set for this function will be closed if frequency reference loss is detected. Refer to L4-05: Frequency
Reference Loss Detection Selection on page 289 for details.
Setting D: Braking resistor fault
An output programmed for this function will close when the dynamic braking resistor (DB) overheats or the braking
transistor is in a fault condition.
Setting E: Fault
The digital output will close whenever the drive experiences a fault (this excludes faults CPF00 and CPF01).
Setting F: Through mode
Select this setting when using the terminal in a pass-through mode. When set to F, an output does not trigger any function
in the drive. Setting F, however, still allows the output status to be read by a PLC via a communication option or
MEMOBUS/Modbus communications.
Setting 10: Minor fault
Output closes when a minor fault condition is present.
Setting 11: Fault reset command active
Output closes whenever there is an attempt to reset a fault situation from the control circuit terminals, via serial
communications, or using a communications option card.
Setting 12: Timer output
This setting configures a digital output terminal as output for the timer function. Refer to b4: Delay Timers on page 166
for details.
Setting 13: Speed agree 2 (fref /fout agree 2)

Closes whenever the actual output frequency or motor speed (CLV, CLV/PM) is within the speed agree width (L4-04) of
the current frequency reference, regardless of the direction.
Status Description
Open Output frequency or motor speed is outside the range of frequency reference ±L4-04.
Closed Output frequency or motor speed is within the range of frequency reference ±L4-04.
Note: Detection works in both forward and reverse.

Figure 5.74
Frequency
reference
Output Frequency L4-04

or Motor Speed
L4-04
Speed Agree 2 OFF ON OFF ON
Figure 5.74 Speed Agree 2 Time Chart

Refer to L4-03, L4-04: Speed Agreement Detection Level and Detection Width (+/-) on page 289 for more details.
Setting 14: User-set speed agree 2 (fref /fset agree 2)
Closes whenever the actual output frequency or motor speed (CLV, CLV/PM) and the frequency reference are within the
speed agree width (L4-04) of the programmed speed agree level (L4-03). As the detection level L4-03 is a signed value,
detection works in the specified direction only.
Status Description
Open Output frequency or motor speed and frequency reference are both outside the range of L4-03 ±L4-04
Closed Output frequency or motor speed and the frequency reference are both with in the range of L4-03 ±L4-04
Figure 5.75
Frequency reference
L4-03+ L4-04
Parameter Details
L4-03
L4-03– L4-04 Output frequency

During
Forward
0 Hz
Output frequency
5
Frequency reference
User Set OFF OFF

ON ON
Speed Agree 2
Figure 5.75 User Set Speed Agree 2 Example with a Positive L3-04 Value
Setting 15: Frequency detection 3

Output opens when the output frequency or motor speed (CLV, CLV/PM) rises above the detection level set in L4-03 plus
the detection with set in L4-04. The terminal remains open until the output frequency or motor speed falls below the level
set in L4-03. As the detection level L4-03 is a signed value, the detection works in the specified direction only.
Status Description
Open Output frequency or motor speed exceeded L4-03 plus L4-04.
Closed Output frequency or motor speed is below L4-03 or has not exceeded L4-03 plus L4-04 yet.
Figure 5.76
Output Frequency
or Motor Speed L4-04
L4-03
Frequency
ON OFF
detection 3<1>
Figure 5.76 Frequency Detection 3 Example with a Positive L3-04 Value
<1> This is the time chart when L4-07 (Speed Agree Detection Selection) is set to 1 (detection always enabled). The default
setting for L4-07 is 0 (no detection during baseblock). When L4-07 = 0, the terminal opens during baseblock.
Setting 16: Frequency detection 4
Output closes whenever the output frequency or motor speed (CLV, CLV/PM) is above the detection level set in L4-03.
The terminal remains closed until the output frequency or motor speed falls below L4-03 minus the setting of L4-04. As
the detection level L4-03 is a signed value, frequency detection works in the specified direction only.
Status Description
Open Output frequency or motor speed is below L4-03 minus L4-04 or has not exceeded L4-03 yet.
Closed Output frequency or motor speed exceeded L4-03.
Figure 5.77
Output Frequency
L4-04
or Motor Speed
L4-03
Frequency
OFF ON
Detection 4
Figure 5.77 Frequency Detection 4 Example with Positive L3-04 Value
Setting 1A: During reverse

A digital output set for “During reverse” will close whenever the drive is running the motor in the reverse direction.
Status Description
Open Motor is being driven in the forward direction or stopped.
Closed Motor is being driven in reverse.
Figure 5.78
Output frequency
FWD Run command
REV Run command
OFF ON
During Reverse
time
Figure 5.78 Reverse Direction Output Example Time Chart

Setting 1B: During baseblock (N.C.)
Output opens to indicate that the drive is in a baseblock state. While Baseblock is executed, output transistors do not
switch and no main circuit voltage is output.
Status Description
Open Baseblock is being executed.
Closed Drive is not in a baseblock state.
Setting 1C: Motor 2 selection

Indicates which motor is selected when another output terminal is set up to switch drive operation between two motors
(H1- = 16). Refer to Setting 16: Motor 2 selection on page 240 for details on switching motors.
Status Description
Open Motor 1 is selected.
Closed Motor 2 is selected.
Setting 1D: During regeneration
Parameter Details
Terminal closes when the motor is driven in the regenerative mode.
Setting 1E: Restart enabled
An output set for “Restart enabled” closes once the drive begins attempting to restart after a fault has occurred.
The fault restart function allows the drive to automatically clear a fault. The terminal set to 1E will close after the fault is
cleared and the drive has begun attempting to restart. If the drive cannot successfully restart within the number of 5
attempts permitted by L5-01, then a fault will be triggered and the terminal set to 1E will open. Refer to L5: Fault
Restart on page 290 for details on automatic restart.
Setting 1F: Motor overload alarm (oL1)
An output programmed for this function will close when the motor overload level estimated by the oL1 fault detection
exceeds 90% of the oL1 detection level. Refer to L1-01: Motor Overload Protection Selection on page 267.
Setting 20: Drive overheat pre-alarm (oH)
Output closes when the temperature of the heatsink reaches the level set by L8-02 (Overheat Pre-Alarm Operation
Selection) (L8-03 = 3 or 4) or when oH2 (Drive Overheat Warning) is detected by multi-function digital input H1- =
B (oH2). Refer to L8-02: Overheat Alarm Level on page 295 for details on drive overheat detection.
Setting 22: Mechanical weakening detection
Output closes when a mechanical weakening situation is detected. Refer to Mechanical Weakening Detection on
Setting 2F: Maintenance period

Output closes when the cooling fan, DC bus capacitors, or DC bus pre-charge relay may require maintenance as
determined by the estimated performance life span of those components. Refer to Periodic Maintenance on page 383.
Setting 30: During torque limit
Output closes when the motor is operating at the torque limit specified by the L7- parameters or an analog input.
This setting can only be used in OLV, CLV, AOLV/PM and CLV/PM control modes. Refer to L7-01 to L7-04: Torque
Limits on page 294 for details.
Setting 31: During speed limit
Output closes when the speed limit has been reached. This function can be used in CLV and CLV/PM control modes.
Status Description
Open The conditions described below are not present.
1. The frequency reference has reached the upper limit set in d2-01.
Closed 2. The frequency reference has fallen to the lower limit set in d2-02 or d2-03.
3. Parameter b1-05 is set to 1, 2, or 3, and the frequency reference has fallen below the minimum output frequency (E1-09).
Setting 32: During speed limit in Torque Control

The motor torque and load torque are not in balance, causing the motor to accelerate. An output terminal set to 32 closes
when the motor reaches the speed limit. Refer to d5: Torque Control on page 206 and Indicating Operation at the Speed
Limit on page 208 for details.
Setting 33: Zero Servo complete
Output closes when Zero Servo is enabled and the load is locked into position within the allowable deviation (b9-02). For
how Zero Servo operates, see b9: Zero Servo on page 181.
Setting 37: During frequency output
Output closes when the drive is outputting a frequency.
Status Description
The drive is not outputting a frequency (one of the following functions is being performed: stop, baseblock, DC Injection Braking (during initial excitation), Short
Open
Circuit Braking).
Closed Drive is outputting frequency.
Figure 5.79
run command OFF ON
baseblock OFF ON
command
output
frequency
during run OFF ON
during frequency OFF ON

output
Figure 5.79 During Frequency Output Time Chart
Setting 38: Drive enable
A digital output set for “Drive enable” will reflect the status of a digital input configured as a “Drive enable” input
(H1- = 6A). If that digital input closes, then the digital output set for “Drive enable” will also close.
Setting 39: Watt hour pulse output
Outputs a pulse to indicate the watt hours. Refer to H2-06: Watt Hour Output Unit Selection on page 256 for details.
Setting 3C: LOCAL/REMOTE status

Output terminal closes while the drive is set for LOCAL and opens when in REMOTE.
Status Description
Open REMOTE: The external reference that has been selected (either b1-01 and b1-02 or b1-15 and b1-16) is used as frequency reference and Run command source
Closed LOCAL: The digital operator is used as frequency reference and Run command source
Setting 3D: During Speed Search

Output terminal closes while Speed Search is being performed. Refer to b3: Speed Search on page 160 for details.
Setting 3E: PID feedback low
Output terminal closes when a PID feedback loss (FbL) is detected. The feedback is considered to be lost if it falls below
the level set to b5-13 for longer than the time set to b5-14. Refer to PID Feedback Loss Detection on page 173 for
details.
Setting 3F: PID feedback high
Output terminal closes when a PID feedback loss (FbH) is detected. The feedback is considered to be lost if it rises
beyond the level set to b5-36 for longer than the time set to b5-37. Refer to PID Feedback Loss Detection on page 173
for details.
Setting 4A: During KEB operation
Output terminal closes while KEB is being performed. Refer to KEB Ride-Thru Function on page 275 for a KEB
function description.
Setting 4B: During Short Circuit Braking
Output terminal closes while Short Circuit Braking is being executed.
Setting 4C: During Fast Stop
Output terminal closes when a Fast Stop is being executed. Setting 15, 17: Fast Stop (N.O., N.C.) on page 239.
Setting 4D: oH pre-alarm time limit
The drive continues operation when the oH (Drive Overheat) pre-alarm is detected. The set output terminal closes when
oH pre-alarm is detected after decelerating 10 times (L8-03 = 4). Refer to L8-03: Overheat Pre-Alarm Operation
Selection on page 296 for a more detailed description.
Setting 4E: Braking transistor fault (rr)
Output closes if the drive’s internal braking transistor reaches the overheat level.
Parameter Details
Setting 4F: Braking resistor overheat (rH)
The braking resistor may overheat due to motor regeneration or too short of a deceleration time setting. The output
terminal closes when the braking resistor exceeds the overheat level.
Setting 60: Internal cooling fan alarm
Output closes when the drive’s internal cooling fan has failed. 5
Setting 61: Rotor position detection complete
After the Run command is given, the output terminal signals that the drive has detected the rotor position (PM motors).
Setting 62: Memobus Regs1 (It selects it with H2-07 and H2-08.)
The contact output is closed if any of the bits that are specified by H2-08 for the MEMOBUS/Modbus register address
that is set in H2-07 turns on.
Setting 63: Memobus Regs2 (It selects it with H2-09 and H2-10.)
The contact output is closed if any of the bits that are specified by H2-10 for the MEMOBUS/Modbus register address
Setting 90 to 92: DriveWorksEZ digital output 1 to 3
These settings are for output functions used in DriveWorksEZ. Normally there is no need to change these settings.
Setting 100 to 192: Functions 0 to 92 with inverse output

These settings have the same function as settings 0 to 92 but with inverse output. Set as 1, where the “1” indicates
inverse output and the last two digits specify the setting number of the function.
Examples:
• For inverse output of “8: During baseblock”, set 108.
• For inverse output of “4A: During KEB” set 14A.
 H2-06: Watt Hour Output Unit Selection
When one of the multi-function terminals is set to output the number of watt hours (H2-01, H2-02, or H2-03 = 39),
parameter H2-06 determines the units for the output signal.
This output function provides a watt hour meter or a PLC input by a 200 ms pulse signal. H2-06 determines the
frequency that pulses are issued to keep track of the kWh for the drive.

0: 0.1 kWh units
1: 1 kWh units
H2-06 Watt Hour Output Unit Selection 2: 10 kWh units 0
3: 100 kWh units
4: 1000 kWh units
Note: 1. A negative power output (i.e., regeneration) does not subtract from the total watt hours.
2. The drive keeps track of the watt hours as long as the control circuit has power. The value is reset when the power supply is shut off.
Figure 5.80
H2-06
(Pulse Output Unit)
Integral Power (every 100 ms)

H2-01 to 03
㧔Multi-function Output) ON
OFF OFF
0.2 s
Figure 5.80 Watt Hour Output Example
 H2-07 to H2-10: Memobus Regs

These parameters specify the MEMOBUS/Modbus registers and bits from which data will be sent to the multi-function
contact outputs.

H2-07 Memobus Regs1 Address Select 1 to 1FFF 1
H2-08 Memobus Regs1 Bit Select 0 to FFFF 0
H2-09 Memobus Regs2 Address Select 1 to 1FFF 1
H2-10 Memobus Regs2 Bit Select 0 to FFFF 0
The MEMOBUS/Modbus register addresses for sending data to multi-function contact outputs 62 and 63 are specified in
H2-07 and H2-09, and the bits for the MEMOBUS/Modbus registers are specified in H2-08 and H2-10.
 H3: Multi-Function Analog Inputs

The drive is equipped with three multi-function analog input terminals: A1, A2, and A3. See Table 5.41 for a listing of
the functions that can be set to these terminals.
 H3-01: Terminal A1 Signal Level Selection
Selects the input signal level for analog input A1.

H3-01 Terminal A1 Signal Level Selection 0, 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
Determines the function assigned to analog input terminal A1. Refer to Multi-Function Analog Input Terminal Settings
on page 260 for instructions on how to adjust the signal level.

H3-02 Terminal A1 Function Selection 0 to 32 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%
Parameter Details
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.
5
Figure 5.81
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 5.81 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 5.82
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 5.82 Frequency Reference Setting by Analog Input with Negative Bias

Selects the input signal level for analog input A3. Refer to Multi-Function Analog Input Terminal Settings on page 260
for a list of functions and descriptions.
Be sure to set DIP switch S4 on the terminal board accordingly for multi-function analog input or PTC input. Also refer
to Terminal A3 Analog/PTC Input Selection on page 87.
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 257.
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 257.
on page 260 for a list of functions and descriptions.
When analog input A3 is used as PTC input set H3-06 = E and make sure switch S4 on the terminal board is set for PTC
input. Also refer to Terminal A3 Analog/PTC Input Selection on page 87.
 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 257
Setting 1: -10 to 10 Vdc

The input level is -10 to 10 Vdc. Refer to Setting 1: -10 to 10 Vdc on page 257.
Setting 2: 4 to 20 mA
The input level is 4 to 20 mA. Negative input values by negative bias or gain settings will be limited to 0%.
The input level is 0 to 20 mA. Negative input values by negative bias or gain settings will be limited to 0%.
on page 260 for a list of functions and descriptions.

 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.
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.

 H3-13: Analog Input Filter Time Constant

Parameter H3-13 sets the time constant for a first order filter that will be applied to the analog inputs.
An analog input filter can be used to prevent erratic drive control when a “noisy” analog reference is used. The drive
operation becomes more stable the longer the time programmed, but it becomes less responsive to rapidly changing
analog signals.

H3-13 Analog Input Filter Time Constant 0.00 to 2.00 s 0.03 s
Parameter Details
 H3-14: Analog Input Terminal Enable Selection
When one of the multi-function digital input parameters is set for “Analog input enable” (H1- = C), the value set to
H3-14 determines which of the analog input terminals will be enabled or disabled when the input is closed. All analog
input terminals will be enabled all of the time if H1- is not set to C. The terminals other than the one set as the target
are not influenced by input signals. 5
H3-14 Analog Input Terminal Enable Selection 1 to 7 7
Setting 1: A1 only enabled

Setting 3: A1 and A2 only enabled
Setting 7: All analog input terminals enabled
 H3-16 to H3-18 Terminal A1/A2/A3 Offset

Parameters H3-16 to H3-18 set the offset level of the selected input value to terminal A1, A2 or A3 that is equal to 0 Vdc
input. These parameters rarely need adjustment.

H3-16 Terminal A1 Offset -500 to 500 0
 Multi-Function Analog Input Terminal Settings

See Table 5.41 for information on how H3-02, H3-10, and H3-06 determine functions for terminals A1, A2, and A3.
Note: The scaling of all input functions depends on the gain and bias settings for the analog inputs. Set these to appropriate values
when selecting and adjusting analog input functions.
Table 5.41 Multi-Function Analog Input Terminal Settings
0 Frequency bias 260 F Through mode 262
1 Frequency gain 260 10 Forward torque limit
2 Auxiliary frequency reference 1 260 11 Reverse Torque Limit 262
3 Auxiliary frequency reference 2 260 12 Regenerative torque limit
4 Output voltage bias 260 13 Torque limit using torque reference/speed control 262
5 Accel/decel time gain 261 14 Torque compensation 262
6 DC Injection Braking current 261 15 General torque limit 262
7 Torque detection level 261 16 Differential PID feedback 262
8 Stall Prevention level during run 261 17 <1> Motor Thermistor (NTC) 262
9 Output frequency lower limit level 261 1F Through mode 262
B PID feedback 261 30 DriveWorksEZ analog input 1
C PID setpoint 261 31 DriveWorksEZ analog input 2 262
D Frequency bias 262 32 DriveWorksEZ analog input 3
E Motor temperature (PTC input) 262 – – –
<1> This function is available in models CIMR-A4A0930 and 4A1200.
Setting 0: Frequency bias

The input value of an analog input set to this function will be added to the analog frequency reference value. When the
frequency reference is supplied by a different source other than the analog inputs, this function will have no effect. Use
this setting also when only one of the analog inputs is used to supply the frequency reference.
By default, analog inputs A1 and A2 are set for this function. Using A1 and A2 at the same time increases the frequency
reference by the total of all inputs.
Example: If the analog frequency reference from analog input terminal A1 is 50% and a bias of 20% is applied by analog
input terminal A2, the resulting frequency reference will be 70% of the maximum output frequency.
Setting 1: Frequency gain
The input value of an analog input set to this function will be multiplied with the analog frequency reference value.
Example: If the analog frequency reference from analog input terminal A1 is 80% and a gain of 50% is applied from
analog input terminal A2, the resulting frequency reference will be 40% of the maximum output frequency.
Setting 2: Auxiliary reference 1
Sets the auxiliary frequency reference 1 when multi-step speed operation is selected. Refer to Multi-Step Speed
Setting 3: Auxiliary reference 2
Sets the auxiliary frequency reference 2 when multi-step speed operation is selected. Refer to Multi-Step Speed
Setting 4: Output voltage bias
Voltage bias boosts the output voltage of the V/f curve as a percentage of the maximum output voltage (E1-05). Available
only when using V/f Control.
Setting 5: Accel/decel time gain

Adjusts the gain level for the acceleration and deceleration times set to parameters C1-01 through C1-09.
The acceleration time used by the drive is calculated by multiplying the this gain level to C1- as follows:
C1- × Accel/decel time gain = Drive accel/decel time
Figure 5.83
100%
Acceleration/deceleration gain from 1 to 10 V
(10 V)
= × 10 (%)
50% Input Voltage (V)
20%
10%
0 1V 2V 5V 10 V
Figure 5.83 Accel/Decel Time Gain with Analog Input Terminal
Setting 6: DC Injection Braking current
The current level used for DC Injection Braking. Set as a percentage of the maximum output current using.
Figure 5.84
DC Injection Braking Current Level
100%
Drive Rated
Current
0 10 V
(4) (20 mA)
Figure 5.84 DC Injection Braking Current Using an Analog Input Terminal
Setting 7: Torque Detection level
Using this setting, the overtorque/undertorque detection level for torque detection 1 (L6-01) can be set by an analog
input. The analog input will replace the level set to L6-02. An analog input of 100% (10 V or 20 mA) will set a torque
detection level equal to 100% drive rated current/motor rated torque. Adjust the analog input gain if higher detection
level settings are required. Refer to L6: Torque Detection on page 291 for details on torque detection.
Setting 8: Stall Prevention level
This setting allows an analog input signal to adjust the Stall Prevention level. Figure 5.85 shows the setting
characteristics. The drive will use either the Stall Prevention level set to L3-06 or the level coming from the analog input
Parameter Details
terminal that has been selected, whichever value is lower.
Figure 5.85
Stall Prevention Level during Run
100%
5
30%
Analog Input Level

0 30% 100%
Figure 5.85 Stall Prevention During Run Using an Analog Input Terminal
Setting 9: Output frequency lower limit level
The user can adjust the lower limit of the output frequency using an analog input signal.
Setting B: PID feedback
An input set for this function supplies the PID feedback value. This setting requires PID operation to be enabled in b5-01.
Refer to PID Feedback Input Methods on page 169.
Setting C: PID setpoint
An input set for this function supplies the PID setpoint value, and the frequency reference selected in parameter b1-01 is
no longer the PID setpoint. PID operation to be enabled in b5-01 to use this setting. Refer to PID Setpoint Input
Methods on page 168.
Setting D: Frequency bias

The input value of an analog input set to this function will be added to the frequency reference. This function can be used
with any frequency reference source.
Setting E: Motor temperature
In addition to motor overload fault detection oL1, it is possible to use a PTC (Positive Temperature Coefficient)
thermistor for motor insulation protection. Connect the PTC to analog input terminal A3, and set switch S4 on the
terminal board to PTC. Refer to Terminal A3 Analog/PTC Input Selection on page 87 for details on setting S4. Refer to
Motor Protection Using a Positive Temperature Coefficient (PTC) on page 270 for further explanation.
Setting F, 1F: Through mode
When set to F or 1F, an input does not affect any drive function, but the input level can still be read out by a PLC via a
communication option or MEMOBUS/Modbus communications.
Setting 10, 11, 12, 15: Forward, Reverse, Regenerative, General torque limit (OLV, CLV, AOLV/PM, CLV/PM)
These functions can be used to set a torque limit using analog inputs for different operating conditions. Refer to L7:
Torque Limit on page 294 for details.
Setting 13: Torque Limit Using Torque Reference/Speed Control
When using Torque Control, an analog input programmed to this function can set the torque reference (when in Torque
Control) or the torque limit (when in Speed Control). Refer to Setting the Torque Reference, Speed Limit, and Torque
Compensation Values on page 207 for details.
Setting 14: Torque compensation
Used to set a torque compensation value when using Torque Control. Refer to Setting the Torque Reference, Speed
Limit, and Torque Compensation Values on page 207 for details.
Setting 16: Differential PID Feedback
If an analog value is set for this function, the PID controller is set for differential feedback. The subtraction of the PID
feedback input value and the differential feedback input value builds the feedback value that is used to calculate the PID
input. Refer to PID Feedback Input Methods on page 169.
Setting 17: Motor Thermistor (NTC)
Used as a complement or a substitution for oL1. Refer to Motor Protection Using a Positive Temperature Coefficient
(PTC) on page 270.
Setting 30, 31, 32: DriveWorksEZ Analog Input 1, 2, 3
These settings are for functions used in DriveWorksEZ. Normally there is no need to change or apply these settings.
 H4: Multi-Function Analog Outputs

These parameters assign functions to analog output terminals FM and AM for monitoring a specific aspect of drive
performance.
 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 U:
Monitors on page 516 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 when the value of the selected monitor is at
100%. Parameter H4-03 and H4-06 set the terminal FM and AM output signal level when the value of the selected
monitor is at 0%. Both are set as a percentage, where 100% equals 10 Vdc or 20 mA analog output and 0% equals 0 V or
4 mA. The output voltage of both terminals is limited to +/-10 Vdc.
The output signal range can be selected between 0 to +10 Vdc, -10 to +10 Vdc, or 4 to 20 mA using parameter H4-07 and
H4-08. Figure 5.86 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.
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 5.86
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% 100%
Parameter Details
Monitor Value
-15 V
Figure 5.86 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 5.87
Gain = 100%
H4-07, 08 = 0 H4-07, 08 = 1
10V
Bias = 30%
5
Gain = 100%
10 V Output Voltage Bias = 0%
Bias 30% 3V
Output Voltage Gain 100% -100%
100%
Bias 0% Monitor Value
3V -4 V
Gain 100%
0V -10 V
0% Monitor Value 100%
Figure 5.87 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.
When changing the setting of these parameters make sure jumper S5 on the terminal board is set accordingly. Refer to
Terminal AM/FM Signal Selection on page 87 for details on setting S5.

H4-07 Multi-Function Analog Output Terminal FM Signal Level Selection 0 to 2 0
H4-08 Multi-Function Analog Output Terminal AM Signal Level Selection 0 to 2 0
Setting 0: 0 to 10 V
Setting 1: -10 V to 10 V
 H5: MEMOBUS/Modbus Serial Communication

Through the drives built in RS-422/485 port (terminals R+, R-, S+, S-), serial communication is possible using
programmable logic controllers (PLCs) or similar devices running the MEMOBUS/Modbus protocol.
The H5- parameters are used to set up the drive for MEMOBUS/Modbus Communications. Refer to MEMOBUS/
Modbus Serial Communication on page 556 for detailed descriptions of the H5- parameters.
 H6: Pulse Train Input/Output

A one track pulse train signal with a maximum frequency of 32 kHz can be input to the drive at terminal RP. This pulse
train signal can be used as the frequency reference, for PID functions, or as the speed feedback signal in V/f Control.
The pulse output monitor terminal MP can output drive monitor values as a pulse train signal with a maximum frequency
of 32 kHz. It can be used in sinking or sourcing mode. Refer to Using the Pulse Train Output on page 86 for details.
Use parameters H6- to set the scale and other aspects of the pulse input terminal RP and pulse output terminal MP.
 H6-01: Pulse Train Input Terminal RP Function Selection
Selects the function of pulse train input terminal RP.

H6-01 Pulse Train Input Terminal RP Function Selection 0 to 3 0
Setting 0: Frequency reference

If the pulse input is set for this function and the frequency reference source is set to pulse input (b1-01, b1-15 = 4), the
drive reads the frequency value from terminal RP.
Setting 1: PID feedback value
Using this setting, the feedback value for PID control can be supplied as a pulse signal at terminal RP. Refer to b5: PID
Control on page 167 for details on PID control.
Setting 2: PID setpoint value
Using this setting, the setpoint value for PID control can be supplied as a pulse signal at terminal RP. Refer to b5: PID
Control on page 167 for details on PID control.
Setting 3: Speed feedback (V/f Control with Simple Speed Feedback)

This setting can be used in V/f control to increase the speed control precision by using a motor speed feedback signal.
The drive reads the speed feedback from terminal RP, compares it to the frequency reference and compensates the motor
slip using a speed regulator (ASR, setup in the C5- parameters) like shown in Figure 5.85. Because input terminal
RP is incapable of detecting motor direction, a separate way of determining motor direction still needs to be set up:
1. Using a Digital Input
If a digital input programmed for “Forward/reverse detection” (H1- = 7E) is closed, the drive assumes
reverse rotation. If open, then the drive assumes that the motor is rotating forwards.
2. Using the Frequency Reference Direction
If no digital input is set to “Forward/reverse detection” (H1- = 7E), the drive uses the direction of the
frequency reference as the direction for the speed feedback detected at the pulse input.
Figure 5.88
Motor speed
Figure 5.88 Speed Control with ASR in V/f with Simple Speed Feedback
Enabling V/f Control with Simple Speed Feedback:
1. Set the drive to V/f Control (A1-02 = 0).
2. Connect the motor speed pulse signal to the pulse input RP, set H6-01 = 3, and set the pulse signal frequency
that is equal to the maximum speed to H6-02 (pulse input scaling). Make sure the pulse input bias (H6-04) is 0%
and the gain (H6-03) is 100%.
3. Decide the signal used for detecting the direction. If a digital input is used, set H1- = 7E.
4. Use the ASR gain and integral time parameters described in C5: Automatic Speed Regulator (ASR) on
Parameter Details
page 190 for adjusting the responsiveness.
Note: 1. C5 parameters will appear when using V/f Control (A1-02 = 0) and when the pulse input RP function is set for simple PG feedback in
V/f Control (H6-01 = 3).
2. If running two motors from the same drive, note that the V/f Control with simple PG feedback can be used for motor 1 only.
 H6-02: Pulse Train Input Scaling 5

This parameter sets the pulse signal frequency that is equal to 100% of the input value selected in parameter H6-01.

H6-02 Pulse Train Input Scaling 100 to 32000 Hz 1440 Hz
 H6-03: Pulse Train Input Gain

Sets the level of the input value selected in H6-01 when a pulse train signal with the frequency set in H6-02 is input to
terminal RP.

H6-03 Pulse Train Input Gain 0.0 to 1000.0% 100.0%
 H6-04: Pulse Train Input Bias

Sets the level of the input value selected in H6-01 when no signal (0 Hz) is input to terminal RP.

H6-04 Pulse Train Input Bias -100.0 to 100.0% 0.0%
 H6-05: Pulse Train Input Filter Time

Sets the pulse train input filter time constant in seconds.

H6-05 Pulse Train Input Filter Time 0.00 to 2.00 s 0.10 s
 H6-06: Pulse Train Monitor Selection

Selects the monitor to output as a pulse train signal via terminal MP. Indicate which monitor to output entering the three
digits in U-. Refer to U: Monitors on page 516 for a complete list of monitors. Monitors that can be selected by
H6-06 appear in the table below.

000 <1>, 031 <1>, 101, 102, 105, 116,
H6-06 Pulse Train Monitor Selection 102
501, 502, 801 to 809
<1> Set “000” or “031” when the terminal is not used, or when using the terminal in the through mode.
 H6-07: Pulse Train Monitor Scaling

Pulse train monitor scaling sets the output pulse frequency at terminal MP when the specified monitor item is at 100%.
Set H6-06 to 102 and H6-07 to 0 to make the pulse train monitor output synchronous to the output frequency.

H6-07 Pulse Train Monitor Scaling 0 to 32000 Hz 1440 Hz
 H6-08: Pulse Train Input Minimum Frequency

Sets the minimum output frequency that can be detected by the pulse train input. Increasing this setting reduces the time
the drive needs to react to changes in the input signal.
• If the pulse input frequency falls below this level, the pulse input value will be 0.
• Enabled when H6-01 = 0, 1, or 2.
• When simple speed feedback in V/f Control is set as the function for terminal RP (H6-01 = 3), the minimum frequency
becomes the detection time for PG disconnect (F1-14).
H6-08 Pulse Train Input Minimum Frequency 0.1 to 1000.0 Hz 0.5 Hz
5.8 L: Protection Functions

 L1: Motor Protection
 L1-01: Motor Overload Protection Selection
The drive has an electronic overload protection function that estimates the motor overload level based on output current,
output frequency, thermal motor characteristics, and time. An oL1 fault will be triggered when motor overload is
detected and drive output will be shut off.
L1-01 sets the overload protection function characteristics according to the motor being used.

L1-01 Motor Overload Protection Selection 0 to 6 Determined by A1-02
Note: 1. When the motor protection function is enabled (L1-01≠ 0), an oL1 alarm can be output through one of the multi-function outputs by
setting H2-01 to 1F. The output will close when the motor overload level reaches 90% of the oL1 detection level.
2. Select a method to protect the motor from overheat by setting L1-01 between 1 and 6 when running a single motor from the drive. An
external thermal relay is not needed.
Setting 0: Disabled (motor overload protection is not provided)
This setting should be used if no motor overheat protection is desired or if multiple motors are connected to a single
drive. In this case it is recommended that you install a thermal relay for each motor as shown in Figure 5.89.
Figure 5.89
Power supply
Drive oL1 motor
M1
S3
oL2
(external fault)
oL1 N.O. input M2
Thermal
oL2 relay
SN
SC
SP
Figure 5.89 Example of Protection Circuit Design for Multiple Motors
NOTICE: Thermal protection cannot be provided when running multi-motors simultaneously with the same drive, or when using
Parameter Details
motors with a current rating that is relatively high when compared with other standard motors (such as a submersible motor). Failure to
comply could result in motor damage. Disable the electronic overload protection of the drive (L1-01 = “0: Disabled”) and protect each
motor with individual motor thermal overloads.
NOTICE: Close MC1 and MC2 before operating the drive. (MC1 and MC2 cannot be switched off during run.)
Setting 1: General-purpose motor (standard self-cooled)

Because the motor is self-cooled, the overload tolerance drops when the motor speed is lowered. The drive appropriately 5
adjusts the electrothermal trigger point according to the motor overload characteristics, protecting the motor from
overheat throughout the entire speed range.
Overload Tolerance Cooling Ability Overload Characteristics
Rated Speed = 100% Speed

A: Max. speed for 200LJ and above
B: Max. speed for 160MJ to 180 LJ
C: Max. speed for 132MJ and below
Motor designed to operate from line power. Continuous operation at less than line power
Motor cooling is most effective when running at frequency with 100% load can trigger motor
rated base frequency (check the motor nameplate or overload protection (oL1). A fault is output and the
specifications). motor will coast to stop.
Setting 2: Drive dedicated motor (speed range for constant torque: 1:10)
Use this setting when operating a drive duty motor that allows constant torque in a speed range of 1:10. The drive will
allow the motor to run with 100% load from 10% up to 100% speed. Running the motor below 10% speed with 100%
load will trigger an overload fault.
150
60 s
Torque (%)
100 C: Max. speed for 132MJ and below
Motor is designed to effectively cool itself even at Continuous operation with 100% load from 5 Hz to
low speeds. 50 Hz.
55
50
Continuous A
B
C
0 110 100120 167 200

Speed (%)
Setting 3: Vector motor (speed range for constant torque: 1:100)

Use this setting when operating a drive-dedicated motor that allows constant torque in a speed range of 1:100. This motor
type is allowed to run with 100% load from 1% up to 100% speed. Running the motor below 1% speed with 100% load
will trigger an overload fault.
150
60 s A: Max. speed for 200LJ and above
100 C: Max. speed for 132MJ and below
Torque (%)
90
Motor is designed to effectively cool itself at Continuous operation with 100% load from 0.5 Hz to
ultra-low speeds. 50 Hz.
50 Continuous
A
B
C
0 1 100120 167 200
Speed (%)
Setting 4: PM derated torque motor

This setting is for operating a PM motor. PM motors for derated torque have a self-cooling design, so the overload
tolerance drops as the motor slows. Electronic thermal overload is triggered in accordance with the motor overload
characteristics, providing overheat protection across the entire speed range.
150
60 s
130
Torque (%)
100 Continuous Reaching 100% when operating at below the base

85
80 Motor is designed to produce 100% torque at base frequency will cause a motor overload fault (oL1).
67 speed. Built with effective cooling capabilities. The drive fault output closes and the motor coasts to
50 stop.
0
0 10 33 100 150
Motor Speed (%)
Setting 5: Constant torque PM motors (constant torque range of 1:1500)

Sets protection characteristics needed when driving a PM with constant torque. These motors allow for a speed control
from 0.07% to 100% when operating with 100% load. Running the motor below 0.07% speed with 100% load will
trigger an overload fault.
Instantaneous rating (60 s)

150
125
Torque (%)
115
Continuous
100
83
77 Motor is designed to effectively cool itself at Continuous operation with 100% load from 0.07% to
67
ultra-low speeds (about 0.07% of base speed). 100% of base speed.
0 0.07 100 120 130 150
Percent of base speed (%)
Setting 6: General-purpose motor (50 Hz)

Because the motor (50 Hz) is self-cooled, the overload tolerance drops when the motor speed is lowered. The drive
appropriately adjusts the electrothermal trigger point according to the motor overload characteristics, protecting the
motor from overheat throughout the entire speed range.
150 Rated Speed = 100% Speed

60 s
C: Max. speed for 132MJ and below
Torque (%)
100
90 Motor designed to operate from line power. Continuous operation at less than line power
Motor cooling is most effective when running at frequency with 100% load can trigger motor
rated base frequency (check the motor nameplate or overload protection (oL1). A fault is output and the
specifications). motor will coast to stop.
50 Continuous
A
B
C
05 33 100 120 167 200
Speed (%)
Parameter Details
 L1-02: Motor Overload Protection Time
This setting rarely requires adjustment. Sets the time it takes the drive to detect motor overheat due to overload. If the
motor overload tolerance protection time when an overload of 150% is imposed after continuous operation at 100% is
clear, set that time as the value.

5
L1-02 Motor Overload Protection Time 0.1 to 5.0 minutes 1.0 minutes
Defaulted to operate with an allowance of 150% overload operation for one minute in a hot start; after continuous
operation at 100%.
• Figure 5.90 shows an example of the electrothermal protection operation time using a general-purpose motor
operating at 50 Hz with L1-02 set to one minute.
Motor overload protection operates in the area between a cold start and a hot start.
• Cold start: Characteristics of motor protection operation time in response to an overload situation that was suddenly
reached when starting a stationary motor.
• Hot start: Characteristics of motor protection operation time in response to an overload situation that occurred while
the motor was operating continuously at or below its rated current.

Figure 5.90
Operation time (minutes)
10
7
3
Cold start (Characteristics when an overload occurs
at a complete stop)
1
0.4
Hot start (Characteristics when an overload occurs
during continuous operation at 100%)
0.1
Motor current (%)
0 100 150 200 E2-01 = 100% motor current
Figure 5.90 Protection Operation Time for General Purpose Motors at the Rated Output Frequency
 Motor Protection Using a Positive Temperature Coefficient (PTC)

A motor PTC can be connected to an analog input of the drive. This input is used by the drive for motor overheat
protection.
When the PTC input signal reaches the motor overheat alarm level, an oH3 alarm will be triggered and the drive will
continue operation as selected in L1-03. When the PTC input signal reaches the overheat fault level, an oH4 fault will be
triggered, a fault signal will be output, and the drive will stop the motor using the stop method determined in L1-04.
Connect the PTC between terminals AC and A3 and set jumper S4 on the terminal board to “PTC” like shown in
Figure 5.91. Set parameter H3-05 to 0 and parameter H3-06 to E.
Figure 5.91
Multi-function input Drive

MA
Fault output
MB
DIP Switch S4
MC
PTC
M1
M2
AI
M3 Multi-function
M4 digital outputs
A3 (0-10 V)
M5
PTC
M6
thermistor
AC
Figure 5.91 Connection of a Motor PTC

The PTC must have the following characteristics for one motor phase. The drives motor overload detection expects 3 of
these PTCs to be connected in series.
Figure 5.92
Tr’
Tr - 5K (oH3 Alarm Level) Tr + 5K (oH4 Fault Level)
Figure 5.92 Motor PTC Characteristics
Overheat detection using a PTC can be set up by parameters L1-03, L1-04, and L1-05 as explained below.
 L1-03: Motor Overheat Alarm Operation Selection (PTC input)
Sets the drive operation when the PTC input signal reaches the motor overheat alarm level (oH3).

L1-03 Motor Overheat Alarm Operation Selection (PTC input) 0 to 3 3

The drive stops the motor using the deceleration time 1 set in parameter C1-02.
The drive output is switched off and the motor coasts to stop.
The drive stops the motor using the Fast Stop time set in parameter C1-09.
The operation is continued and an oH3 alarm is displayed on the digital operator.
 L1-04: Motor Overheat Fault Operation Selection (PTC input)
Sets the drive operation when the PTC input signal reaches the motor overheat fault level (oH4).

L1-04 Motor Overheat Fault Operation Selection (PTC input) 0 to 2 1

The drive stops the motor using the deceleration time 1 set in parameter C1-02.
Setting 1: Coast to Stop
The drive stops the motor using the Fast Stop time set in parameter C1-09.
 L1-05: Motor Temperature Input Filter Time (PTC input)
Used to set a filter on the PTC input signal in order to prevent a motor overheat fault from being mistakenly detected.
Parameter Details
L1-05 Motor Temperature Input Filter Time (PTC input) 0.00 to 10.00 s 0.20 s
 L1-08: OL1 Current Lvl

Sets the reference current for motor thermal overload detection for motor 1 in amperes. 5
If L1-08 is set to 0.0A, E2-01 (E5-03 when in PM control mode) is used as a reference for motor overload protection. If
L1-08 is set to any other, that value is used as a reference for motor overload protection.

0.0 A or 10 to 150% of drive rated
L1-08 OL1 Current Lvl 0.0 A
current <1> <2>
<2> Cannot be set to a value smaller than 10% of drive rated current if the current level is set to a value greater than 0.0 A.
 L1-09: OL1 Current Lvl (for 2nd motor)

Sets the reference current for motor thermal overload detection for motor 2 in amperes.
If L1-09 is set to 0.0A, E4-01 is used as a reference for motor overload protection. If L1-09 is set to any other, that value
is used as a reference for motor overload protection.

0.0 A or 10 to 150% of drive rated
L1-09 OL1 Current Lvl (for 2nd motor) 0.0 A
current <1> <2>
<2> Cannot be set to a value smaller than 10% of drive rated current if the current level is set to a value greater than 0.0 A.
 L1-13: Continuous Electrothermal Operation Selection

Determines whether or not to hold the current value of the electrothermal motor protection (L1-01) when the power
supply is interrupted.

L1-13 Continuous Electrothermal Operation Selection 0 or 1 1
Setting 0: Disabled
Setting 1: Enabled
 Motor Protection Using an NTC Thermistor Input
Motor protection is possible for models CIMR-A4A0930 and 4A1200 by connecting the NTC thermistor input in the
motor windings to one of the drive analog input terminals. This enables the drive to provide torque compensation in
response to changes in motor temperature and protect the motor from overheating.
If the NTC input signal using the drive multi-function analog input terminal exceeds the overheat alarm level set to
L1-16 (or L1-18 for motor 2), then oH5 will flash on the digital operator screen. The drive will respond to the alarm
according to the setting of L1-20 (default setting is to continue operation when an oH5 alarm occurs).
Figure 5.93 shows an example circuit that uses an NTC thermistor, and Figure 5.94 shows the temperature and
resistance characteristics. When NTC input is connected to terminal A2, set DIP switch S1 to the “V” side (voltage
mode), set H3-09 = 0 (0 to 10 Vdc), and set H3-10 = 17 (Motor Thermistor (NTC)).
Note: This example assumes that H3-10 = 17, H3-09 = 0, and DIP switch S1 has been set for voltage input.
Figure 5.93
Drive
+V
(+10.5 V, 20 mA)
Voltage Divider
2 kΩ
A2 (0-10 V)
NTC Thermistor
DIP Switch S1
AC
V I
Figure 5.93 Motor Protection Circuit using NTC Input

Figure 5.94
Resistance (Ω)
100,000
21911
10,000
3267
1,000 769
242
100
Temperature (°C)
-20 0 50 100 150
Resistance: R (140) = 0.3 kΩ ±5%
B parameter: B (25/140) = 3500 K ±2%
Figure 5.94 Temperature and Resistance of NTC Thermistor
L1-15 to L1-20 can determine the overheat protection settings using the NTC thermistor input. Parameter descriptions
are listed below.
Note: L1-15 to L1-20 are available in models CIMR-A4A0930 and 4A1200.
 L1-15: Motor 1 Thermistor Selection (NTC)


L1-15 Motor 1 Thermistor Selection (NTC) 0, 1 0
Setting 0: Disable
Setting 1: Enable
 L1-16: Motor 1 Overheat Temperature
Sets the temperature that will trigger an overheat fault (oH5) for motor 1.

L1-16 Motor 1 Overheat Temperature 50 to 200°C 120°C
 L1-17: Motor 2 Thermistor Selection (NTC)

Parameter Details
L1-17 Motor 2 Thermistor Selection (NTC) 0, 1 0
Setting 0: Disable
Setting 1: Enable
 L1-18: Motor 2 Overheat Temperature 5

Sets the temperature that will trigger an overheat fault (oH5) for motor 2.

L1-18 Motor 2 Overheat Temperature 50 to 200°C 120°C
 L1-19: Operation at Thermistor Disconnect (THo) (NTC)

Determines drive operation when a thermistor disconnect fault occurs (THo).

L1-19 Operation at Thermistor Disconnect (THo) (NTC) 0 to 3 3

The drive stops the motor using the deceleration time1 set in parameter C1-02.

Setting 2: Fast stop
The drive stops the motor using the Fast stop time set in parameter C1-09.
The operation is continued and a THo alarm is displayed on the digital operator.
 L1-20: Operation at Motor Overheat (oH5)
Determines drive operation when a motor overheat fault occurs (oH5).

L1-20 Operation at Motor Overheat (oH5) 0 to 3 1

The operation is continued and an oH5 alarm is displayed on the digital operator.
 L2: Momentary Power Loss Ride-Thru

 L2-01: Momentary Power Loss Operation Selection
When a momentary power loss occurs (DC bus voltage falls below the level set in L2-05), the drive can be set to
automatically return to the operation it was performing when the power went out based on certain conditions.

L2-01 Momentary Power Loss Operation Selection 0 to 5 0
Setting 0: Disabled (default)

If power is not restored within 15 ms, a Uv1 fault will result and the drive will stop the motor. The motor coasts to stop.
Setting 1: Recover within L2-02
When a momentary power loss occurs, the drive output will be shut off. Should the power return within the time set to
parameter L2-02, the drive will perform Speed Search and attempt to resume operation. If power is not restored within
this time (i.e., DC bus voltage level remains below Uv1 detection level L2-05), then a Uv1 fault is triggered and the drive
will stop.
Setting 2: Recover as long as CPU has power
When a momentary power loss occurs, the drive output will be shut off. Should the power return as long as the drive
control circuit has power, the drive will attempt to perform Speed Search and resume the operation. A Uv1 fault is not
triggered.
Setting 3: KEB Ride-Thru operation within L2-02
The drive decelerates using regenerative energy from the motor until the time set in L2-02 has expired. It then tries to
accelerate back to the frequency reference. If the power does not returned within the time set in L2-02, an Uv1 fault is
triggered and the drive output shuts off. The type of KEB operation is determined by the setting of L2-29.
Setting 4: KEB Ride-Thru as long as CPU has power

The drive decelerates using regenerative energy from the motor until the power returns and then restarts. If the motor has
come to a stop before, the power returns. If the drive control power gets lost, the drive output will shut off. A Uv1 fault is
not triggered. The type of KEB operation is determined by the setting of L2-29.
Setting 5: Ramp to stop with KEB deceleration
The drive ramps to stop using the regenerative energy from the motor. Even if the power is restored, the drive will
continue decelerating until it brings the motor to a complete stop. The type of KEB operation is determined by the setting
of parameter L2-29.
Notes on Settings 1 through 5
• “Uv” will flash on the operator while the drive is attempting to recover from a momentary power loss. A fault signal is
not output at this time.
• A Momentary Power Loss Unit is available to allow for a longer momentary power loss ride through time in the drive
model CIMR-A2A0004 through 2A0056 and CIMR-A4A0002 through 4A0031. This option makes it possible to
continue running after up to two seconds of power loss.
• When a magnetic contactor between motor and drive is used, be sure that the magnetic contactor remains closed as
long as the drive performs KEB operation or attempts to restart with Speed Search.
• Make sure the Run command is kept active during KEB operation. Otherwise the drive cannot accelerate back to the
frequency reference when the power returns.
• When L2-01 is set to 3, 4, or 5, KEB Ride-Thru will be executed as specified in L2-29.
 KEB Ride-Thru Function
When power loss is detected, the Kinetic Energy Backup Ride-Thru function (KEB Ride-Thru) decelerates the motor and
uses regenerative energy to keep the main circuit operating. Despite power loss, the drive output is not interrupted.
For applications driven by a single drive, choose between Single Drive KEB Ride-Thru 1 and 2 (L2-29 = 0 or 1).
For applications where multiple drives have to perform KEB operation while keeping a certain speed ratio (such as
textile machinery), select between System KEB Ride-Thru 1 and 2, (L2-29 = 2 or 3).
Single Drive KEB Ride-Thru 1 (L2-29 = 0)
Once KEB Ride-Thru begins, the drive uses regenerative energy from the motor to keep the DC bus voltage at the level
set to L2-11 while adjusting the rate of deceleration based on the time set to C1-09.
Note: If undervoltage occurs in the DC bus (Uv1), shorten the Fast Stop Time (C1-09). If overvoltage occurs (oV), increase the KEB
deceleration time.
Single Drive KEB Ride-Thru 2 (L2-29 = 1)
Parameter Details
The drive uses information about the inertia of the connected machinery to determine the deceleration rate necessary to
keep the DC bus voltage at the level set in parameter L2-11. The resulting deceleration time is calculated based on the
system inertia and cannot be adjusted.
System KEB Ride-Thru 1 (L2-29 = 2)
Drive decelerates at the KEB deceleration time set to L2-06. L2-06 is the time required decelerate from the current 5
frequency reference to 0. Using this setting, multiple drives can decelerate while still keeping the speed ratio between
those drives constant. The voltage level in the DC bus is disregarded when using this function. Braking resistor option
required.
System KEB Ride-Thru 2 (L2-29 = 3)
Drive decelerates based on the KEB deceleration time set to L2-06 while monitoring the DC bus voltage. If the voltage
level rises, the drive briefly holds the frequency before continuing to decelerate again.
 KEB Ride-Thru Start

KEB operation is always triggered in the same way, independent of the selected KEB operation mode. When the KEB
function is selected as the function to be executed when power loss operation occurs (L2-01 = 3, 4, or 5), then KEB
Ride-Thru will be activated if one of the following conditions becomes true:
• A digital input programmed for H1- = 65 or 66 is activated. This will start KEB operation using the mode selected
in parameter L2-29.
• A digital input programmed for H1- = 7A or 7B is activated. This will automatically select Single KEB Ride-Thru
2, disregarding the setting of L2-29.
• The DC bus voltage fell below the level specified in L2-05. The KEB operation will start as specified in L2-29.
Note: KEB Ride-Thru 1 and 2 cannot both be assigned to input terminals at the same time. Attempting this will trigger an oPE3 error.
If a digital input is used for triggering the KEB operation and the device that controls the input acts relatively slow,
parameter L2-10 can be used to set a minimum KEB operation time. In the example below, KEB operation is triggered
by the DC bus voltage and the Hold command is triggered by a digital input.
Figure 5.95
Main Power Supply Power loss

0V
L2-10
KEB digital input is
set with in L2-10
KEB Digital Input
DC bus voltage
L2-11 (Desired DC Bus Voltage)
L2-05 (Uv Detection Level)

0V
Input holds KEB operation,
even though voltage has
returned
Output Frequency
KEB deceleration is
triggered by DC bus voltage
0 Hz
Figure 5.95 KEB Operation Using a KEB Input
 KEB Ride-Thru End Detection

The KEB function end detection depends on the setting of parameter L2-01 and if a digital input programmed for KEB
(H1- = 65, 66, 7A, 7B) is used or not.
KEB Ride-Thru Operation in L2-02, Input Terminals Not Used
Here, L2-01 = 3 and the input terminals have not been set for KEB Ride-Thru (H1- does not equal 65, 66, 7A, 7B).
After decelerating for the time set in parameter L2-02, the drive ends KEB operation and attempts to accelerate back to
the frequency reference. If the power has not returned within L2-02, an Uv1 fault occurs and the drive output shuts off.
Figure 5.96
Power Loss shorter than L2-02 Power Loss longer than L2-02
Main Power Supply Power Loss Power Loss

0V 0V
DC Bus Voltage
L2-11 (Desired DC Bus L2-11 (Desired DC
Voltage) Bus Voltage)
L2-05 (Uv Detection Level) L2-05 (Uv Detection Level)
0V 0V
L2-02 L2-02
(Power Loss (Power Loss
Ride-Thru Time) Acceleration using L2-07 or Ride-Thru Time)
Output Frequency C1-01/03/05/07 if L2-07 = 0
Drive attempts to restart but
power has not returned
An Uv1 fault is triggered
KEB Deceleration KEB Deceleration
0 Hz 0 Hz
Figure 5.96 KEB Operation Using L2-02, Without KEB Input
KEB Ride-Thru Operation Within L2-02, Input Terminals Used

Here, L2-01 = 3 and an input terminal is set to issue KEB Ride-Thru (H1- = 65, 66, 7A, 7B). After decelerating for
the time set in parameter L2-02, the drive checks the DC bus voltage and the status of the digital input. If the DC bus
voltage is still below the level set in L2-11 or if the KEB digital input is still active, KEB deceleration continues. If the
voltage level has risen above the value set to L2-11, then normal operation is resumed.
Note: The time set in L2-02 has priority over L2-10. Even if L2-10 is set to a longer time than L2-02, once the time in L2-02 passes, the
drive will check the DC bus voltage level and the status of the terminal assigned to KEB Ride-Thru, then try to restart.
Figure 5.97
Power loss shorter than L2-02 Power loss longer than L2-02
Main Power Supply Power Loss Power Loss

0V 0V
L2-10 L2-10
KEB Digital Input
DC bus voltage
L2-11 (Desired DC Bus Voltage) L2-11 (Desired DC Bus Voltage)
0V 0V
L2-02 KEB restart after L2-02

(Power Loss L2-02 has passed (Power Loss KEB restart triggered by
Ride-Thru Time) Ride-Thru Time) digital input release
Output Frequency
KEB deceleration is KEB deceleration is
triggered by DC bus voltage triggered by DC bus voltage
0 Hz 0 Hz
Figure 5.97 KEB Operation Using L2-02 and KEB Input
KEB Ride-Thru Operation as Long as CPU Has Power, KEB Input Not Used
Here, L2-01 = 4 and the input terminals have not been set for KEB Ride-Thru (H1- does not equal 65, 66, 7A, 7B).
After decelerating for the time set in parameter L2-10, the drive checks the DC bus voltage level. If the DC bus voltage is
lower than the level set in L2-11, then deceleration continues. Once the DC bus voltage rises above the value of L2-11,
normal operation is resumed.
Figure 5.98
Power Loss Shorter than L2-10 Power Loss Longer than L2-10
Main Power Supply Power Loss

Power Loss
0V 0V
DC Bus Voltage
Parameter Details

0V 0V
L2-10 L2-10
(Min. KEB Operation (Min. KEB
Acceleration using L2-07 or Acceleration using L2-07 or
Time Op. Time
C1-01/03/05/07 if L2-07 = 0 C1-01/03/05/07 if L2-07 = 0
Output Frequency
5
KEB Deceleration KEB Deceleration
0 Hz 0 Hz
Figure 5.98 KEB Operation Using L2-10, Without KEB Input
KEB Ride-Thru Operation as Long as CPU Has Power, KEB Input Used
Here, L2-01 = 3 and an input terminal is set to issue KEB Ride-Thru (H1- = 65, 66, 7A, 7B). After decelerating for
the time set in parameter L2-10, the drive checks the DC bus voltage and the status of the digital input. If the DC bus
voltage is still below the level set in L2-11 or if the digital input assigned to KEB Ride-Thru is still active, then the drive
continues to decelerate. If the DC bus voltage has risen above L2-11 and the terminal that initiated KEB Rid-Thru is
released, then operation resumes.
Figure 5.99
Power loss shorter than L2-10 Power loss longer than L2-10
Main Power Supply

Power Loss Power Loss
0V 0V
KEB Digital Input
DC bus voltage

0V 0V
L2-10 (Min.
KEB restart after KEB KEB restart after
L2-10 (Minimum KEB L2-02 has passed Operation L2-02 has passed
Operation Time) Time)
Output Frequency
KEB deceleration is KEB deceleration is
triggered by DC bus voltage triggered by DC bus voltage
0 Hz 0 Hz
Figure 5.99 KEB Operation Using L2-10 and KEB Input

L2-01 = 5
KEB operation ends when the motor has come to a stop, even if the power returns and the digital input terminal that
initiated KEB Ride-Thru is cleared.
 KEB Operation Wiring Example
Figure 5.100 shows a wiring example for triggering the KEB Ride-Thru at power loss using an undervoltage relay. If
power loss occurs, the undervoltage relay triggers KEB Ride-Thru at terminal S6 (H1-06 = 65, 66, 7A, 7B). Note that an
additional dynamic braking option is required if System KEB Ride-Thru 1 is used.
Note: 1. Make sure the Run command is not switched off during momentary power loss. If the Run command is shut off, the drive will not
accelerate back to speed when the power is restored.
2. A dynamic braking option is required in order to use System KEB 1 (L2-29 = 2).
Figure 5.100
Braking Required for System KEB

Resistor Ride-Thru 1 only (L2-29 = 2)
B1 B2
L1 R/L1 U/T1
L2 S/L2 V/T2 M
L3 T/L3 W/T3
UV Detection
Relay
S6 - KEB command 1 or 2
S1 - Start command
SC
Figure 5.100 KEB Function Wiring Example
 Parameters for KEB Ride-Thru

Table 5.42 lists parameters needed to set up KEB Ride-Thru depending the type of KEB Ride-Thru selected in L2-29.
Table 5.42 KEB Function Related Adjustments
KEB Mode (L2-29)
Parameter Name Setting Instructions
0 1 2 3
• Increase if an overvoltage fault (ov) occur during KEB deceleration.
C1-09 Fast Stop Time YES NO NO NO
• Decrease if an undervoltage fault (Uv1) occurs during KEB deceleration.
• Shorten if undervoltage (Uv1) occurs right after KEB Ride-Thru is triggered.
C2-03 S-Curve at Deceleration Start YES NO YES YES
• Lengthen this setting if overvoltage occurs right after KEB operation starts.
Increase if an undervoltage fault (Uv1) fault occurs at KEB operation start in order to let the drive
L2-05 Undervoltage Detection Level YES YES YES YES
detect power loss more quickly.
• Increase if an overvoltage fault (ov) occur during KEB deceleration
L2-06 KEB Deceleration Time NO NO YES YES
• Decrease if an undervoltage fault (Uv1) occurs during KEB deceleration
Adjust to the desired acceleration time. If set to 0, standard acceleration times are used (C1-01,
L2-07 KEB Acceleration Time YES YES YES YES
C1-03, C1-05, C1-07).
• Increase if an undervoltage fault occurs right after KEB operation starts.
L2-08 Frequency Gain at KEB Start YES NO YES YES
• Decrease if an overvoltage fault occurs right after KEB operation starts.
• Increase when a digital input is set for KEB Ride-Thru and an undervoltage fault occurs after
power was lost because the device that controls the input does not react quickly enough.
L2-10 KEB Detection Time YES YES YES YES
• If the DC bus voltage overshoots after KEB Ride-Thru begins (and no input terminal is set to
KEB Ride-Thru), increase L2-10 to longer than the overshoot.
• Set to around 1.22 times the input voltage for Single Drive KEB Ride-Thru 2.
Desired DC Bus Voltage
L2-11 • Set to around 1.4 times the input voltage for Single Drive KEB Ride-Thru 1 and System KEB YES YES YES YES
during KEB
Ride-Thru modes.
• Increase this setting slowly in steps of 0.1 if overvoltage (ov) or undervoltage (Uv1) occurs at the
L3-20 Main Circuit Adjustment Gain beginning of deceleration NO YES NO NO
• Reduce if torque ripple occurs during deceleration while executing KEB Ride-Thru.
• Reduce L3-21 in steps of 0.05 if there is a fairly large speed or current ripple.
Accel/Decel Rate
L3-21 • Decreasing this setting too much can result in a slow DC bus voltage control response, and may NO YES NO NO
Calculation Gain
lead to problems with overvoltage or undervoltage.
L3-24 Motor Acceleration Time Set the motor acceleration time as described on page 287. NO YES NO NO
L3-25 Load Inertia Ratio Set the load/inertia ratio as described on page 287. NO YES NO NO
 L2-02: Momentary Power Loss Ride-Thru Time

Sets the maximum time allowed to ride through a power loss. If power loss operation exceeds this time, the drive will
attempt to accelerate back to frequency reference. This parameter is valid if L2-01 = 1 or 3.
Note: The amount of time the drive is capable of recovering after a power loss is determined by the capacity of the drive. Drive
capacity determines the upper limit for L2-02.

L2-02 Momentary Power Loss Ride-Thru Time 0.0 to 25.5 s
o2-04
Parameter Details
 L2-03: Momentary Power Loss Minimum Baseblock Time
Sets the minimum baseblock time when power is restored following a momentary power loss. This determines the time
the drive waits for the residual voltage in the motor to dissipate. Increase this setting if overcurrent or overvoltage occurs
at the beginning of Speed Search, after a power loss, or during DC Injection Braking.

5
Determined by C6-01
L2-03 Momentary Power Loss Minimum Baseblock Time 0.1 to 5.0 s
and o2-04
 L2-04: Momentary Power Loss Voltage Recovery Ramp Time

Sets the time for the drive to restore the output voltage to the level specified by the V/f pattern after Speed Search. The
setting value determines the time for the voltage to go from 0 V to the maximum voltage.

L2-04 Momentary Power Loss Voltage Recovery Ramp Time 0.0 to 5.0 s
o2-04
 L2-05: Undervoltage Detection Level (Uv)

Determines the voltage at which a Uv1 fault is triggered or at which the KEB function is activated. This setting rarely
needs to be changed.

L2-05 Undervoltage Detection Level 150 to 210 Vdc <1> Determined by E1-01 <2>
<1> Values are specific to 200 V class drives. Double the value for 400 V class drives.
<2> The default setting for 400 V class drives depends on whether the drive input voltage is over 400 V or under 400 V.
Note: 1. When setting L2-05 below the default value, an AC reactor option should be installed to the input side of the power supply to prevent
damage to drive circuitry.
2. If using KEB Ride-Thru and L2-05 is set too low, then undervoltage in the DC bus (uv1) will be triggered before KEB Ride-Thru can
be executed. Take caution not to set this value too low.
 L2-06: KEB Deceleration Time

Sets the time to decelerate from the frequency reference at the time KEB Ride-Thru was initiated down to zero speed.
This setting can be used only when L2-29=2 System KEB Ride-Thru.

L2-06 KEB Deceleration Time 0.00 to 6000.0 s <1> 0.00 s
<1> Setting range is determined by the accel/decel time units set in C1-10. If the time is set in units of 0.01 s (C1-10 = 0), the setting range
becomes 0.00 to 600.00 s.
 L2-07: KEB Acceleration Time

Sets the time to reaccelerate from the speed when KEB was deactivated to the frequency reference.
When set to 0.0 s, the drive will accelerate back up to speed according to the active deceleration time set by C1-01,
C1-03, C1-05, or C1-07.

L2-07 KEB Acceleration Time 0.00 to 6000.0 s <1> 0.00 s
<1> Setting range is determined by the accel/decel time units set in C1-10. If the time is set in units of 0.01 s (C1-10 = 0), the setting range becomes
0.00 to 600.00 s.
 L2-08: Frequency Gain at KEB Start

When the KEB Ride-Thru command is input, the output frequency is reduced in a single step in order to quickly get the
motor into a regenerative state. The amount of this frequency reduction can be calculated using the formula below. Note
that L2-08 can only be used with induction motors.
Amount of reduction = Slip frequency prior to KEB × (L2-08/100) × 2

L2-08 Frequency Gain at KEB Start 0 to 300% 100%
 L2-10: KEB Detection Time (Minimum KEB Time)

Parameter L2-10 determines how long KEB Ride-Thru must operate once it is triggered. Also refer to KEB Ride-Thru
End Detection on page 276.

L2-10 KEB Detection Time 0 to 2000 ms 50 ms
 L2-11: DC Bus Voltage Setpoint during KEB

Determines the setpoint (target value) for the DC bus voltage during Single KEB Ride-Thru 2. For Single KEB
Ride-Thru 1 and System KEB Ride-Thru, parameter L2-11 defines the voltage level to end KEB Ride-Thru.

L2-11 DC Bus Voltage Setpoint during KEB 150 to 400 Vdc <1> Determined by E1-01 <1>
 L2-29: KEB Method Selection

Selects the way the Kinetic Energy Buffering function operates.
The KEB function is not active when L2-01 is set to 4.
Note: If a multi function input is set for Single KEB Ride-Thru 2 (H1- = 7A, 7B) the setting of L2-29 is disregarded and the KEB
mode equal to L2-29 = 1 is automatically selected.
L2-29 KEB Method Selection 0 to 3 0
Setting 0: Single Drive KEB Ride-Thru 1

Setting 1: Single Drive KEB Ride-Thru 2
Setting 2: System KEB Ride-Thru 1
Setting 3: System KEB Ride-Thru 2
Refer to KEB Ride-Thru Function on page 275 for detailed explanations.
 L3: Stall Prevention

When the load is too high or acceleration and deceleration times are too short, the motor may be unable to keep up with
the frequency reference, resulting in excessive slip. During acceleration, this usually causes an overcurrent fault (oC),
drive overload (oL2), or motor overload (oL1). During deceleration, it can cause excessive regenerative power to flow
back into the DC bus capacitors, eventually causing the drive to fault out from overvoltage (oV). The drive can prevent
the motor from stalling and still reach the desired speed without the user needing to change the acceleration or
deceleration time settings. The Stall Prevention function can be set separately for acceleration, operating at constant
speeds, and deceleration.
 L3-01: Stall Prevention Selection during Acceleration
Stall Prevention during acceleration (L3-01) prevents tripping with overcurrent (oC), motor overload (oL1), or drive
overload (oL2) faults common when accelerating with heavy loads.
L3-01 determines the type of Stall Prevention the drive should used during acceleration.

L3-01 Stall Prevention Selection during Acceleration 0 to 2 <1> 1
<1> Setting 2 is not available for OLV/PM.
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
Parameter Details
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:
If the output current rises above the Stall Prevention level set in L3-02, then the drive stops accelerating. Acceleration
will not resume until the output current falls 15% below the setting in L3-02.
The Stall Prevention level is automatically reduced in the constant power range. Refer to L3-03: Stall Prevention
Limit during Acceleration on page 283.
Figure 5.101
Output current
Stall Prevention Level

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

to prevent the motor from stalling
Time
Figure 5.101 Stall Prevention During Acceleration for Induction Motors

• Open Loop Vector Control for PM:
If the output current remains above the Stall Prevention level set in L3-02 for the time set in L3-27, then the drive will
begin to decelerate using the deceleration time set in L3-22. (Refer to L3-22: Deceleration Time at Stall Prevention
during Acceleration on page 286.) Acceleration will not resume until the output current falls 15% below the setting in
L3-02.
Figure 5.102
Output current
L3-02 15 % of L3-02
Time
Output frequency
L3-27
L3-27
Time
Deceleration
using L3-22
Figure 5.102 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).
• Stalling may occur when the motor is rated at a smaller capacity than the drive and the Stall Prevention default settings
are used. Set L3-02 as appropriate if stalling occurs.
• 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 5.103
Stall Prevention level during Acceleration
L3-02
L3-03
Output frequency
E1-06
Base frequency
Figure 5.103 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.
Parameter Details
L3-04 Stall Prevention Selection During Deceleration 0 to 5 <1> <2> 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.
<2> The setting range is 0 to 2, 4, or 5 for models CIMR-A4A0930 to 4A1200.
Setting 0: Disabled
When this setting is used, the drive decelerates according to the set deceleration time. With high inertia loads or rapid 5
deceleration, an overvoltage (ov) fault may occur. In this case use dynamic 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 dynamic braking options. If Stall
Prevention during deceleration is enabled, it will be triggered before the braking resistor option can operate.
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 dynamic braking option.
Figure 5.104 illustrates the function of Stall Prevention during deceleration.

Figure 5.104
Output Frequency
Deceleration characteristics
when Stall Prevention was
triggered during deceleration
Time
specified deceleration time
Figure 5.104 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. As the result, the drive ignores the selected deceleration time and uses the shortest possible deceleration time that
will not cause the motor to stall.
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 dynamic braking options instead.
Setting 3: Stall Prevention with dynamic braking option
Note: The setting of 3 is not available with models CIMR-A4A0930 and 4A1200.
Enables the Stall Prevention function while using a dynamic braking resistor. Overvoltage problems in the DC bus can
occur if Stall Prevention during deceleration is disabled (L3-04) in OLV and a dynamic braking option is installed. Set
L3-04 to 3 to remedy this situation.
Setting 4: Overexcitation Deceleration 1
Decelerates with the set deceleration rate in an overexcitation state (increasing the motor flux). The motor will decelerate
when Stall Prevention is disabled (L3-04). Setting 4 changes the selected decel time and functions to provide protection
from an overvoltage trip. Refer to Overexcitation Deceleration (Induction Motors) on page 304 for details.
Setting 5: Overexcitation Deceleration 2
Overexcitation Deceleration 2 slows down the motor while trying to maintain the DC bus voltage at the level set to
parameter L3-17. This function shortens the achievable deceleration time more than by using Overexcitation
Deceleration 1. Setting 5 will shorten/lengthen the decel time to maintain the L3-17 bus level. Refer to Overexcitation
Deceleration (Induction Motors) on page 304 for details.
 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 parameter 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
(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). A setting of 100% is equal to the drive
rated current.
The Stall Prevention level can be adjusted using an analog input. Refer to Multi-Function Analog Input Terminal
Settings on page 260 for details.

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.
 Overvoltage Suppression Function

This function suppresses overvoltage faults by decreasing the regenerative torque limit and slightly increasing the output
frequency when the DC bus voltage rises. It can be used to drive loads with cyclic regenerative operation, such as a
punch press or other applications that involve repetitive crank movements.
The regenerative torque limit and the output frequency are adjusted during ov suppression so that the DC bus voltage
does not exceed the level set in parameter L3-17. In addition to the parameters explained below, ov suppression also uses
these settings for frequency adjustment:
• 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: 1. The motor speed will exceed the frequency reference when overvoltage suppression is triggered. Consequently, overvoltage
suppression is not appropriate in applications that require a perfect match between the frequency reference and the motor speed.
2. Disable overvoltage suppression when using a braking resistor.
3. Overvoltage may still occur if there is a sudden increase to a regenerative load.
Parameter Details
4. This function is enabled only when operating just below the maximum frequency. Overvoltage suppression does not increase the
output frequency beyond the maximum frequency. If this is required by the application, increase the maximum frequency and change
the base frequency setting.
 L3-11: Overvoltage Suppression Function Selection

Enables or disables the overvoltage suppression function. 5
L3-11 Overvoltage Suppression Function Selection 0 or 1 0
Setting 0: Disabled
The regenerative torque limit and the output frequency are not adjusted. A regenerative load may trip the drive with an
overvoltage fault. Use this setting if dynamic braking options are installed.
Setting 1: Enabled
When the DC bus voltage rises due to regenerative load, an overvoltage fault is prevented by decreasing the regenerative
torque limit and increasing the output frequency.
 L3-17: Target DC Bus Voltage for Overvoltage Suppression and Stall Prevention
Sets the target DC bus voltage target level used by the overvoltage suppression function (L3-11 = 1), Intelligent Stall
Prevention during deceleration (L3-04 = 2).

L3-17 Target DC Bus Voltage for Overvoltage Suppression and Stall Prevention 150 to 400 Vdc <1> 375 Vdc <1> <2>
<2> This value is initialized when E1-01 is changed.
 L3-20: DC Bus Voltage Adjustment Gain

Determines the proportional gain used by overvoltage suppression (L3-11 = 1), Single Drive KEB 2 (L2-29 = 1), KEB
Ride Thru 2 (H1- = 7A or 7B) and Intelligent Stall Prevention during deceleration (L3-04 = 2) in order to control the
DC bus voltage.

L3-20 DC Bus Voltage Adjustment Gain 0.00 to 5.00 Determined by A1-02
Adjustment for Single Drive KEB 2 (L2-29 = 1) and Intelligent Stall Prevention During Deceleration
• Increase this setting slowly in steps of 0.1 if overvoltage or undervoltage occurs at the beginning of deceleration.
• If this setting is too high, then a fair amount of speed or torque ripple can result.
Adjustment for Overvoltage Suppression
• Increase this setting slowly in steps of 0.1 if overvoltage suppression is enabled (L3-11 = 1) and a sudden increase in a
regenerative load results in an overvoltage (ov) fault.
• If this setting is too high, excessive speed or torque ripple can result.
 L3-21: Accel/Decel Rate Calculation Gain
Determines the proportional gain used by overvoltage suppression (L3-11 = 1), Single Drive KEB 2 (L2-29 = 1), and
Intelligent Stall Prevention during deceleration (L3-04 = 2) in order to calculate acceleration and deceleration rates.

L3-21 Accel/Decel Rate Calculation Gain 0.10 to 10.00 <1>
<1> This value is reset to its default value when the control mode is changed (A1-02). The value shown here is for Open Loop Vector Control.
Adjustment for Single Drive KEB 2 (L2-29 = 1) and Intelligent Stall Prevention During Deceleration
• Reduce L3-21 in steps of 0.05 if there is a fairly large speed or current ripple.
• Small reductions of L3-21can also help solve problems with overvoltage and overcurrent.
• Decreasing this setting too much can result in a slow DC bus voltage control response and may also lengthen
deceleration times beyond optimal levels.
Adjustment for Overvoltage Suppression
• Increase this setting in steps of 0.1 if overvoltage occurs as a result of a regenerative load when overvoltage
suppression is enabled (L3-11 = 1).
• If there is a fairly large speed ripple when overvoltage suppression is enabled, then decrease L3-21 in steps of 0.05.
 L3-22: Deceleration Time at Stall Prevention during Acceleration
Sets the brief deceleration time used when stalling occurs while accelerating a PM motor. When set to 0, this function is
disabled and the drive will decelerate at the selected deceleration time when stalling occurs.
The function is effective only in Open Loop Vector Control for PM motors and if parameter L3-01 is set to 1.

L3-22 Deceleration Time at Stall Prevention During Acceleration 0.0 to 6000.0 s 0.0 s
 L3-23: Automatic Reduction Selection for Stall Prevention during Run

This function reduces the Stall Prevention during run level in the constant power range.

L3-23 Automatic Reduction Selection for Stall Prevention During Run 0 or 1 0
Setting 0: Disabled
The level set in L3-06 is used throughout the entire speed range.
Setting 1: Enabled
The Stall Prevention level during run is reduced in the constant power range. The lower limit will be 40% of L3-06.
 L3-24: Motor Acceleration Time for Inertia Calculations
Sets the time it takes to accelerate the motor from stop to the maximum speed at motor rated torque. This parameter
should be set when using Single Drive KEB 2 (L2-29 = 1), Intelligent Stall Prevention during deceleration (L3-04 = 2),
or the overvoltage suppression function (L3-11 = 1).

Determined by o2-04, C6-01, E2-11, and E5-01
L3-24 Motor Acceleration Time for Inertia Calculations 0.001 to 10.000 s
<1>
<1> Parameter L3-24 is defaulted for a Yaskawa standard 4-pole motor. During Auto-Tuning, L3-24 will be initialized to a Yaskawa standard 4-pole
motor if parameter E2-11 is changed. This value also changes based on the motor code set to E5-01 when using the Open Loop Vector Control
Mode for PM motors.
Automatic Parameter Setup
In Closed Loop Vector Control for induction motors or PM motors, the Inertia Auto-Tuning function can be used to let
the drive automatically adjust this parameter. Refer to Auto-Tuning on page 118.
Manual Parameter Setup
Calculations are made as follows:
2 J [kgm2] n rated [min-1]

L3-24 =
60 Trated [Nm]
The rated torque can be calculated as follows:
60 P Motor[kW] 103
Parameter Details
T rated[Nm] =
2 n rated [min-1]
 L3-25: Load Inertia Ratio

Determines the ratio between the rotor inertia and the load. Set this parameter when using Single Drive KEB 2 (L2-29 =
1), Intelligent Stall Prevention during deceleration (L3-04 = 2), or the overvoltage suppression function (L3-11 = 1).
5
L3-25 Load Inertia Ratio 1.0 to 1000.0 1.0
When set incorrectly, a fairly large current ripple can result during Single Drive KEB 2 (L2-29 = 1) and overvoltage
suppression (L3-11 = 1) or other faults such as ov, Uv1, and oC may occur.
Automatic Parameter Setup
In Closed Loop Vector Control for induction motors or PM motors the Inertia Auto-Tuning function can be used to let the
drive automatically adjust this parameter. Refer to Auto-Tuning on page 118.
Manual Parameter Setup
Parameter L3-25 can be calculated by:
Machine Inertia
L3-25 =
Motor Inertia
 L3-26: Additional DC Bus Capacitors

Sets the capacity of any additional DC bus capacitors that have been installed. This data is used in calculations for Single
Drive KEB Ride-Thru 2. This setting needs to be adjusted only if external capacity is connected to the drives DC bus and
Single Drive KEB 2 is used.

L3-26 Additional DC Bus Capacitors 0 to 65000 μF 0 μF
 L3-27: Stall Prevention Detection Time

Sets a delay time from when the Stall Prevention level is reached and the actual Stall Prevention function is activated.

L3-27 Stall Prevention Detection Time 0 to 5000 ms 50 ms
 L3-34: Torque Limit Delay Time

Sets the filter time constant in seconds for the torque limit value to return to set value when the Power KEB Ride-Thru is
enabled (L2-29 = 1). If oscillation occurs during Power KEB Ride-Thru, then gradually increase this setting in
increments of 0.010 s.
L3-34 Torque Limit Delay Time 0.000 to 1.000 s Determined by A1-02 <1>
<1> L3-34 = 0.200 when A1-02 = 6, L3-34 = 0.020 when A1-02 = 7.
 L3-35: Speed Agree Width at Intelligent Stall Prevention during Deceleration

Sets the speed agreement width when L3-04 = 2 (Intelligent Stall Prevention during deceleration) in unit of 0.01 Hz. Use
this parameter when hunting is started by a frequency reference in analog input.
L3-35 Speed Agree Width at Intelligent Stall Prevention during Deceleration 0.00 to 1.00 Hz 0.00 Hz
 L4: Speed Detection

These parameters set up the speed agree and speed detection functions which can be assigned to the multi-function
output terminals.
The speed is detected using the motor speed when A1-02 = 3 or 7.
 L4-01, L4-02: Speed Agreement Detection Level and Detection Width
Parameter L4-01 sets the detection level for the digital output functions “Speed agree 1,” “User-set speed agree 1,”
“Frequency detection 1,” and “Frequency detection 2.”
Parameter L4-02 sets the hysteresis level for these functions.

L4-01 Speed Agreement Detection Level 0.0 to 400.0 Hz <1> 0.0 Hz <1>
L4-02 Speed Agreement Detection Width 0.0 to 20.0 Hz Determined by A1-02
Refer to H2-01 to H2-03: Terminal M1-M2, M3-M4, and M5-M6 Function Selection on page 246, Settings 2, 3, 4, and
5.
 L4-03, L4-04: Speed Agreement Detection Level and Detection Width (+/-)
Parameter L4-03 sets the detection level for the digital output functions “Speed agree 2,” “User-set speed agree 2,”
“Frequency detection 3,” and “Frequency detection 4.”
Parameter L4-04 sets the hysteresis level for these functions.

L4-03 Speed Agreement Detection Level (+/-) -400.0 to 400.0 Hz <1> 0.0 Hz <1>
L4-04 Speed Agreement Detection Width (+/-) 0.0 to 20.0 Hz Determined by A1-02
<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent (-100.0 to 100.0%) instead of in Hz.
Refer to H2-01 to H2-03: Terminal M1-M2, M3-M4, and M5-M6 Function Selection on page 246, Settings 13, 14, 15,
and 16.
 L4-05: Frequency Reference Loss Detection Selection
The drive can detect a loss of an analog frequency reference from input A1, A2, or A3. Frequency reference loss is
detected when the frequency reference drops below 10% of the reference before or below 5% of the maximum output
frequency within 400 ms. Restoring the analog frequency reference to the L4-06 value or higher before loss occurs will
clear the frequency reference loss status.
Figure 5.105
Ratio of analog
frequency reference
Analog before loss
frequency 100%
reference L4-06 (%)
10%
400 ms
Loss of OFF ON
Reference
output time
Figure 5.105 Loss of Reference Function

To have a digital output trigger when frequency reference loss occurs, set H2-01, H2-02, or H2-03 to C. Refer to Setting
C: Frequency reference loss on page 250 for details on setting the output function.
Parameter L4-05 selects the operation when a frequency reference loss is detected.
Parameter Details
L4-05 Frequency Reference Loss Detection Selection 0 or 1 0
Setting 0: Operate following the frequency reference

Setting 1: Continue operation with reduced frequency reference
The drive will continue operation at the frequency reference value set in parameter L4-06. When the external frequency
reference value is restored, the operation is continued with the frequency reference.
5
 L4-06: Frequency Reference at Reference Loss
Sets the frequency reference level the drive runs with when L4-05 = 1 and a reference loss was detected. The value is set
as a percentage of the frequency reference when the loss was detected.

L4-06 Frequency Reference at Reference Loss 0.0 to 100.0% 80.0%
 L4-07: Speed Agree Detection Selection

Determines when frequency detection is active using parameters L4-01 through L4-04.

L4-07 Speed Agree Detection Selection 0 or 1 0
Setting 0: No detection during baseblock

Setting 1: Detection always enabled
 L5: Fault Restart

After a fault has occurred, this function attempts to automatically restart the motor and continue operation instead of
stopping.
The drive can be set up to perform a self-diagnostic check and resume the operation after a fault has occurred. If the
self-check is successful and the cause of the fault has disappeared, the drive restarts by first performing Speed Search.
Refer to b3: Speed Search on page 160 for details.
DANGER! Never use the fault restart function in hoist-type applications.
The drive can attempt to restart itself following the faults listed below.
Fault Name Fault Name

GF Ground Fault oL4 Overtorque 2
LF Output Open Phase ov DC Bus Overvoltage
oC Overcurrent PF Input Phase Loss
oH1 Drive Overheat rH Braking Resistor Fault
oL1 Motor Overload rr Braking Transistor Fault
oL2 Drive Overload Uv1 DC Bus Undervoltage <1>
oL3 Overtorque 1 Sto Pull-Out Detection
<1> When L2-01 is set to 1 through 4 (continue operation during momentary power loss)
Use parameters L5-01 to L5-05 to set up automatic fault restart.

To output a signal during fault restart, set H2-01, H2-02, or H2-03 to 1E.
 L5-01: Number of Auto Restart Attempts
Sets the number of times that the drive may attempt to restart itself.
The method of incrementing the restart counter is determined by the setting of parameter L5-05. When the counter
reaches the number set in L5-01, the operation stops and the fault has to be reset manually after correcting the cause.
The restart counter is incremented at each restart attempt, regardless of whether the attempt was successful. When the
counter reaches the number set in L5-01, the operation stops and the fault has to be reset manually after correcting the
cause.
The number of fault restarts is reset back to zero when:
• The drive operates normally for ten minutes following a fault restart.
• A fault is cleared manually after protective functions are triggered.
• The power supply is cycled.
L5-01 Number of Auto Restart Attempts 0 to 10 Times 0 Time
 L5-02: Auto Restart Fault Output Operation Selection

Determines if a fault output is triggered (H2- = E) when the drive attempts to restart.

L5-02 Auto Restart Fault Output Operation Selection 0 or 1 0
Setting 0: No fault output

Setting 1: Fault output is set
 L5-04: Fault Reset Interval Time
Determines the amount of time to wait between restart attempts when parameter L5-05 is set to 1.

L5-04 Fault Reset Interval Time 0.5 to 600.0 s 10.0 s
 L5-05: Fault Reset Operation Selection

L5-05 Fault Reset Operation Selection 0 or 1 0
Setting 0: Count successful restarts

The drive will continuously attempt to restart. If it restarts successfully, the restart counter is increased. This operation is
repeated each time a fault occurs until the counter reaches the value set in L5-01.
Setting 1: Count restart attempts
The drive will try to restart using the time interval set in parameter L5-04. A record is kept of the number of attempts to
restart to the drive, regardless of whether or not those attempts were successful. When the number of attempted restarts
exceeds the value set to L5-01, the drive gives up trying to restart.
 L6: Torque Detection

The drive provides two independent torque detection functions that trigger an alarm or fault signal when the load is too
heavy (oL), or suddenly drops (UL). They are set up using the L6- parameters. To indicate the underload or overload
condition to an external device, digital outputs should be programmed as shown below.
Note: When overtorque occurs in the application, the drive may stop due to overcurrent (oC) or overload (oL1). To prevent this, an
overload situation should be indicated to the controller before oC or oL1 occur in the drive. Use the torque detection for this
purpose. Use undertorque detection to discover application problems like a torn belt, a pump shutting off, or other similar
trouble.
H2-01, H2-02, H2-03

Description
Setting
B Torque detection 1, N.O. (output closes when overload or underload is detected)
17 Torque detection 1, N.C. (output opens when overload or underload is detected
18 Torque detection 2, N.O. (output close when overload or underload is detected)
19 Torque detection 2, N.C. (output opens when overload or underload is detected)
Figure 5.106 and Figure 5.107 show the function of overtorque and undertorque detection.
Figure 5.106
Motor current / torque

10 % hysteresis 10 % hysteresis
L6-02/05
Parameter Details
L6-03/06 L6-03/06
Torque detection 1 (NO)
or
Torque detection 2 (NO) ON ON
Figure 5.106 Overtorque Detection Operation

Figure 5.107
Motor current / torque 10 % hysteresis 5
L6-02/05
L6-03/06 L6-03/06
Torque detection 1 (NO)
or
Torque detection 2 (NO) ON ON
Figure 5.107 Undertorque Detection Operation

Note: 1. The torque detection function uses a hysteresis of 10% of the drive rated output current and motor rated torque.
2. In V/f, V/f w/PG and OLV/PM, the level is set as a percentage of the drive rated output current. In OLV, CLV, AOLV/PM and CLV/
PM, it is set as a percentage of the motor rated torque.
 L6-01, L6-04: Torque Detection Selection 1, 2

The torque detection function is triggered when the current or torque exceeds the levels set in L6-02 and L6-05 for longer
than the time set in L6-03 and L6-06. L6-01 and L6-04 select the conditions for detection and the operation that follows.

L6-01 Torque Detection Selection 1 0 to 8 0
L6-04 Torque Detection Selection 2 0 to 8 0
Setting 0: Disabled
Setting 1: oL3, oL4 at speed agree (Alarm)
Overtorque detection is active only when the output speed is equal to the frequency reference, i.e., no detection during
acceleration and deceleration. The operation continues after detection and an oL3/oL4 alarm is triggered.
Setting 2: oL3, oL4 at run (Alarm)
Overtorque detection works as long as the Run command is active. The operation continues after detection and an oL3 or
oL4 alarm is triggered.
Setting 3: oL3, oL4 at speed agree (Fault)
Overtorque detection is active only when the output speed is equal to the frequency reference, i.e., no detection during
acceleration and deceleration. The operation is stopped and an oL3 or oL4 fault is triggered.
Setting 4: oL3, oL4 at run (Fault)
Overtorque detection works as long as a Run command is active. Operation stops and an oL3 or oL4 fault is triggered.
Setting 5: UL3, UL4 at speed agree (Alarm)
Undertorque detection is active only when the output speed is equal to the frequency reference, i.e., no detection during
acceleration and deceleration. The operation continues after detection and a UL3 or UL4 alarm is triggered.
Setting 6: UL3, UL4 at Run (Alarm)
Undertorque detection works as long as the Run command is active. The operation continues after detection and a UL3 or
UL4 alarm is triggered.
Setting 7: UL3, UL4 at Speed Agree (Fault)
Undertorque detection is active only when the output speed is equal to the frequency reference, i.e., no detection during
acceleration and deceleration. The operation is stopped and a UL3 or UL4 fault is triggered.
Setting 8: UL3, UL4 at run (Fault)
Undertorque detection works as long as a Run command is active. Operation stops and a UL3 or UL4 fault is triggered.
 L6-02, L6-05: Torque Detection Level 1, 2
These parameters set the detection levels for the torque detection functions 1 and 2. In V/f and OLV/PM control modes
these levels are set as a percentage of the drive rated output current, while in vector control modes these levels are set as
a percentage of the motor rated torque. When Mechanical Weakening detection is enabled (L6-08 ≠ 0), the level for
L6-02 is set as a percentage of the drive’ rated output current in all control modes.

L6-02 Torque Detection Level 1 0 to 300% 150%
L6-05 Torque Detection Level 2 0 to 300% 150%
Note: The torque detection level 1 (L6-02) can also be supplied by an analog input terminal set to H3- = 7. Here, the analog value
has priority and the setting in L6-02 is disregarded. Torque detection level 2 (L6-05) cannot be set by an analog input.
 L6-03, L6-06: Torque Detection Time 1, 2

These parameters determine the time required to trigger an alarm or fault after exceeding the levels in L6-02 and L6-05.

L6-03 Torque Detection Time 1 0.0 to 10.0 s 0.1 s
L6-06 Torque Detection Time 2 0.0 to 10.0 s 0.1 s
 Mechanical Weakening Detection

This function can be used to detect mechanical weakening of a machine that leads to overtorque or undertorque situations
after a certain machine operation time has elapsed.
The function is activated in the drive when the cumulative operation counter U4-01 exceeds the time set in parameter
L6-11. Mechanical Weakening Detection uses the torque detection 1 settings (L6-01, L6-02, L6-03) and triggers an oL5
or UL5 fault when overtorque or undertorque occurs in the speed range determined by parameter L6-08 and L6-09. The
oL5 or UL5 operation is set by parameter L6-08.
To output a signal for Mechanical Weakening Detection, set H2- to 22.
 L6-08: Mechanical Weakening Detection Operation
Sets the speed range to detect mechanical weakening and the action to take when mechanical weakening is detected.

L6-08 Mechanical Weakening Detection Operation 0 to 8 0
Setting 0: Disabled
Setting 1: Continue running if the speed is greater than L6-09 (signed) (Alarm)
Detection when the speed is above L6-09 (signed). Upon detection operation continues, but an oL5 alarm is output.
Setting 2: Continue running if the speed is greater than L6-09 (Alarm)
Detection when the speed is above L6-09 (unsigned). Upon detection operation continues, but an oL5 alarm is output.
Setting 3: Stop when motor speed is greater than L6-09 (signed) (Fault)
Detection when the speed is above L6-09 (signed). Upon detection operation is stopped and an oL5 fault is output.
Setting 4: Stop when Motor Speed is Greater than L6-09 (Fault)
Detection when the speed is above L6-09 (unsigned). Upon detection operation is stopped and an oL5 fault is output.
Setting 5: Continue running if the speed is less than L6-09 (signed) (Alarm)
Detection when the speed is below L6-09 (signed). Upon detection operation continues, but a UL5 alarm is output.
Setting 6: Continue running if the speed is less than L6-09 (Alarm)
Detection when the speed is below L6-09 (unsigned). Upon detection operation continues, but a UL5 alarm is output.
Setting 7: Stop when Motor Speed is less than L6-09 (signed) (Fault)
Detection when the speed is below L6-09 (signed). Upon detection operation is stopped and a UL5 fault is output.
Parameter Details
Setting 8: Stop when motor speed is less than L6-09 (Fault)
Detection when the speed is below L6-09 (unsigned). Upon detection the operation is stopped and a UL5 fault is output.
 L6-09: Mechanical Weakening Detection Speed Level
Sets the speed level for Mechanical Weakening Detection. 5
L6-09 Mechanical Weakening Detection Speed Level -110.0 to 110.0% 110.0%
The value is set as a percentage of the maximum frequency. If L6-08 is set for unsigned speed detection (L6-08 = 2, 4, 6,
8) then the absolute value of L6-09 is used (negative settings are treated as positive values).
 L6-10: Mechanical Weakening Detection Time
Sets the time permitted for the situation selected in parameter L6-08 to arise before mechanical weakening is detected.

L6-10 Mechanical Weakening Detection Time 0.0 to 10.0 s 0.1 s
 L6-11: Mechanical Weakening Detection Start Time

Sets the drives cumulative operation time at which Mechanical Weakening Detection is activated. If U4-01 reaches the
L6-11 value, the function is activated.

L6-11 Mechanical Weakening Detection Start Time 0 to 65535 h 0h
 L7: Torque Limit

The torque limit function can be used to limit the torque in each of the four quadrants individually and thereby protect the
machinery. It can be used in OLV, CLV, AOLV/PM, and CLV/PM control modes. The limit can be either set by
parameters or by analog inputs. A digital output programmed for “During torque limit” (H2-01, H2-02, H2-03 = 30) can
be switched when the drive is operating at the torque limit.
 Setting Torque Limits
The torque limits are defined by parameters L7-01 to L7-04 for each of the four operation quadrants. Analog inputs can
also be used to either define a general limit for all operation conditions (H3-02, H3-06, H3-10 = 15) or for setting
separate limits for each operation condition (H3-02, H3-06, H3-10 = 10, 11, or 12). Figure 5.108 shows which of the
limit settings is applied in each quadrant.
If two limit values are defined for the same operation conditions, the drive will use the lower value.
Note: The maximum output torque is ultimately limited by the drive output current (max. 150% of drive rated current in HD, 120% in
ND). Output torque will not exceed the limit set for the drive rated current, even if the torque limits are set to higher values.
Example: If parameter L7-01 = 130%, L7-02 to L7-04 = 200%, and a general torque limit of 150% is set by an analog
input (H3-02, H3-06, H3-10 = 15), then the torque limit in quadrant 1 will be 130%, but 150% in all other quadrants.
Figure 5.108
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 L7-02 Parameter L7-03
REV run motoring FWD run regenerative
negative torque reference
Figure 5.108 Torque Limit Parameters and Analog Input Settings
 L7-01 to L7-04: Torque Limits

These parameters set the torque limits in each quadrant.

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.
 L7-06: Torque Limit Integral Time Constant

Sets the integral time constant for the torque limit function. Decrease this setting for faster torque limit response. Increase
it if oscillation occur when operating at the torque limit.

L7-06 Torque Limit Integral Time Constant 5 to 10000 ms 200 ms
 L7-07: Torque Limit Control Method Selection during Accel/Decel

Selects the function of torque limit during acceleration and deceleration.

L7-07 Torque Limit Control Method Selection during Accel/Decel 0 or 1 0
Setting 0: Proportional control

The torque limit function works with P control during accel and decel, and switches to I control at constant speed. Use
this setting when accelerating or decelerating to the desired speed has priority over the torque limit during speed changes.
Setting 1: Integral control
The torque limit function always uses I control. Use this setting when a highly accurate torque limit is required, even
during speed changes. Using this function may increase the acceleration time, or may prevent the motor speed from
reaching the frequency reference if the torque limit is reached first.
 L7-16: Torque Limit Process at Start
Assigns a time filter to allow the torque limit to build at start.

L7-16 Torque Limit Process at Start 0 to 1 1
Setting 0: Disabled
Toque limit is created at start without a delay time. Disable L7-16 to maximize response time when the application
requires sudden acceleration or deceleration at start.
Setting 1: Enabled
A time filter is added to allow the torque limit to build at start.
 L8: Drive Protection

 L8-01: Internal Dynamic Braking Resistor Protection Selection (ERF type)
This parameter selects the dynamic braking resistor protection when using an optional heatsink mounted braking resistor
(ERF type, 3% ED).
Parameter Details
L8-01 Internal Dynamic Braking Resistor Protection Selection (ERF type) 0 or 1 0
Setting 0: Disabled
Disables braking resistor protection. Use this setting for any dynamic braking option other than the Yaskawa ERF type
resistor.
Setting 1: Enabled
5
Enables protection for Yaskawa ERF type resistors.
 L8-02: Overheat Alarm Level
Sets the overheat alarm (oH) detection level.
The drive will output an alarm when the heatsink temperature exceeds the alarm level set in parameter L8-02. If the
temperature reaches the overheat fault level, the drive will trigger an oH1 fault and stop operation.
When an output terminal is set for the oH pre-alarm (H2- = 20), the switch will close when the heatsink temperature
rises above L8-02.

L8-02 Overheat Alarm Level 50 to 150 °C
o2-04
 L8-03: Overheat Pre-Alarm Operation Selection

Sets the operation when an overheat pre-alarm is detected.
Note: Change settings only when necessary.

L8-03 Overheat Pre-Alarm Operation Selection 0 to 4 3

If an overheat alarm occurs, the drive decelerates to stop using the deceleration time currently selected. If a digital output
is programmed for “fault” (H2- = E), this output will be triggered.
If heatsink overheat (oH) occurs, the drive switches off the output and the motor coasts to stop. If a digital output is
programmed for “fault” (H2- = E), this output will be triggered.
If an overheat alarm occurs, the drive decelerates to stop using the Fast Stop time (C1-09). If a digital output is
programmed for “fault” (H2- = E), this output will be triggered.
If an overheat alarm occurs, an alarm is output and the drive continues operation.
Setting 4: Operation with reduced speed
If an overheat alarm occurs, the operation is continued but the speed is reduced to the level set in parameter L8-19. If
after 10 s the oH alarm is still present, the speed is reduced once more. The amount of reduction depends on how often
the alarm repeats. If the oH alarm disappears while the drive is operating at a reduced speed, then the drive will switch
back to the previous speed it was reduced to before. Figure 5.109 explains the operation with reduced speed during an
oH alarm. A digital output programmed for 4D is switched when the oH alarm is still active after ten reduction cycles.
Figure 5.109
Output frequency
10 s 10 s 10 s 10 s 10 s 10 s 10 s
fref
oH
Alarm
fref × (L8-19) Reset oH
Alarm Reset oH
oH Alarm
Alarm
fref × (L8-19)2
oH etc. oH
3
Alarm Alarm
fref × (L8-19)
fref × (L8-19)4
time
oH alarm number
Digital output (4D)
Figure 5.109 Output Frequency Reduction During Overheat Alarm
 L8-19: Frequency Reduction Rate during Overheat Pre-Alarm

Specifies how much the output frequency is reduced when L8-03 is set to 4 and an oH alarm is present.

L8-19 Frequency Reduction Rate During Overheat Pre-Alarm 0.1 to 0.9 0.8
 L8-05: Input Phase Loss Protection Selection

Enables or disables the input phase loss detection.
L8-05 Input Phase Loss Protection Selection 0 or 1 1
Setting 0: Disabled
Setting 1: Enabled
Enables input phase loss detection. As detection is performed by measuring the DC bus ripple, a phase loss fault (PF) can
also be triggered by a power supply voltage imbalance or main circuit capacitor deterioration. Detection is disabled if:
• The drive is decelerating.
• No Run command is active.
• Output current is less than or equal to 30% of the drive rated current.
 L8-07: Output Phase Loss Protection Selection
Enables or disables the output phase loss detection.
Note: 1. Output phase loss detection can mistakenly be triggered if the motor rated current is very small compared to the drive rating. Disable
this parameter in such cases.
2. Output phase loss detection is not possible when the drive is running a PM motor with light load.

L8-07 Output Phase Loss Protection Selection 0 to 2 0
Setting 0: Disabled
Setting 1: Fault when one phase is lost
An output phase loss fault (LF) is triggered when the output current for any phase U, V, or W drops to 5% or less of the
drive rated current.
When using a PM motor, this is applicable when the output current is 30% or higher of the drive rated current.
When using an IM motor, this is applicable when the output current is 5% or higher of the drive rated current.
Setting 2: Fault when two phases are lost
An output phase loss fault (LF) is triggered when the output current for phases U, V, and W all drop to 5% or less of the
The output shuts off and the motor coasts to stop.
 L8-09: Output Ground Fault Detection Selection
Parameter Details
Enables or disables the output ground fault detection.
L8-09 Output Ground Fault Detection Selection 0 or 1 1
Setting 0: Disabled
5
Ground faults are not detected.
Setting 1: Enabled
A ground fault (GF) is triggered when high leakage current or a ground short circuit occurs in one or two output phases.
 L8-10: Heatsink Cooling Fan Operation Selection
Selects the heatsink cooling fan operation.
L8-10 Heatsink Cooling Fan Operation Selection 0 or 1 0
Setting 0: Run with timer

The fan is switched on when a Run command is active. It is switched off with the delay set in parameter L8-11 after the
Run command has been released. Using this setting extends the fan lifetime.
Setting 1: Run always
The fan runs whenever power is supplied to the drive.
 L8-11: Heatsink Cooling Fan Off-Delay Time

Sets the cooling fan switch off-delay time if parameter L8-10 is set to 0.
L8-11 Heatsink Cooling Fan Off-Delay Time 0 to 300 s 60 s
 L8-12: Ambient Temperature Setting

If the temperature where the drive is mounted is above the specified values, the drive rated current must be reduced for
optimal performance life. By setting the ambient temperature to parameter L8-12 and adjusting the installation method
setting in L8-35, the drive rating automatically adapts to safe values. Refer to Temperature Derating on page 453 for
detail.
L8-12 Ambient Temperature Setting -10 to 50 °C 40 °C
 L8-15: oL2 Characteristics Selection at Low Speeds

Selects whether the drive overload capability (oL fault detection level) is reduced at low speeds in order to prevent
premature output transistor failures.
Note: Contact Yaskawa or a Yaskawa representative for consultation first before disabling this setting.
L8-15 oL2 Characteristics Selection at Low Speed 0 or 1 1
Setting 0: oL2 (Drive Overload) characteristics disabled at low speed

The overload protection level is not reduced. Frequently operating the drive with high output current at low speed can
lead to premature drive faults.
Setting 1: oL2 (Drive Overload) characteristics enabled at low speed
The overload protection level (oL2 fault detection level) is automatically reduced at speeds below 6 Hz.
 L8-18: Software Current Limit Selection
The Software Current Limit (CLA) is a drive protection function that prevents main circuit transistor failures caused by
high current. Parameter L8-18 enables or disables this function.
Note: This setting should not be changed unless absolutely necessary.
L8-18 Software Current Limit Selection 0 or 1 0
Setting 0: Software CLA disabled (gain = 0)

The drive may trip on an oC fault if the load is too heavy or the acceleration is too short.
Setting 1: Software CLA enabled
When the soft CLA current level is reached, the drive reduces the output voltage in order to reduce the current. If the
current level drops below the Software CLA level, then normal operation will continue.
 L8-27: Overcurrent Detection Gain
Adjusts the overcurrent detection level when running in OLV/PM, AOLV/PM, or CLV/PM. A setting of 100% is equal to
the motor rated current. If the setting value is too low, there is a risk that overcurrent will be mistakenly detected. For
motors that require protection from demagnetization due to overcurrent, do not increase this setting value too much.
Contact the motor manufacturer for the protection level.
Overcurrent detection will use whichever value is the lowest: the overcurrent level for the drive, or the motor rated
current multiplied by L8-27.
Note: 1. The Overcurrent Protection for PM motor is not disabled when 0.0% is set for CIMR-A4A0930, 4A1200.
2. For drives with software version S1025 or later, Overcurrent Protection for PM motor is disabled when L8-27 is set to 0.0%. If
Overcurrent Protection for PM motor is required, do not set L8-27 to 0.0%. When the rated current of the drive is significantly higher
than the rated current of the motor and flows to the overcurrent detection level of the drive, the magnet of the PM motor may become
demagnetized.
L8-27 Overcurrent Detection Gain 0.0 to 400.0% 300.0%
 L8-29: Current Unbalance Detection (LF2)

Enables or disables output current imbalance detection when running in OLV/PM, AOLV/PM, or CLV/PM. Current
unbalance can heat up a PM motor and lead to demagnetization of the magnets. The current imbalance detection function
prevents such motor damage by monitoring output current and triggering the LF2 fault when current unbalance occurs.

2A0004 to 2A0415, 4A0002 to 4A0630:
L8-29 Current Unbalance Detection (LF2) 0 to 3 1
4A0930, 4A1200: 0, 1
2A0004 to 2A0415, 4A0002 to 4A0630

Setting 0: Disabled
No current unbalance protection is provided to the motor.
Setting 1: Enabled (current and voltage detection)
Setting 2: Enabled (current detection)
The LF2 fault is triggered if an output current imbalance is detected. Drive output shuts off and the motor coasts to stop.
Setting 3: Enabled (voltage detection)
4A0930, 4A1200
Setting 0: Disabled
Setting 1: Enabled (current detection)
 L8-32 Cooling Fan Failure Selection
Determines drive operation when a FAn fault occurs.

L8-32 Cooling Fan Failure Selection 0 to 4 1

Parameter Details
The operation is continued and a FAn alarm is displayed on the digital operator.
Setting 4: Operation with reduced speed
The operation is continued but the speed is reduced to the level set in parameter L8-19.
Note: FAn is detected as an error when setting 0 to 2 is selected. It is detected as an alarm when setting 3 or 4 is selected. 5
 L8-35: Installation Method Selection
Selects the type of installation for the drive and changes the drive overload (oL2) limits accordingly. Refer to
Temperature Derating on page 453 for detail.
Note: 1. This parameter is not reset when the drive is initialized.
2. The value is preset to the appropriate value when the drive is shipped. Change the value only when using Side-by-Side installation or
when mounting a standard drive with the heatsink outside the cabinet.

L8-35 Installation Method Selection 0 to 3 Determined by o2-04
Setting 0: IP00 enclosure

For an IP00 enclosure drive installed with at a minimum of 30 mm space to the next drive or a cabinet wall.
Setting 1: Side-by-Side mounting
For drives mounted according to Yaskawa’s Side-by-Side specifications (requires 2 mm between drives).
Setting 2: IP20/UL Type 1 enclosure

For drives compliant with IP20/UL Type 1 enclosure specifications.
Setting 3: Finless drive or external heatsink Installation
For finless drives or a standard drive mounted with the heatsink outside the cabinet or enclosure panel.
 L8-38: Carrier Frequency Reduction Selection
Lets the drive reduce the carrier frequency when the output current exceeds a certain level. This temporarily increases the
overload capability (oL2 detection), allowing the drive to run through transient load peaks without tripping.
L8-38 selects the operation of the carrier frequency reduction function.
Note: This function cannot be used in Advanced Open Loop Vector for PM motors.
Determined by A1-02,
L8-38 Carrier Frequency Reduction Selection 0 to 2
C6-01 and o2-04
Setting 0: Disabled
No carrier frequency reduction at high current.
Setting 1: Enabled for output frequencies below 6 Hz
The carrier frequency is reduced at speeds below 6 Hz when the current exceeds 100% of the drive rated current. The
drive returns to its normal carrier frequency when the current falls below 88% or the output frequency exceeds 7 Hz.
Setting 2: Enabled for entire frequency range
The carrier frequency is reduced at the following speeds:
• Below 6 Hz when the current exceeds 100% of the drive rated current.
• Above 7 Hz when the current exceeds 112% of the drive rated current.
The drive uses the delay time set in parameter L8-40 and a hysteresis of 12% when switching the carrier frequency back
to the set value.
 L8-40: Carrier Frequency Reduction Off-Delay Time
The following settings are used when the carrier frequency is to be reduced at start:
• Time taken for the reduced carrier frequency to return to the carrier frequency set at C6-02.
• Time taken to return to the set carrier frequency after reducing it by setting L8-38 to 1 or 2.
The carrier frequency reduction function at start is disabled if this value is 0.00 s.
L8-40 Carrier Frequency Reduction Off-Delay Time 0.00 to 2.00 s Determined by A1-02
 L8-41: High Current Alarm Selection

Triggers a high current alarm (HCA) when the output current rises too much.
L8-41 High Current Alarm Selection 0 or 1 0
Setting 0: Disabled
No alarm is detected.
Setting 1: Enabled
An alarm is triggered when the output current exceeds 150% of the drive rated current. A digital output set for an alarm
(H2- = 10) will close.
 L8-55: Internal Braking Transistor Protection
Enables or disables protection for the internal braking transistor.
L8-55 Internal Braking Transistor Protection 0 or 1 1
Setting 0: Disabled
Braking transistor protection should be disabled whenever the internal braking transistor is not used. This includes,
• when using a regen converter such as DC.
• when using a regen unit such as RC5.
• when using external braking transistor options like CDBR units.
• when the drive is used in common DC bus applications and the internal braking chopper is not installed.
Enabling this L8-55 under such conditions can incorrectly trigger a braking resistor fault (rF).
Setting 1: Enabled
The following models come with a built-in braking transistor:
• CIMR-A2A0004 to 2A0138
• CIMR-A4A0002 to 4A0072
Enable L8-55 when connecting a braking resistor or a braking resistor unit to the drive built-in braking transistor.
 L8-78: Power Unit Output Phase Loss Protection
Protects the power unit from phase loss.

L8-78 Power Unit Output Phase Loss Protection 0, 1 1
Setting 0: Disabled
Setting 1: Enabled
 L8-93: LSo Detection Time at Low Speed
Sets the amount of time until baseblock is executed once LSo has been detected at low speed. A setting of 0.0 s
essentially disables this parameters.

L8-93 LSo Detection Time at Low Speed 0.0 to 10.0 s 1.0 s
 L8-94: LSo Detection Level at Low Speed

Determines the detection level of LSo at low speed. Set as a percentage of the maximum frequency (E1-04).
Parameter Details
L8-94 LSo Detection Level at Low Speed 0 to 10% 3%
 L8-95: Average LSo Frequency at Low Speed

Sets the average number of times LSo can occur at low speed.

5
L8-95 Average LSo Frequency at Low Speed 1 to 50 times 10 times
 L9: Drive Protection 2

 L9-03: Carrier Frequency Reduction Level Selection
Selects start or clear current level for automatic carrier frequency reduction.

L9-03 Carrier Frequency Reduction Level Selection 0, 1 0
Setting 0: Reduces the carrier frequency based on the drive rated current that is not derated.
Setting 1: Reduces the carrier frequency based on the drive rated current that is derated by the carrier
frequency and temperature with C6-02 selection.
5.9 n: Special Adjustments

These parameters handle a variety of specialized adjustments and functions, including Hunting Prevention, AFR Control,
High Slip Braking, resistance between motor lines, and PM motor control functions.
 n1: Hunting Prevention

Hunting Prevention keeps the drive from hunting as a result of low inertia and operating with light load. Hunting often
occurs with a high carrier frequency and an output frequency below 30 Hz.
 n1-01: Hunting Prevention Selection
Enables or disables the Hunting Prevention function.
Note: This function is available only when using V/f Control. Hunting Prevention should be disabled when drive response is more
important than suppressing motor oscillation. This function can also be disabled without any problems in applications with high
inertia loads or relatively heavy loads.

n1-01 Hunting Prevention Selection 0 or 1 1
Setting 0: Disabled
Setting 1: Enabled
 n1-02: Hunting Prevention Gain Setting
Sets the gain for the Hunting Prevention Function.

n1-02 Hunting Prevention Gain Setting 0.00 to 2.50 1.00
Normally, n1-02 does not need to be changed, but adjustment may help under the following conditions:
• If the motor vibrates while lightly loaded and n1-01 = 1, increase the gain by 0.1 until vibration ceases.
• If the motor stalls while n1-01 = 1, decrease the gain by 0.1 until the stalling ceases.
 n1-03: Hunting Prevention Time Constant
Determines how responsive the Hunting Prevention function is (affects the primary delay time for Hunting Prevention).

n1-03 Hunting Prevention Time Constant 0 to 500 ms Determined by o2-04
Normally, n1-03 does not need to be changed, but adjustment may help under the following conditions:
• Increase this value for applications with a large load inertia. A higher setting leads to slower response, though, which
can result in oscillation at lower frequencies.
• Lower this setting if oscillation occurs at low speed.
 n1-05: Hunting Prevention Gain while in Reverse
This parameter is the same as n1-02, except that it is used when rotating in reverse. See the explanation for n1-02.
Note: When set to 0 ms, n1-02 is enabled even when the drive is operating in reverse.

n1-05 Hunting Prevention Gain while in Reverse 0.00 to 2.50 0.00
 n2: Speed Feedback Detection Control (AFR) Tuning

These parameters are used to achieve speed stability when a load is suddenly applied or removed.
Note: Before making changes to the AFR parameters, make sure all motor parameters are set properly or perform Auto-Tuning.
 n2-01: Speed Feedback Detection Control (AFR) Gain

Sets the internal speed feedback detection control gain in the AFR.

n2-01 Speed Feedback Detection Control (AFR) Gain 0.00 to 10.00 1.00
Normally there is no need to adjust n2-01 from the default setting. Make adjustments in the following cases:
• If hunting occurs, increase the setting value in steps of 0.05 while checking the response.
• If response is low, decrease the setting value in steps of 0.05 while checking the response.
 n2-02, n2-03: Speed Feedback Detection Control (AFR) Time Constant 1, 2
Parameter n2-02 sets the time constant normally used by AFR.
Parameter n2-03 sets the time constant during Speed Search or regenerative operation.

n2-02 Speed Feedback Detection Control (AFR) Time Constant 1 0 to 2000 ms 50 ms
n2-03 Speed Feedback Detection Control (AFR) Time Constant 2 0 to 2000 ms 750 ms
Note: Parameter n2-02 cannot be set higher than n2-03 or an oPE08 error will result.
These parameters rarely need to be changed. Adjust settings only under the following conditions:
• If hunting occurs, increase n2-02. If response is low, decrease it.
• Increase n2-03 if overvoltage occurs with high inertia loads at the end of acceleration or with sudden load changes.
• If setting n2-02 to a higher value, also increase C4-02 (Torque Compensation Delay Time Constant 1) proportionally.
• If setting n2-03 to a higher value, also increase C4-06 (Torque Compensation Delay Time Constant 2) proportionally.
 n3: High Slip Braking (HSB) and Overexcitation Braking

 High Slip Braking (V/f)
HSB works in V/f Control only and is used to decrease the stopping time compared to normal deceleration without using
Parameter Details
dynamic braking options. HSB stops the motor by reducing the output frequency in large steps, thus producing a high
slip. Regenerative energy created from decelerating the load is dissipated in the motor windings through increased motor
slip. Because of the increased temperature of the motor windings, HSB should not be used for frequently stopping the
motor. The duty cycle should be around 5% or less.
Notes on using High Slip Braking: 5
• The deceleration time that has been set is ignored during HSB. Use Overexcitation Deceleration 1 (L3-04 = 4) or a
dynamic braking option if the motor has to be stopped in a defined time.
• Braking time varies based on the load inertia and motor characteristics.
• HSB and KEB Ride-Thru cannot be used simultaneously. If enabled at the same time, an oPE03 will occur.
• HSB must be triggered by a digital input set to H1- = 68. Once the HSB command is given, it is not possible to
restart the drive until the motor has stopped completely and the Run command is cycled.
• Use parameters n3-01 through n3-04 for adjusting HSB.
 n3-01: High Slip Braking Deceleration Frequency Width
Sets the step width for frequency reduction during HSB. Increase n3-01 if DC bus overvoltage (ov) occurs during HSB.

n3-01 High Slip Braking Deceleration Frequency Width 1 to 20% 5%
 n3-02: High Slip Braking Current Limit

Sets the maximum current to be output during an HSB stop as a percentage of motor rated current (E2-01). Reducing the
current limit increases the deceleration time. Make sure that this value does not exceed the drive’s overload capacity.
• Lower this setting if overvoltage occurs during HSB.
• Lower this setting if motor current is too high during HSB. High current can damage the motor due to overheat.
• The default setting is 150% when the drive is set for Heavy Duty, and 120% when the drive is set for Normal Duty.
n3-02 High Slip Braking Current Limit 100 to 200%
L8-38
 n3-03: High Slip Braking Dwell Time at Stop

When the motor reaches a relatively low speed at the end of HSB, the output frequency is kept at the minimum output
frequency E1-09 for the time set in n3-03. Increase this time if the inertia is very high and the motor is still coasting after
HSB is complete.

n3-03 High Slip Braking Dwell Time at Stop 0.0 to 10.0 s 1.0 s
 n3-04: High Slip Braking Overload Time

Sets the time required for an HSB overload fault (oL7) to occur when the drive output frequency does not change for
some reason during an HSB stop. This can be caused by the load rotating the motor or by excessive load inertia, resulting
in a high current. To protect the motor from overheat, the drive trips with an oL7 fault if such these conditions lasts
longer than the time set in n3-04.

n3-04 High Slip Braking Overload Time 30 to 1200 s 40 s
 Overexcitation Deceleration (Induction Motors)

Overexcitation Deceleration increases the flux during deceleration and allows shorter deceleration time settings without
the use of a braking resistor. Enabled by setting L3-04 to 4 or 5. See L3-04: Stall Prevention Selection during
Deceleration on page 283.
Notes on Overexcitation Deceleration
• As regenerative energy is mainly dissipated as heat in the motor, the motor temperature will rise if Overexcitation
Deceleration is applied frequently. In such cases, make sure the motor temperature does not exceed the maximum
allowable value or consider using a braking resistor option instead.
• During Overexcitation Deceleration 2, Hunting Prevention in V/f Control and torque limits in Open Loop Vector
Control are disabled.
• Do not use Overexcitation Deceleration in combination with a braking resistor option.
• Overexcitation Deceleration can be used in Open and Closed Loop Vector Control, but it lowers the accuracy of Torque
Control, and thereby the braking efficiency. It can be most efficiently used in a V/f Control.
• Overexcitation Deceleration cannot be used with PM motors.
Parameter Adjustments
• Use parameters n3-13 through n3-23 for adjusting Overexcitation Deceleration.
• When repetitive or long Overexcitation Deceleration results in motor overheat, lower the overexcitation gain (n3-13)
and reduce the overslip suppression current level (n3-21).
• During Overexcitation Deceleration 1 (L3-04 = 4), the drive decelerates at the active deceleration time (C1-02, C1-04,
C1-06, or C1-08). Make sure to set this time so that no overvoltage (ov) fault occurs.
• During Overexcitation Deceleration 2 (L3-04 = 5), the drive decelerates using the active deceleration time while
adjusting the deceleration rate in order to keep the DC bus voltage at the level set in L3-17. The actual stopping time
will be longer or shorter than the set deceleration time, depending on the motor characteristics and the load inertia. If
overvoltage occurs (ov), try increasing the deceleration time.
• When a Run command is entered during Overexcitation Deceleration, overexcitation operation is cancelled and the
drive will reaccelerate to the specified speed.
 n3-13: Overexcitation Deceleration Gain

Multiplies a gain to the V/f pattern output value during Overexcitation Deceleration, thereby determining the level of
overexcitation. The drive returns to the normal V/f value after the motor has stopped or when it is accelerating to the
frequency reference.

n3-13 Overexcitation Deceleration Gain 1.00 to 1.40 1.10
The optimum setting for n3-13 depends on the motor flux saturation characteristics.
• Increase the gain gradually by 1.25 to 1.30 to improve the braking power of Overexcitation Deceleration.
• If flux saturation characteristics cause overcurrent, try lowering n3-13. A high setting sometimes causes overcurrent
(oC), motor overload (oL1), or drive overload (oL2). Lowering n3-21 can also help remedy these problems.
 n3-14: High Frequency Injection during Overexcitation Deceleration
Enables High Frequency Injection while Overexcitation Deceleration is executed. Injecting high frequency into the
motor increases loss, which in turn shortens deceleration time. This function tends to increase audible noise from the
motor, and might not be desirable in environments where motor noise is a concern.

n3-14 High Frequency Injection During Overexcitation Deceleration 0 or 1 0
Setting 0: Disabled
Setting 1: Enabled
 n3-21: High Slip Suppression Current Level
If the motor current exceeds the value set to n3-21 during Overexcitation Deceleration due to flux saturation, the drive
will automatically reduce the overexcitation gain. Parameter n3-21 is set as a percentage of the drive rated current.
This parameter should be set to a relatively low value to optimize deceleration. If overcurrent, oL1, or oL2 occur during
Overexcitation Deceleration, reduce the overslip suppression current level.

n3-21 High Slip Suppression Current Level 0 to 150% 100%
 n3-23: Overexcitation Operation Selection

Limit the Overexcitation Deceleration operation selected in parameter L3-04 to forward only or reverse only.
Parameter Details
n3-23 Overexcitation Operation Selection 0 to 2 0
Setting 0: Overexcitation Operation as Selected in L3-04 in Forward and Reverse Direction

Setting 1: Overexcitation Operation as Selected in L3-04 in Forward Direction Only
Setting 2: Overexcitation Operation as Selected in L3-04 in Reverse Direction Only
5
 n5: Feed Forward Control

Enabling Feed Forward can improve the drives responsiveness to speed reference changes in applications where a high
speed control proportional gain setting (ASR gain, C5-01, C5-03) would lead to problems with overshoot, undershoot, or
oscillation. Figure 5.110 gives an example of overshoot reduction by Feed Forward. Parameters related to this function
and the function principle are illustrated in Figure 5.111. Feed Forward can only be used in Closed Loop Vector Control
for induction or PM motors (A1-02 = 3 or 7), or in Advanced Open Loop Vector Control for PM motors (A1-02 = 6).
Figure 5.110
1050 1050 Suppresses

overshoot at the
Overshoot end of acceleration
Motor Speed (min-1)
Motor Speed (min-1)

900 900
750 750
0 0
0 0.5 1 0 0.5 1
Time (s) Time (s)
Conventional Speed Control Feed Forward Control
Figure 5.110 Overshoot Suppression by Feed Forward Control
Figure 5.111
Feed Forward Output
U6-26
Feed Forward Torque
Frequency Compensation Value
reference after
Soft Starter Feed Forward
Control
n5-02/03 ASR Delay and
+ + Torque reference
+ ASR P and I
Torque Limits
Frequency - C5-01/02/03/04
C5-06, L7-
Reference
U1-16
Speed U6-25 U1-09

Feedback
ASR Output
Figure 5.111 Feed Forward Control

Note: 1. Feed Forward can only be used in CLV, AOLV/PM, and CLV/PM control modes.
2. Prior to using Feed Forward, always perform Auto-Tuning or set the correct motor data manually. Also perform ASR Auto-Tuning to
set the speed loop gain (C5-01), or adjust it manually. Fine-tune the other speed control loop parameters (C5-) if required.
3. If not restricted by the application, use Inertia Auto Tuning (T1-01, T2-01 = 8) to have the drive automatically optimize Feed
Forward parameters. If Inertia Auto Tuning cannot be performed, parameters related to Feed Forward should be set manually.
 n5-01: Feed Forward Control Selection

Enables to disables the Feed Forward function.

n5-01 Feed Forward Control Selection 0 or 1 0
Setting 0: Disabled
Setting 1: Enabled
 n5-02: Motor Acceleration Time
Sets the time required to accelerate the motor from a full stop up to the rated speed at the rated torque.

Determined by C6-01,
n5-02 Motor Acceleration Time 0.001 to 10.000 s
E5-01 and o2-04
This value can be set automatically by Inertia Auto-Tuning. If Inertia Auto-Tuning cannot be performed, use one of the
methods below to determine the setting value for this parameter.
Calculation
The motor acceleration time can be calculated by,
Where:
2π JMotor nrated • JMotor is the motor inertia in kgm/s2.
n5-02 =
60 Trated • nrated is the rated speed of the motor in min-1
• Trated is the rated torque of the motor in N⋅m.
or
Where:
4 π JMotor frated • JMotor is the motor inertia in kgm2.
n5-02 = • frated is the rated frequency of the motor in Hz.
p Trated
• p is the number of motor poles (not pole pairs!).
• Trated is the rated torque of the motor in N⋅m.
Measuring Acceleration Time

Take the following steps when measuring the motor acceleration time.
1. Select the control mode; CLV (A1-02 = 3), AOLV/PM (A1-02 = 6), or CLV/PM (A1-02 = 7).
2. Decouple motor and load.
3. Make sure Auto-Tuning has been performed or that the correct motor data has been entered manually.
4. Make sure that the speed loop (ASR) has been set up properly.
5. Set the acceleration time to zero.
6. Set the forward torque limit in parameter L7-01 to 100%.
7. Set the frequency reference equal to the motor rated speed.
8. While monitoring the motor speed in U1-05, start the motor in the forward direction and measure the time it takes
to reach the rated speed.
9. Reverse the parameter settings above and set the measured time to parameter n5-02.
 n5-03: Feed Forward Control Gain
Parameter n5-03 sets the inertia ratio of the load connected to the motor. This value can be set automatically by Inertia
Auto-Tuning.

n5-03 Feed Forward Control Gain 0.00 or 100.00 1.00
This value can be set automatically by Inertia Auto-Tuning. If Inertia Auto Tuning cannot be performed, determine the
value for parameter n5-03 using the following steps.
Parameter Details
1. Select the control mode; CLV (A1-02 = 3), AOLV/PM (A1-02 = 6), or CLV/PM (A1-02 = 7).
2. Setup parameter n5-02 correctly.
3. Couple motor and load.
4. Set the acceleration time C1-01 to 0.
5. Set the torque limits in the L7- parameters to a value that will easily be reached during the test (TLim_Test).
6. Set the frequency reference equal to a value in the upper speed range of the machine (fref_Test). 5
7. While monitoring the motor speed in U1-05, start the motor in the forward direction and measure the time it takes
to reach the reference speed (taccel).
8. Reverse the parameter settings above and calculate the set value for parameter n5-03 using the formula below.
Where:
• taccel is the measured acceleration time in s.
taccel TLim_Test frated
n5-03 = -1 • frated is the rated frequency of the motor in Hz.
n5-02 fref_Test 100 • TLim_Test is torque limit setting during the test (%).
• fref_Test is the frequency reference during the test in Hz.
 n6: Online Tuning

Online Tuning prevents loss from insufficient torque and diminished speed control accuracy due to fluctuating motor
temperature.
 n6-01: Online Tuning Selection

Selects the type of motor data Online Tuning uses for Open Loop Vector Control.

n6-01 Online Tuning Selection 0 to 2 0
Setting 0: Disabled
Setting 1: Line-to-line resistance tuning
This setting enables line-to-line resistance online tuning. This procedure is effective for speed values up to 6 Hz and
improves the overload capacity in the low speed range by adjusting the value set for the motor resistance.
Setting 2: Voltage correction
The drive adjusts the output voltage during run to improve overload tolerance and minimize the effects of high
temperatures on speed accuracy.
Note: This setting can only be selected if the Energy Saving function is disabled (b8-01 = 0).
 n6-05: Online Tuning Gain

Sets the compensation gain for the voltage correction in the Online Tuning function (n6-01 = 2). Normally there is no
need to adjust n6-05, but increase the set value in steps of 0.1 if an overload fault occurs during voltage correction.

n6-05 Online Tuning Gain 0.1 to 50.0 1.0
 n8: PM Motor Control Tuning

These parameters are available in the vector control modes for permanent magnet motors and can be used to adjust the
control performance.
 n8-01: Initial Rotor Position Estimation Current
Sets the current used for initial rotor position estimation as a percentage of the motor rated current (for PM Motors)
(E5-03). If the motor nameplate lists an “Si” value, that value should be entered here.
Note: This parameter is available in AOLV/PM or CLV/PM.

n8-01 Initial Rotor Position Estimation Current 0 to 100% 50%
 n8-02: Pole Attraction Current

In AOLV/PM control, this parameter sets the current to attract the rotor after detecting the initial rotor position. The value
is set as a percentage of the motor rated current. Increase this setting to increase the starting torque.
In CLV/PM control, this parameter sets the current used to detect the rotor pole when tuning the phase-Z pulse position.
There is normally no need to change this parameter from the default value. Set this parameter to a large value if the motor
does not follow the target position during the phase-Z pulse position tuning. Set to a small value if the motor vibrates.
Note: This parameter is not available in models CIMR-A4A0930 and 4A1200 for CLV/PM.

n8-02 Pole Attraction Current 0 to 150% 80%
 n8-03: Current Startup Time

There is normally no need to change this parameter from the default value. Sets the current startup time to detect the rotor
pole when tuning the phase-Z pulse position. Set this parameter to a large value if the motor vibrates during the phase-Z
pulse position tuning.

n8-03 Current Startup Time 1.5 to 5.0 s 1.5 s
 n8-04: Pole Attraction Time

There is normally no need to change this parameter from the default value. Sets the pole attraction time to detect the rotor
pole during the phase-Z pulse position tuning. Set this parameter to a large value if the motor vibrates during the phase-Z
pulse position tuning.

n8-04 Pole Attraction Time 1.5 to 5.0 s 1.5 s
 n8-11: Induction Voltage Estimation Gain 2

Sets the gain for speed estimation.

n8-11 Induction Voltage Estimation Gain 2 0.0 to 1000.0 Determined by n8-72 <1>
<1> When n8-72 is set to 0, the default setting is 50.0 and when n8-72 is set to 1, the default setting is 150.0. Refer to n8-72: Speed Estimation
Method Selection on page 313 for a list of monitors.
 n8-14: Polarity Compensation Gain 3


n8-14 Polarity Compensation Gain 3 0.000 to 10.000 1.000
 n8-15: Polarity Compensation Gain 4


n8-15 Polarity Compensation Gain 4 0.000 to 10.000 0.500
Parameter Details
 n8-21: Motor Ke Gain
5
n8-21 Motor Ke Gain 0.80 to 1.00 0.90
 n8-35: Initial Rotor Position Detection Selection

Selects how the rotor position is detected at start.
Note: 1. This parameter is available in AOLV/PM or CLV/PM.
2. In CLV/PM, the drive performs a magnetic pole search the first time it starts the motor. After that, rotor position is calculated from the
PG encoder signal and saved until the drive is switched off. Parameter n8-35 determines how this initial pole search operates.
3. High Frequency Injection and pulse injection for rotor position detection (n8-35 = 1 or 2) can be used with IPM motors only. When
using a SPM motor, select the pull in method to find the initial position of the rotor (n8-35 = 0).

n8-35 Initial Rotor Position Detection Selection 0 to 2 1
Setting 0: Pull in
Starts the rotor using pull-in current.
Setting 1: High Frequency Injection

High frequency is injected in order to detect the rotor position. Some noise may be generated from the motor at start.
Setting 2: Pulse injection
A pulse signal is injected into the motor in order to detect the rotor position.
 n8-36: High Frequency Injection Level
Sets the frequency level used for High Frequency Injection. Enabled when n8-57 = 1. In this case, perform High
Frequency Injection Parameter Tuning. High Frequency Injection cannot be used with an SPM motor. Refer to T2-01:
PM Motor Auto-Tuning Mode Selection on page 130 for details.
n8-36 High Frequency Injection Level 200 to 1000 Hz 500 Hz
 n8-37: High Frequency Injection Amplitude

Sets the amplitude for High Frequency Injection as a percentage of the voltage when the voltage class base is 100%
(200 V class is 200 V, 400 V class is 400 V). Enabled when n8-57 = 1.
n8-37 High Frequency Injection Amplitude 0.0 to 50.0% 20.0%
 n8-39: Low Pass Filter Cutoff Frequency for High Frequency Injection
Sets a cutoff frequency of a low pass filter for high frequency injection. Enabled when n8-57 = 1.
n8-39 Low Pass Filter Cutoff Frequency for High Frequency Injection 0 to 1000 Hz 50 Hz
 n8-41: HFI Overlap Pole Detection Pgain

Sets the speed estimation response for High Frequency Injection. Enabled when n8-57 = 1.
n8-41 HFI Overlap Pole Detection Pgain -10.00 to 10.00 2.50
 n8-45: Speed Feedback Detection Control Gain (for PM Motors)

Sets the gain for internal speed feedback detection control. Although this setting rarely needs to be changed, adjustment
may be necessary under the following conditions:
• Increase this setting if motor oscillation or hunting occurs.
• Decrease this setting in increments of 0.05 to decrease drive responsiveness.
Note: This parameter is available in OLV/PM.

n8-45 Speed Feedback Detection Control Gain (for PM Motors) 0.00 to 10.00 0.80
 n8-47: Pull-In Current Compensation Time Constant (for PM Motors)

Sets the time constant for the actual current and the pull-in current to match one another.
Although this setting rarely needs to be changed, adjustment may be necessary under the following conditions:
• Increase this setting when it takes too long for the reference value of the pull-in current to match the target value.
• Decrease this setting if motor oscillation occurs.
n8-47 Pull-In Current Compensation Time Constant (for PM Motors) 0.0 to 100.0 s 5.0 s
 n8-48: Pull-In Current (for PM Motors)

Sets the d-axis current during no-load operation at a constant speed. Set as a percentage of the motor rated current (for
PM Motors).
• Increase this setting when hunting occurs or the motor speed is unstable while running at a constant speed.
• If there is too much current when driving a light load at a constant speed, then reduce this value slightly.

n8-48 Pull-In Current (for PM Motors) 20 to 200% 30%
 n8-49: d-Axis Current for High Efficiency Control (for PM Motors)

Sets the d-axis current reference when running with high load at constant speed. When using an IPM motor, setting this
parameter will increase the efficiency by using the motors reluctance torque and thereby reduce the energy consumption.
This parameter should be set to 0 when using an SPM motor.
Although this setting seldom needs to be changed, please note the following:
• If motor operation is unstable when driving heavy loads, try lowering this setting.
• If motor parameters (E5-) have been changed, this value will be reset to 0 and will need to be readjusted.

n8-49 d Axis Current for High Efficiency Control (for PM Motors) -200.0 to 0.0% Determined by E5-01
 n8-51: Acceleration/Deceleration Pull-In Current (for PM Motors)

Sets the pull-in current during acceleration and deceleration as a percentage of the motor rated current (for PM Motors)
(E5-03).
Adjustments to this setting may help in the following situations:
• Increase this setting when a large amount of starting torque is required.
• Lower this setting if there is excessive current during acceleration.

n8-51 Acceleration/Deceleration Pull-In Current (for PM Motors) 0 to 200% 50%
 n8-54: Voltage Error Compensation Time Constant
Parameter Details
Sets the time constant for voltage error compensation. Make changes to this parameter under the following conditions:
• Adjust the value when hunting occurs at low speed.
• Increase the value in steps of 0.1 when hunting occurs with sudden load changes. Set the value to 0 to disable the
compensation if increasing n8-54 does not help.
• Increase the value when oscillations occur at start.
Note: This parameter is available in OLV/PM. 5
n8-54 Voltage Error Compensation Time Constant 0.00 to 10.00 1.00
 n8-55: Load Inertia

Sets the ratio between motor inertia and the inertia of the connected machinery. If this value is set too low, the motor may
not start very smoothly, and the STo fault (Motor Step-Out) may occur.
For large inertia loads or to improve speed control response, increase this setting from 0. Oscillations may occur if this
value is set too high with low inertia load.

n8-55 Load Inertia 0 to 3 0
Setting 0: Below 1:10

The inertia ratio between the motor and the load is just less than 1:10.
Setting 1: Between 1:10 and 1:30
The inertia ratio between the motor and the load is between 1:10 and 1:30. Set n8-55 to 1 if an STo fault occurs as a result
of impact load or sudden acceleration/deceleration when n8-55 = 0.
Setting 2: Between 1:30 and 1:50
The inertia ratio between the motor and the load is between 1:30 and 1:50. Set n8-55 to 2 if an STo fault occurs as a result
of impact load or sudden acceleration/deceleration when n8-55 = 1.
Setting 3: Beyond 1:50
The inertia ratio between the motor and the load is higher than 1:50. Set n8-55 to 3 if an STo fault occurs as a result of
impact load or sudden acceleration/deceleration when n8-55 = 2.
 n8-57: High Frequency Injection
Detects motor speed by injecting a high frequency into the motor.
Note: This parameter is available in AOLV/PM.
n8-57 High Frequency Injection 0 or 1 0
Setting 0: Disabled
Disable n8-57 with SPM motors. The speed control range will be limited to approximately 1:20.
Setting 1: Enabled
Enabling n8-57 with IPM motors allows precise speed detection in a speed control range of approximately 1:100. In this
case, perform High Frequency Injection Parameter Tuning after setting the motor parameters. High Frequency Injection
cannot be used with an SPM motor. Refer to T2-01: PM Motor Auto-Tuning Mode Selection on page 130 for details.
Note: 1. Be aware that using this function will generate some audible noise in the motor up to a certain speed.
2. Set E1-09 to 0.0 when using zero speed control.
 n8-62: Output Voltage Limit (for PM Motors)

Sets the output voltage limit to prevent voltage saturation. This parameter rarely requires adjustment. Never set this value
higher than the actual input voltage.
Note: This parameter is available in OLV/PM, AOLV/PM, or CLV/PM.
n8-62 <1> Output Voltage Limit (for PM Motors) 0.0 to 230.0 Vac 200 Vac
 n8-65: Speed Feedback Detection Control Gain during ov Suppression

Sets the gain for internal speed feedback detection control when overvoltage suppression is active. Although this setting
rarely needs to be changed, adjustment may be necessary under the following conditions:
• Increase this setting if motor oscillation or hunting occurs when ov suppression is active.
• Decrease this setting in increments of 0.05 to decrease the drive responsiveness during ov suppression.
n8-65 Speed Feedback Detection Control Gain during ov Suppression (OLV/PM) 0.00 to 10.00 1.50
 n8-69: Speed Calculation Gain

Sets the proportional gain for Speed Estimation.
Note: This parameter is available in AOLV/PM.
n8-69 Speed Calculation Gain 0.00 to 20.00 1.00
 n8-72: Speed Estimation Method Selection

Sets a method of the speed estimation.

n8-72 Speed Estimation Method Selection 0, 1 1
Setting 0: Conventional method

Setting 1: A1000 method
 n8-84: Polarity Judge Current
Sets the current to determine polarity for the initial polarity calculation as a percentage of the motor rated current.
Set the value in % unit (E5-03 = 100%)
Note: 1. This parameter is available in AOLV/PM and CLV/PM.
2. If operating in AOLV/PM (A1-02 = 6) or CLV/PM (A1-02 = 7), the drive determines motor polarity by performing initial polarity
estimation when it starts the motor (this is done only the first time the motor is started when using CLV/PM). The drive may begin
operating in the wrong direction if it determines motor polarity incorrectly as the opposite direction of the Run command.
Monitor U6-57 displays the deviation from the integrated current, making it possible to see if initial polarity estimation has
successfully determined the motor polarity.
3. If an “Si” value is listed on the nameplate for a Yaskawa motor, n8-84 should be set to “Si” value × 2. Contact the motor
manufacturer for the maximum setting values.
4. Increase the setting value when dv3 (Inversion Detection), dv4 (Inversion Prevention Detection), or LSo (LSo Fault) have activated.

n8-84 Polarity Judge Current 0 to 150% 100%
Parameter Details
5.10 o: Operator Related Settings

These parameters are for controlling the various functions, features, and display of the digital operator.
 o1: Digital Operator Display Selection

These parameters determine how data appears on the operator display.
 o1-01: Drive Mode Unit Monitor Selection
If o1-02 is set to 5, any monitors from among the U parameters can be displayed. Use o1-01 to select the monitors.
When using an LED operator, pressing the up arrow key will display the following data: speed reference → rotational
direction → output speed → output current → o1-01 selection.
Parameter o1-01 lets the user select the content of the last monitor in this sequence. (There is no effect like this on an
LCD operator.)
This is done by entering the 1 part of U1-. Certain monitors are not available in some control modes.

104 to 813
o1-01 Drive Mode Unit Monitor Selection U1-04 (Control Mode) to U8-13 106 (U1-06)
(DWEZ Version Control Monitor 3) <1>
<1> U2- and U3- parameters cannot be selected.
 o1-02: User Monitor Selection after Power Up

Selects which monitor parameter is displayed upon power up. Refer to U: Monitor Parameters on page 321 for a list of
monitors.

o1-02 User Monitor Selection after Power Up 1 to 5 1
Setting 1: Frequency reference (U1-01)

Setting 2: Motor direction
Setting 3: Output frequency (U1-02)
Setting 4: Output current (U1-03)
Setting 5: User-selected monitor (set by o1-01)
 o1-03: Digital Operator Display Selection
Sets the units used to display the frequency reference and output frequency. Set o1-03 to 3 for user-set units, then set
parameters o1-10 and o1-11.

o1-03 Digital Operator Display Selection 0 to 3 Determined by A1-02
Setting 0: 0.01 Hz units

Setting 1: 0.01% units (100% = max. output frequency)
Setting 2: min-1 units (calculated by the max output frequency and the no. of motor poles)
Setting 3: User-set units (use o1-10, o1-11)
Set the value use for the maximum frequency reference to o1-10. The placement of the decimal point in this number
should be set to o1-11.
For example, to have the maximum output frequency displayed as “100.00”, set the o1-10 = 1000 and o1-11 = 2 (i.e.,
1000 with 2 decimal points).
Note: 1. Parameter o1-03 allows the programmer to change the units used in the following parameters and monitors:
 U1-01: frequency reference
 U1-02: output frequency
 U1-05: motor speed
 U1-16: output frequency after softstarter (accel/decel ramp generator)
 d1-01 to d1-17: frequency references
2. Setting o1-03 to 2 requires that the number of motor poles be entered to E2-04, E4-04, and E5-04.
 o1-04: V/f Pattern Display Unit

Determines the units used for the frequency reference when setting parameters that create the V/f pattern: E1-04, E1-06,
E1-09, E1-11, and E2-04. For motor 2, this includes parameters E3-04, E3-06, E3-07, E3-09, and E3-11.
Enabled only in vector control modes (CLV, AOLV/PM, CLV/PM).

o1-04 V/f Pattern Display Unit 0 or 1 Determined by A1-02
Setting 0: Hertz
Setting 1: min-1
Note: For motor 2, o1-04 can only be set to 0 for Hertz.
 o1-05: LCD Contrast Control

Sets the brightness of the LCD operator (option). The lower the setting, the brighter the LCD. The higher the setting, the
darker the LCD.

o1-05 LCD Contrast Control 0 to 5 3
 o1-10: User-Set Display Units Maximum Value

Determines the display value that is equal to the maximum output frequency.

o1-10 User-Set Display Units Maximum Value 1 to 60000 Determined by o1-03
 o1-11: User-Set Display Units Decimal Display

Determines how many decimal points should be used to set and display the frequency reference.

o1-11 User-Set Display Units Decimal Display 0 to 3 Determined by o1-03
Setting 0: No decimal point

Setting 1: One decimal point
Setting 2: Two decimal points
Setting 3: Three decimal points
Parameter Details
 o2: Digital Operator Keypad Functions
These parameters determine the functions assigned to the operator keys.
 o2-01: LO/RE (LOCAL/REMOTE) Key Function Selection
Parameter o2-01 determines whether the LO/RE key on the digital operator will be enabled or not for switching between 5
LOCAL and REMOTE.

o2-01 LO/RE Key Function Selection 0 or 1 1
Setting 0: Disabled
The LO/RE key is disabled.
Setting 1: Enabled
The LO/RE switches between LOCAL and REMOTE operation. Switching is possible during stop only. When LOCAL
is selected, the LED indicator on the LO/RE key will light up.
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. Check all mechanical or electrical connections
thoroughly before making any setting changes to o2-01 and b1-07. Table 5.43 lists the setting combinations for o2-01 and b1-07.
Table 5.43 LO/RE Key and b1-07

o2-01 b1-07 Switch from LOCAL to REMOTE Switch from REMOTE to LOCAL
0 Not possible Not possible
0
1 Not possible Not possible
0 Will not run until a new Run command is entered. Run not possible
1 If a Run command is entered, the drive will start running as soon
1 as the LO/RE key is pushed to change from LOCAL to Run not possible
REMOTE.
 o2-02: STOP Key Function Selection

Determines if the STOP key on the digital operator can still be used to stop drive operation when the drive is being
controlled from a remote source (i.e., not from digital operator).

o2-02 STOP Key Function Selection 0 or 1 1
Setting 0: Disabled
Setting 1: Enabled
The STOP key can be used to terminate drive operation, even if the Run command source is not assigned to the digital
operator. If the drive is stopped by pressing the STOP key, the Run command must be cycled to restart the drive.
 o2-03: User Parameter Default Value
Once drive parameters are set up completely, the values set can be saved as user-set default values using parameter
o2-03. Once this has been done, the “Initialize Parameters” parameter (A1-03) will offer the choice of “1110: User
Initialize”. Choosing A1-03 = “1110: User Initialize” will reset all parameters to the values saved as user-set defaults.
Refer to A1-03: Initialize Parameters on page 143 for details on drive initialization.

o2-03 User Parameter Default Value 0 to 2 0
Setting 0: No change (awaiting command)

Setting 1: Set User Initialize values
The current parameter settings are saved as user-set default for a later User Initialize. Once o2-03 is set to 1 and the
ENTER key is pressed, the values are saved and the display returns to 0.
Setting 2: Clear User Initialize Values
All user-set defaults for “User Initialize” are cleared. Once o2-03 is set to 2 and the ENTER key is pressed, the values are
erased and the display returns to 0.
 o2-04: Drive Model Selection
This parameter must be set when replacing the control board or the terminal board for any reason. Refer to Defaults by
Drive Model Selection (o2-04) and ND/HD (C6-01) on page 529 for information on the drive model selection.
NOTICE: Drive performance will suffer if the correct drive capacity is not set to o2-04, and protective functions will fail to operate
properly.

Determined by drive
o2-04 Drive Model Selection –
capacity
Note: Change settings only when necessary.
 o2-05: Frequency Reference Setting Method Selection

Determines if the ENTER key must be pressed after changing the frequency reference using the digital operator while in
the Drive Mode.

o2-05 Frequency Reference Setting Method Selection 0 or 1 0
Setting 0: ENTER key required

Every time the frequency reference is changed using the digital operator, the ENTER key must be pressed for the drive to
accept the change.
Setting 1: ENTER key not required
The output frequency changes immediately when the reference is changed by the up or down arrow keys on the digital
operator. The ENTER key does not need to be pressed. The frequency reference (Fref) is saved to memory after
remaining unchanged for 5 seconds. The operator display flashes when settings can be made for the frequency reference.
Figure 5.112
Figure 5.112 Ready for Setting Frequency Reference
 o2-06: Operation Selection when Digital Operator is Disconnected

Determines if the drive will stop when the remote control extension cable of the digital operator is removed in LOCAL
mode or when b1-02 or b1-16 is set to 0. When the operator is reconnected, the display will indicate that it was
disconnected.

o2-06 Digital Operator Disconnection Operation 0 or 1 0
Setting 0: Continue operation

The operation is continued.
Setting 1: Trigger a fault
The operation is stopped and an “oPr” fault is triggered. The motor coasts to stop.
Parameter Details
 o2-07: Motor Direction at Power Up when Using Operator
Determines the direction the motor will rotate after the drive is powered up and the Run command is given from the
digital operator.
Note: This parameter is effective only when the Run command is set to be given from the digital operator (b1-02, b1-16 = 0). 5
o2-07 Motor Direction at Power Up when Using Operator 0 or 1 0
Setting 0: Forward
Setting 1: Reverse
 o2-19: Selection of Parameter write During UV
Selects if parameter settings can be changed during a DC bus undervoltage condition. To be used with 24V POWER
SUPPLY (PS-A10L, PS-A10H).
Note: If the function of o2-19 is enabled, it is possible for a CPF06 Fault to occur. This function should be used with 24V POWER
SUPPLY (PS-A10L, PS-A10H) REVISION B or later. If the older revision is used, parameter changes might not occur correctly.
Setting 0: Disabled
Setting 1: Enabled

o2-19 Selection of Parameter Write During UV 0 or 1 0
 o3: Copy Function

These parameters control the digital operator’s Copy function. The Copy function lets the user store all parameter
settings into the memory of the digital operator, and easily transfer those settings to other drives (requires that the other
drives be the same model, capacity, and have the same control mode setting). See Copy Function Related Displays on
page 366 for a description of errors and displays.
 o3-01 Copy Function Selection
Setting o3-01 will instruct the drive to Read, Write, or Verify parameters settings.

o3-01 Copy Function Selection 0 to 3 0
Setting 0: Copy Select (no function)

Setting 1: INV --> OP READ
All parameters are copied from the drive to the digital operator.
Note: Set o3-02 to 1 to unlock copy protection.
Setting 2: OP --> INV WRITE
All parameters are copied from the digital operator to the drive.
Setting 3: OP<-->INV VERIFY
Parameters in the drive are compared with the parameter settings saved on the digital operator to see if they match.
 o3-02 Copy Allowed Selection
Restricts or allows the use of the Copy function.

o3-02 Copy Allowed Selection 0 or 1 0
Setting 0: Disabled
Setting 1: Enabled
 o4: Maintenance Monitor Settings

 o4-01: Cumulative Operation Time Setting
Parameter o4-01 sets the cumulative operation time of the drive. The user can also manually set this parameter to begin
keeping track of operation time from some desired value. Total operation time can be viewed in monitor U4-01.
Note: The value in o4-01 is set in 10 h units. For example, a setting of 30 will set the cumulative operation time counter to 300 h. 300 h
will also be displayed in monitor U4-01.

o4-01 Cumulative Operation Time Setting 0 to 9999 0
 o4-02: Cumulative Operation Time Selection

Selects the conditions for how the drive keeps track of its total operation time. This time log can be viewed in U4-01.

o4-02 Cumulative Operation Time Selection 0 or 1 0
Setting 0: Power on time

The drive logs the time it is connected to a power supply, regardless if the motor is running or not.
Setting 1: Run time
The drive logs the time that the output is active. This includes whenever the Run command is active (even if the motor is
not rotating) and when there is voltage output.
 o4-03: Cooling Fan Operation Time Setting

Sets the value for how long the cooling fan has been operating. This value can be viewed in monitor U4-03. Parameter
o4-03 also sets the base value used for the cooling fan maintenance, which is displayed in U4-04. Be sure to reset this
parameter back to 0 if the cooling fan is replaced.
Note: 1. The value in o4-03 increases after every 10 hours of use. A setting of 30 will set the cooling fan operation time counter to 300 h.
“300” will be displayed in monitor U4-03.
2. The cooling fan may require maintenance at an earlier date in harsher environments.

o4-03 Cooling Fan Operation Time Setting 0 to 9999 0
 o4-05: Capacitor Maintenance Setting

Sets value of the maintenance monitor for the DC bus capacitors displayed in U4-05 as a percentage of the total expected
performance life. This value should be reset to 0 when the DC bus capacitors have been replaced.
Note: The actual maintenance time will depend on the environment where the drive is used.

o4-05 Capacitor Maintenance Setting 0 to 150% 0%
 o4-07: DC Bus Pre-Charge Relay Maintenance Setting

Sets the value of the softcharge bypass relay maintenance time displayed in U4-06 as a percentage of the total expected
performance life. This value should be reset to 0 when the bypass relay has been replaced.

o4-07 DC Bus Pre-charge Relay Maintenance Setting 0 to 150% 0%
 o4-09: IGBT Maintenance Setting

Sets the value of the IGBT maintenance time displayed in U4-07 as a percentage of the total expected performance life.
This value should be reset to 0 when the IGBTs have been replaced.

o4-09 IGBT Maintenance Setting 0 to 150% 0%
 o4-11: U2, U3 Initialization
Parameter Details
Resets the fault trace and fault history monitors (U2- and U3-). Initializing the drive using A1-03 does not reset
these monitors.

o4-11 U2, U3 Initialization 0 or 1 0
Setting 0: No action
5
The drive keeps the record already saved concerning fault trace and fault history.
Setting 1: Reset fault data
Resets the data for the U2- and U3- monitors. Setting o4-11 to 1 and pressing the ENTER key erases fault data
and returns the display to 0.
 o4-12: kWh Monitor Initialization

The kWh monitors U4-10 and U4-11 are not initialized when power is shut off or the drive is initialized.
Note: Use o4-12 to manually reset them.

o4-12 kWh Monitor Initialization 0 or 1 0
Setting 0: No Action
The kWh data are kept as they are.
Setting 1: Reset kWh Data
Resets the kWh counter. The monitors U4-10 and U4-11 will display “0” after they are initialized. Once o4-12 is set to 1
and the ENTER key is pressed, kWh data is erased and the display returns to 0.
 o4-13: Number of Run Commands Counter Initialization
The Run command counter displayed in U4-02 is not reset when the power is cycled or the drive is initialized. Use o4-13
to reset U4-02.

o4-13 Number of Run Commands Counter Initialization 0 or 1 0
Setting 0: No Action
The Run command data are kept as they are.
Setting 1: Number of Run Commands Counter
Resets the Run command counter. The monitor U4-02 will show 0. Once o4-13 is set to 1 and the ENTER key is pressed,
the counter value is erased and the display returns to 0.
 q: DriveWorksEZ Parameters
q1-01 to q6-07 are reserved for use with DriveWorksEZ. Refer to the DriveWorksEZ manual for more information.
 r: DriveWorksEZ Connection Parameters

r1-01 to r1-40 are reserved for use with DriveWorksEZ. Refer to the DriveWorksEZ manual for more information.
 T: Motor Tuning
Auto-Tuning automatically sets and tunes parameters required for optimal motor performance.
Refer to Auto-Tuning on page 118 for details on Auto-Tuning parameters.
5.11 U: Monitor Parameters

Monitor parameters let the user view various aspects of drive performance using the digital operator display. Some
monitors can be output from terminals FM and AM by assigning the specific monitor parameter number (U-) to
H4-01 and H4-04. Refer to H4-01, H4-04: Multi-Function Analog Output Terminal FM, AM Monitor Selection on
page 262 for details on assigning functions to an analog output.
 U1: Operation Status Monitors

Status monitors display drive status data such as output frequency and output current. Refer to U1: Operation Status
Monitors on page 516 for a complete list of U1- monitors and descriptions.
 U2: Fault Trace

These monitor parameters are used to view the status of various drive aspects when a fault occurs.
This information is helpful for finding out why a fault occurred. Refer to U2: Fault Trace on page 518 for a complete list
of U2- monitors and descriptions.
U2- monitors are not reset when the drive is initialized. Refer to o4-11: U2, U3 Initialization on page 319 for
instructions on how to reset these monitor values.
Note: Fault trace (i.e., the fault history) is not kept when CPF00, CPF01, CPF06, CPF24, oFA00, oFb00, oFC00, Uv1, Uv2, and Uv3
occur.
 U3: Fault History

These parameters display faults that have occurred during operation as well as the drive operation time when those faults
occurred. Refer to U3: Fault History on page 520 for a complete list of U3- monitors and descriptions.
U3- monitors are not reset when the drive is initialized. Refer to o4-11: U2, U3 Initialization on page 319 for
instructions on how to reset these monitor values.
Note: Fault trace (i.e., the fault history) is not kept when CPF00, CPF01, CPF06, CPF24, oFA00, oFb00, oFC00, Uv1, Uv2, and Uv3
occur.
 U4: Maintenance Monitors

Maintenance monitors show:
Parameter Details
• Runtime data of the drive and cooling fans, and number of Run commands issued
• Maintenance data and replacement information for various drive components
• kWh data
• Highest peak current that has occurred and output frequency at the time the peak current occurred
• Motor overload status information
• Detailed information about the present Run command and frequency reference source selection 5
Refer to U4: Maintenance Monitors on page 520 for a complete list of U4- monitors and descriptions.
 U5: PID Monitors

These monitors display various aspects of PID control. Refer to PID Block Diagram on page 170 for details on how
these monitors display PID data.
U5: PID Monitors on page 522 has a complete list of U5- monitors and descriptions.
 U6: Control Monitors

Control monitors show:
• Reference data for the output voltage and vector control
• Data on PM motor rotor synchronization, forward phase compensation, and flux positioning
• Pulse data from the PG motor encoder
• Pulse data for Zero Servo control
• ASR and Feed Forward control monitors
Refer to Figure 5.38 on page 190 and Figure 5.39 on page 190 for details and an illustration showing where monitors
are located in the ASR block.
• The offset value added to the frequency reference by the frequency offset function. Refer to Setting 44, 45, 46: Offset
frequency 1, 2, 3 on page 242.
• The bias value added to the frequency reference by the Up/Down 2 function (refer to Setting 75, 76: Up 2, Down 2
command on page 244)
Refer to U6: Control Monitors on page 522 for a complete list of U6- monitors and descriptions.
 U8: DriveWorksEZ Monitors

These monitors are reserved for use with DriveWorksEZ.
A complete description of the U8- monitors can be found in the DriveWorksEZ instruction manual.
6
Troubleshooting
This chapter provides descriptions of the drive faults, alarms, errors, related displays, and
guidance for troubleshooting. This chapter can also serve as a reference guide for tuning the
drive during a trial run.
6.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

6.2 MOTOR PERFORMANCE FINE-TUNING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
6.3 DRIVE ALARMS, FAULTS, AND ERRORS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
6.4 FAULT DETECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
6.5 ALARM DETECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
6.6 OPERATOR PROGRAMMING ERRORS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
6.7 AUTO-TUNING FAULT DETECTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
6.8 COPY FUNCTION RELATED DISPLAYS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
6.9 DIAGNOSING AND RESETTING FAULTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
6.10 TROUBLESHOOTING WITHOUT FAULT DISPLAY. . . . . . . . . . . . . . . . . . . . . . 370
6.1 Section Safety
6.1 Section Safety

DANGER
WARNING
The diagrams in this section may illustrate drives without covers or safety shields to display details. Be sure to reinstall
Do not touch terminals before the capacitors have fully discharged.
drive input power is turned off. After shutting off the power, wait for at least the amount of time specified on the drive
Installation, maintenance, inspection and servicing must be performed only by authorized personnel familiar with
Do not perform work on the drive while wearing loose clothing, jewelry, or without eye protection.
Remove all metal objects such as watches and rings, secure loose clothing and wear eye protection before beginning
work on the drive.
Fire Hazard
Verify that the rated voltage of the drive matches the voltage of the incoming drive input power before applying power.
Attach the drive to metal or other noncombustible material.
6.1 Section Safety
NOTICE
Failure to comply may cause electrical interference resulting in poor system performance. Use shielded twisted-pair
Carefully review instruction manual TOBP C720600 00 or TOBP C720600 01 when connecting a dynamic braking
option to the drive.
Yaskawa is not responsible for modification of the product made by the user.
Check all the wiring after installing the drive and connecting other devices to ensure that all connections are
correct.
Troubleshooting
6.2 Motor Performance Fine-Tuning

This section offers helpful information for counteracting oscillation, hunting, or other problems that occur while
performing a trial run. Refer to the section below that corresponds to the motor control method used.
Note: This section describes parameters that are commonly edited and may be set incorrectly. Consult Yaskawa for more information
on detailed settings and fine-tuning the drive.
 Fine-Tuning V/f Control and V/f Control with PG

Table 6.1 Parameters for Fine-Tuning Performance in V/f and V/f w/PG
Suggested
Problem Parameter No. Corrective Action Default
Setting
• If insufficient motor torque relative to the size of the load causes hunting,
reduce the setting.
• When motor hunting and oscillation occur with a light load, increase the
Motor hunting and oscillation at speeds Hunting Prevention Gain
setting. 1.00 0.10 to 2.00
between 10 and 40 Hz (n1-02)
• Lower this setting if hunting occurs when using a motor with a relatively
low inductance, such as a high-frequency motor or a motor with a larger
frame size.
• If the motor noise is too loud, increase the carrier frequency.
• Motor noise • When motor hunting and oscillation occur at speeds up to 40 Hz, lower
Carrier Frequency Selection
• Motor hunting and oscillation at the carrier frequency. 1 (2 kHz) 1 to max. setting
(C6-02)
speeds up to 40 Hz • The default setting for the carrier frequency depends on the drive
capacity (o2-04) and the Drive Duty Mode Selection (C6-01).
Torque Compensation Primary
• Poor torque or speed response • If motor torque and speed response are too slow, decrease the setting.
Delay Time 200 ms <1> 100 to 1000 ms
• Motor hunting and oscillation • If motor hunting and oscillation occur, increase the setting.
(C4-02)
• Poor motor torque at speeds below 10 • If motor torque is insufficient at speeds below 10 Hz, increase the setting.
Torque Compensation Gain
Hz • If motor hunting and oscillation with a relatively light load, decrease the 1.00 0.50 to 1.50
(C4-01)
• Motor hunting and oscillation setting.
• If torque is insufficient at speeds below 10 Hz, increase the setting.
Mid Output Voltage A (E1-08) • If motor instability occurs at motor start, decrease the setting. E1-08: 15.0 V
• Poor motor torque at low speeds Default setting
Minimum Output Voltage E1-10: 9.0 V
• Motor instability at motor start Note: The recommended setting value is for 200 V class drives. Double ±5 V
(E1-10) <2>
this value when using a 400 V class drive.
0.0
Slip Compensation Gain After setting the motor-rated current (E2-01), motor-rated slip (E2-02), and
Poor speed precision (V/f control) (no slip 0.5 to 1.5
(C3-01) motor no-load current (E2-03), adjust the slip compensation gain (C3-01).
compensation)
Proportional gain
ASR Proportional Gain 1 (C5-01)
Poor speed precision (V/f control with Adjust the ASR proportional gain 1 (C5-01) and the ASR integral time 1 C5-01: 0.20 = 0.10 to 1.00
ASR Integral Time 1 (C5-02)
PG) (C5-02). C5-02: 0.200 s Integral time
<3> <4>
= 0.100 to 2.000 s
<1> Default setting value is dependent on parameter A1-02, Control Method Selection, and o2-04, Drive Model Selection.
<2> Default settings change when the Control Method is changed (A1-02) or a different V/f pattern is selected using parameter E1-03.
<3> ASR in V/f Control with PG only controls the output frequency, and therefore does not allow the high gain settings possible when using Close
Loop Vector control.
<4> Refer to C5: Automatic Speed Regulator (ASR) on page 190 for details on Automatic Speed Regulator (ASR).
 Fine-Tuning Open Loop Vector Control

Table 6.2 Parameters for Fine-Tuning Performance in OLV
Suggested
Setting
• Poor motor torque and speed • If motor torque and speed response are too slow, gradually decrease the
response AFR Gain setting by 0.05.
1.00 0.50 to 2.00
• Motor hunting and oscillation at (n2-01) • If motor hunting and oscillation occur, gradually increase the setting by
speeds between 10 and 40 Hz 0.05.
• To improve motor torque speed response, gradually reduce this setting by
• Poor motor torque and speed 10 ms and check the performance.
response AFR Time Constant 1 • If motor hunting and oscillation occur as a result of load inertia, gradually
50 ms 50 to 2000 ms
• Motor hunting and oscillation at (n2-02) increase the setting by 50 ms and check the performance.
speeds between 10 and 40 Hz Note: Ensure that n2-02 ≤ n2-03. When changing n2-02, set C4-02 (Torque
Compensation Primary Delay Time Constant 1) accordingly.
• If overvoltage occur, gradually increase this setting by 50 ms.
• If response is slow, gradually reduce this setting by 10 ms.
AFR Time Constant 2
Note: Ensure that n2-02 ≤ n2-03. When making adjustments to n2-03, 750 ms 750 to 2000 ms
(n2-03)
increase the value of C4-06 (Torque Compensation Primary Delay Time 2)
proportionally.
Overvoltage trips when accelerating,
decelerating, or during sudden speed or • If overvoltage trips occur, gradually increase this setting by 10 ms and
load changes. check the performance.
• If response is slow, gradually reduce this setting by 2 ms and check the
performance. 150 ms 150 to 750 ms
Delay Time Constant 2 (C4-06)
Note: Ensure that C4-02 ≤ C4-06. When changing C4-06 (Torque
Compensation Primary Delay Time Constant 2), increase the value of n2-03
proportionally.
Suggested
Setting
• To improve motor torque speed response, gradually reduce this setting by
2 ms and check the performance.
• Poor motor torque and speed • If motor hunting and oscillation occur, gradually increase this setting by
response 10 ms. 20 ms <1> 20 to 100 ms <1>
Delay Time Constant 1 (C4-02)
• Motor hunting and oscillation Note: Ensure that C4-02 ≤ C4-06. When making adjustments to C4-02,
increase the Speed Feedback Detection Control (AFR) Time Constant1
(n2-02) proportionally.
Slip Compensation Primary • If response is slow, gradually decrease the setting by 10 ms.
Poor speed response and stability 200 ms <2> 100 to 500 ms
Delay Time Constant (C3-02) • If speed is unstable, gradually increase the setting by 10 ms.
• If speed is too slow, gradually increase the setting by 0.1 ms.
Poor speed precision Slip Compensation Gain (C3-01) 1.0 <2> 0.5 to 1.5
• If speed is too fast, gradually decrease the setting by 0.1 ms.
Poor speed precision during Slip Compensation Selection Enable slip compensation during regeneration by setting parameter C3-04
0 1
regenerative operation During Regeneration (C3-04) = 1.
• If there is too much motor noise, the carrier frequency is too low.
• Motor noise • If motor hunting and oscillation occur at low speeds, reduce the carrier
Carrier Frequency Selection
• Motor hunting and oscillation occur frequency. 1 (2 kHz) 0 to max. setting
(C6-02)
at speeds below 10 Hz Note: The default setting for the carrier frequency depends on the drive
capacity (o2-04) and Drive Duty Mode Selection (C6-01).
• If motor torque and speed response are too slow, increase the setting.
E1-08: 11.0 V
• Poor motor torque at low speeds Mid Output Voltage A (E1-08) • If the motor exhibits excessive instability at start-up, reduce the setting.
<2> Default setting
• Poor speed response Minimum Output Voltage Note: The default value is for 200 V class units. Double this value when
E1-10: 2.0 V ±2 V
• Motor instability at start (E1-10) using a 400 V class drive. When working with a relatively light load,
<2>
increasing this value too much can result in overtorque.
<1> Default setting value is dependent on parameter A1-02, Control Method Selection, and o2-04, Drive Model Selection.
<2> Default settings change when the Control Method is changed (A1-02) or a different V/f pattern is selected using parameter E1-03.
When using OLV, leave the torque compensation gain (C4-01) at its default setting of 1.00.
 Fine-Tuning Closed Loop Vector Control

Table 6.3 Parameters for Fine-Tuning the Performance in CLV
Suggested
Setting
ASR Proportional Gain 1 • If motor torque and speed response are too slow, gradually increase the
(C5-01) ASR gain setting by 5.
• Poor torque or speed response
ASR Proportional Gain 2 • If motor hunting and oscillation occur, decrease the setting. 20.00 10.00 to 50.00
• Motor hunting and oscillation
(C5-03) • Parameter C5-03 needs to be adjusted only if C5-05 > 0.
<1> • Perform ASR Auto-Tuning if possible
ASR Integral Time 1 (C5-02) • If motor torque and speed response are too slow, decrease the setting.
• Poor torque or speed response
ASR Integral Time 2 (C5-04) • If motor hunting and oscillation occur, increase the setting. 0.500 s 0.300 to 1.000 s
<1> • Parameter C5-04 needs to be adjusted only if C5-05 > 0.
Trouble maintaining the ASR
ASR Gain Switching Frequency Have the drive switch between two different ASR proportional gain and 0.0 to max output
proportional gain or the integral time at 0.0 Hz
(C5-07) <1> integral time settings based on the output frequency. frequency
the low or high end of the speed range
• If motor torque and speed response are too slow, gradually decrease the
ASR Primary Delay Time
Motor hunting and oscillation setting by 0.01. 0.004 s 0.004 to 0.020 s
Constant (C5-06) <1>
• If the load is less rigid and subject to oscillation, increase this setting.
• If there is too much motor noise, the carrier frequency is too low.
• Motor noise • If motor hunting and oscillation occur at low speeds, reduce the carrier
Carrier Frequency Selection 2.0 kHz to the max.
• Control motor hunting and oscillation frequency. 1
(C6-02) setting
occur at speeds below 3 Hz. Note: The default setting for the carrier frequency depends on the drive
Troubleshooting
capacity (o2-04) and Drive Duty Mode Selection (C6-01).
Enable Feed Forward by setting parameter n5-01 = 1 and perform Inertia
Overshoot or undershoot when the Feed Forward Control (n5-01)
Tuning. If Inertia Tuning is not possible, set parameters C5-17, C5-18, and 0 1
speed changes with high inertia load. Inertia Tuning (T1-01 = 8)
n5-03 manually.
<1> Refer to C5: Automatic Speed Regulator (ASR) on page 190 for details on Automatic Speed Regulator (ASR).
 Fine-Tuning Open Loop Vector Control for PM Motors 6

Table 6.4 Parameters for Fine-Tuning Performance in OLV/PM
Suggested
Setting
• Check the settings for base and maximum frequency in the E1-
parameters
Motor parameters • Check E5- parameters and make sure all motor data has been set
Motor performance not as desired – –
(E1-, E5-) correctly. Be careful not to enter line to line data where single-phase data
is required, and vice versa.
• Perform Auto-Tuning.
Close to the actual
Load Inertia Ratio (n8-55) Adjust parameter n8-55 to meet the load inertia ratio of the machine. 0
load inertia ratio
Speed Feedback Detection Gain Decrease in
Decrease the speed feedback detection gain (n8-45). 0.8
Poor motor torque and speed response (for PM Motors) (n8-45) decrements of 0.05
Enable torque compensation.
Torque Compensation (C4-01) Note: Setting this value too high can cause overcompensation and motor 0 1
oscillation.
Suggested
Setting
Pull-In Current during Accel/ Increase in steps
Increase the pull-in current set in n8-51 50%
Decel (for PM Motors) (n8-51) of 5%
DC Injection Braking Current b2-03 = 0.5 s
Use DC Injection Braking at start to align the rotor. Be aware that this b2-02 = 50%
(b2-02), DC Injection Time at Increase b2-02 if
Oscillation at start or the motor stalls operation can cause a short reverse rotation at start. b2-03 = 0.0 s
Start (b2-03) needed
Increase the load inertia ratio.
Close to the actual
Load Inertia Ratio (n8-55) Note: Setting this value too high can cause overcompensation and motor 0
load inertia ratio
oscillation.
Pull-In Current Compensation
Reduce in
Time Constant (for PM Motors) Decrease n8-47 if hunting occurs during constant speed 5.0 s
increments of 0.2 s
(n8-47)
Stalling or oscillation occur when load
Pull-In Current (for PM Motors) Increase in
is applied during constant speed Increase the pull-in current in n8-48. 30%
(n8-48) increments of 5%
Close to the actual
Load Inertia Ratio (n8-55) Increase the load inertia ratio. 0
load inertia ratio
Speed feedback Detection Gain Increase in
Hunting or oscillation occur Increase the speed feedback detection gain in n8-45. 0.8
(for PM Motors) (n8-45) increments 0.05
• Check and adjust the induced voltage constant. dep. on drive Refer to the motor
STO fault trips even if the load is not Induced Voltage Constant (for
• Check the motor name plate, the data sheet or contact the motor capacity and data sheet or the
too high PM Motors) (E5-09 or E5-24)
manufacturer for getting data. motor code nameplate.
Set the value lower
Stalling or STO occurs at high speed as Output Voltage Limit (for PM Set the value of the input voltage to parameter n8-62. 200 Vac or 400
than the actual
the output voltage becomes saturated. Motors) (n8-62) Never set the value higher than the actual input voltage. Vac
input voltage.
 Fine-Tuning Advanced Open Loop Vector Control for PM Motors

Table 6.5 Parameters for Fine-Tuning Performance in AOLV/PM
Suggested
Setting
• Poor torque or speed response (C5-01) setting by 5.
10.00 5.00 to 30.00 <1>
• Motor hunting and oscillation ASR Proportional Gain 2 • If motor hunting and oscillation occur, decrease the setting.
(C5-03) • Parameter C5-03 needs to be adjusted only if C5-05 > 0.
• If motor torque and speed response are too slow, decrease the setting.
• Poor torque or speed response ASR Integral Time 1 (C5-02) 0.300 to
• If motor hunting and oscillation occur, increase the setting. 0.500 s
• Motor hunting and oscillation ASR Integral Time 2 (C5-04) 1.000 s <1>
• Parameter C5-03 needs to be adjusted only if C5-05 > 0
Trouble maintaining the ASR
ASR Gain Switching Frequency Have the drive switch between two different ASR proportional gain and
proportional gain or the integral time at 0.0% 0.0 to Max min-1
(C5-07) integral time settings based on the output frequency.
the low or high end of the speed range
ASR Primary Delay Time 0.016 to
Motor hunting and oscillation If the load is less rigid and subject to oscillation, increase this setting. 0.010 s
Constant (C5-06) 0.035 s <1>
Motor stalling makes normal operation Motor parameters
Check the motor parameter settings. – –
impossible (E1-, E5-)
• If motor torque and speed response are too slow, gradually increase the
Motor hunting and faults occur during
setting by 0.20.
load or speed variations. (Fault detected Speed Calculation Gain (n8-69) 1.00 0.20 to 5.00
• If motor hunting and oscillation occur, gradually decrease the setting by
during impact loads).
0.20.
When high frequency injection is
Low Pass Filter Cutoff Frequency
enabled (n8-57 = 1), motor hunting or
for High Frequency Injection Set the setting value of n8-39 to 50% of the setting value of n8-36. 50 Hz 50% of n8-36
oscillation occurs, or there is an
(n8-39)
unusual noise from the motor.
Speed decreases when load is applied. Induction Voltage Estimation Depending on
Gradually decrease the setting by 10. 50.0 to 300.0
(When the torque limit is not applied.) Gain 2 (n8-11) n8-72
<1> Optimal settings will differ between no-load and loaded operation.
 Fine-Tuning Closed Loop Vector Control for PM Motors

Table 6.6 Parameters for Fine-Tuning Performance in CLV/PM
Problem Parameter No. Corrective Action Default Suggested

Setting
• Poor torque or speed response (C5-01) setting by 5.
20.00 10.00 to 50.00 <1>
• Motor hunting and oscillation ASR Proportional Gain 2 • If motor hunting and oscillation occur, decrease the setting.
(C5-03) • Perform ASR Gain Auto-Tuning if possible
• Poor torque or speed response ASR Integral Time 1 (C5-02) • If motor torque and speed response are too slow, decrease the setting. 0.300 to
0.500 s
• Motor hunting and oscillation ASR Integral Time 2 (C5-04) • If motor hunting and oscillation occur, increase the setting. 1.000 s <1>
ASR proportional gain or the integral
ASR Gain Switching Frequency Have the drive switch between two different ASR proportional gain and
time at the low or high end of the speed 0.0% 0.0 to Max min-1
(C5-07) integral time settings based on the output frequency.
range
ASR Primary Delay Time 0.004 to
Motor hunting and oscillation If the load is less rigid and subject to oscillation, increase this setting. 0.016 s
Constant (C5-06) 0.020 s <1>
Motor stall makes normal operation Motor parameters
Check the motor parameter settings. – –
impossible (E1-, E5-)
Enable Feed Forward Control by setting parameter n5-01 = 1 and perform
Overshoot or undershoot at speed Feed Forward Control (n5-01)
Inertia Auto-Tuning. If Auto-Tuning cannot be performed set parameters 0 1
changes with high inertia load. Inertia Auto-Tuning (T2-01 = 8)
C5-17, C5-18 and n5-03 manually.
<1> Optimal settings will differ between no-load and loaded operation.
 Parameters to Minimize Motor Hunting and Oscillation

In addition to the parameters discussed on page 326 through 329, parameters in Table 6.7 indirectly affect motor hunting
and oscillation.
Table 6.7 Parameters that Affect Control Performance in Applications
Name (Parameter No.) Application
Prevents motor speed loss by maintaining the output frequency when working with heavy loads or when there is powerful
Dwell Function (b6-01 through b6-04)
backlash on the machine side.
Used to balance the load between two motors that drive the same load. Can be used when the control method (A1-02) is set to
Droop Function (b7-01, b7-02)
3 or 7.
Accel/Decel Time (C1-01 through C1-11) Adjusting accel and decel times will affect the torque presented to the motor during acceleration or deceleration.
S-Curve Characteristics (C2-01 through C2-04) Prevents shock at the beginning and end of acceleration and deceleration.
Jump Frequency (d3-01 through d3-04) Skips over the resonant frequencies of connected machinery.
Analog Filter Time Constant (H3-13) Prevents fluctuation in the analog input signal due to noise.
• Prevents motor speed loss and overvoltage. Used when the load is too heavy and also during sudden acceleration/
deceleration.
Stall Prevention (L3-01 through L3-06, L3-11)
• Adjustment is not normally required because Stall Prevention is enabled as a default. Disable Stall Prevention during
deceleration (L3-04 = “0”) when using a braking resistor.
• Sets the maximum torque for Open Loop Vector Control.
Torque Limits (L7-01 through L7-04, L7-06, L7-07) • Ensure that the drive capacity is greater than the motor capacity when increasing this setting. Be careful when reducing this
value because motor speed loss may occur with heavy loads.
Used to increase response for acceleration/deceleration or to reduce overshooting when there is low machine rigidity and the
Feed Forward Control (n5-01 through n5-03) gain of the speed controller (ASR) cannot be increased. The inertia ratio between the load and motor and the acceleration time
of the motor running alone must be set.
Troubleshooting
6.3 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 95.
If problems occur that are not covered in this manual, contact Yaskawa or a Yaskawa representative with the following
information:
• Drive model
• Software version
• Date of purchase
• Description of the problem
Table 6.8 contains descriptions of the various types of alarms, faults, and errors that may occur while operating the drive.
Contact Yaskawa or a Yaskawa representative in the event of drive failure.
Table 6.8 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 369.
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.
 Alarm and Error Displays

 Faults
Table 6.9 gives an overview of possible fault codes. As conditions such as overvoltage can trip both a fault and an alarm,
it is important to distinguish between faults and alarms in order to find the right corrective action.
When the drive detects a fault, the ALM indicator LEDs lights and the fault code appears on the display. The drive fault
contact MA-MB-MC will be triggered. If the ALM LED blinks and the code appearing on the operator screen is flashes,
then an alarm has been detected. See Minor Faults and Alarms on page 333 for a list of alarm codes.
Table 6.9 Fault Displays (1)
Digital Operator Display Digital Operator Display
Name Page Name Page
LED Operator LCD Operator LED Operator LCD Operator
boL Braking Transistor Overload Fault 336 dv2 Z Pulse Noise Fault Detection 339
bUS Option Communication Error 336 dv3 Inversion Detection 339

MEMOBUS/Modbus Communication
CE 336 dv4 Inversion Prevention Detection 339
Error
CF Control Fault 336 dv7 Polarity Judge Timeout 339
CoF Current Offset Fault 336

, dWAL,
DriveWorksEZ Fault 339
dWFL
,
CPF00, CPF01 Control Circuit Error 337
EEPROM Memory DriveWorksEZ Data
<1> dWF1 339
Error
CPF02 A/D Conversion Error 337 E5 MECHATROLINK Watchdog Timer Error 340
CPF03 Control Board Connection Error 337 EF0 Option Card External Fault 340
<4> CPF06 EEPROM Memory Data Error 337 to

EF1 to EF8 External Fault (input terminal S1 to S8) 340
, CPF07,
Terminal Board Connection Error 337
CPF08
Err EEPROM Write Error 340
CPF11 RAM Fault 337 FAn Internal Fan Fault 340
CPF12 FLASH Memory Fault 337 FbH Excessive PID Feedback 340
CPF13 Watchdog Circuit Exception 337 FbL PID Feedback Loss 341
CPF14 Control Circuit Fault 337 GF Ground Fault 341
CPF16 Clock Fault 337 LF Output Phase Loss 341
CPF17 Timing Fault 338 LF2 Output Current Imbalance 341
CPF18 Control Circuit Fault 338 <2> LF3 Power Unit Output Phase Loss 3 341
Troubleshooting
CPF19 Control Circuit Fault 338 LSo LSo Fault 342
nSE Node Setup Error 342

,
CPF20, CPF21 Control Circuit Error 338
<1> oC Overcurrent 342
Option Card Connection Error at Option

CPF22 Hybrid IC Error 338 <4> oFA00 343
Port CN5-A
CPF23 Control Board Connection Error 338 oFA01 Option Card Fault at Option Port CN5-A 343
6
CPF24 Drive Unit Signal Fault 338
<4> to Option Card Error Occurred at Option Port
oFA03 to oFA06 343
CN5-A
CPF25 Terminal Board not Connected 338
to , Option Card Error Occurred at Option Port

oFA10, oFA11 343
CN5-A
, CPF26 to CPF35,
Control Circuit Error 338
CPF40 to CPF45
to to
oFA12 to oFA17 Option Card Connection Error (CN5-A) 343
<2>
Speed Deviation (for Control Mode with to Comm. Option Card Connection Error
dEv PG and PM Open Loop Vector Control 338 oFA30 to oFA43 343
(CN5-A)
Mode without PG)
dv1 Z Pulse Fault 339 <4> oFb00 Option Card Fault at Option Port CN5-B 343
Table 6.10 Fault Displays (2)

Name Page Name Page
oFb01 Option Card Fault at Option Port CN5-B 344 oL7 High Slip Braking oL 346
oFb02 Option Card Fault at Option Port CN5-B 344 oPr External Digital Operator Connection Fault 347
oS Overspeed 347
, Option Card Error Occurred at Option Port
oFb03, oFb11 344
CN5-B
ov Overvoltage 347
PF Input Phase Loss 348

to Option Card Error Occurred at Option Port
oFb12 to oFb17 344
CN5-B
PGo PG Disconnect (for Control Mode with PG) 348
Option Card Connection Error at Option

<4> oFC00 344 PGoH PG Hardware Fault (when using PG-X3) 348
Port CN5-C
oFC01 Option Card Fault at Option Port CN5-C 344 rF Braking Resistor Fault 348
oFC02 Option Card Fault at Option Port CN5-C 344 rH Braking Resistor Overheat 348
rr Dynamic Braking Transistor 348

, Option Card Error Occurred at Option Port
oFC03, oFC11 344
CN5-C
SC Output Short-Circuit or IGBT Fault 349

oFC12 to oFC17 344 SEr Too Many Speed Search Restarts 349
CN5-C

oFC50 to oFC55 344 STo Pull-Out Detection 349
CN5-C
oH Heatsink Overheat 345 SvE Zero Servo Fault 349
oH1 Overheat 1 (Heatsink Overheat) 345 <2> THo Thermistor Disconnect 349
oH3 Motor Overheat Alarm (PTC Input) 345 UL3 Undertorque Detection 1 350
oH4 Motor Overheat Fault (PTC Input) 345 UL4 Undertorque Detection 2 350
<2>
oH5 Motor Overheat (NTC Input) 345 UL5 Mechanical Weakening Detection 2 350
oL1 Motor Overload 345 <2> UnbC Current Unbalance 350
oL2 Drive Overload 346 <4>

Uv1 DC Bus Undervoltage 350
oL3 Overtorque Detection 1 346 <4> Uv2 Control Power Supply Voltage Fault 350
Undervoltage 3 (Soft-Charge Bypass

oL4 Overtorque Detection 2 346 <4> Uv3 350
Circuit Fault)
oL5 Mechanical Weakening Detection 1 346 <2> Uv4 Gate Drive Board Undervoltage 351
<1> Displayed as or when occurring at drive power up. When one of the faults occurs after successfully starting the drive, the
display will show or .
<2> Occurs in models CIMR-A4A0930 and 4A1200.
<3> This function prevents continuous operation in reverse when using high frequency injection (n8-57 = 1) in the Advanced Open Loop Vector
Control mode for PM motors (A1-02 = 6) with a motor for which no motor code has been entered (it does not simply prevent reverse
operation). To quickly detect undesirable reverse operation, set L8-93, L8-94, and L8-95 to low values within range of erroneous detection.
<4> Fault trace (i.e., the fault history) is not kept when CPF00, CPF01, CPF06, CPF24, oFA00, oFb00, oFC00, Uv1, Uv2, and Uv3 occur.
 Minor Faults and Alarms

Table 6.11 give an overview of possible alarm codes. As conditions such as overvoltage can trip both a fault and alarm, it
is important to distinguish between faults and alarms in order to find the right corrective action.
If an alarm is detected, the ALM LED will blink and the alarm code display flashes. The majority of alarms will trigger a
digital output programmed for alarm output (H2- = 10). If the ALM LED lights without blinking, this means that a
fault has been detected (not an alarm). Information on fault codes can be found in Faults on page 331.
Table 6.11 Minor Fault and Alarm Displays
Digital Operator Display Minor Fault Output
Name Page
LED Operator LCD Operator (H2- = 10)
AEr Station Address Setting Error (CC-Link, CANopen, MECHATROLINK) YES 352
bb Baseblock No output 352
boL Braking Transistor Overload Fault YES 352
bUS Option Communication Error YES 352
CALL Serial Communication Transmission Error YES 353
CE MEMOBUS/Modbus Communication Error YES 353
CrST Cannot Reset YES 353
CyC MECHATROLINK Comm. Cycle Setting Error YES 353
Speed Deviation (when using a PG option card and PM Open Loop Vector Control
dEv YES 353
Mode without PG)
dnE Drive Disabled YES 353
dWAL DriveWorksEZ Fault YES 339
E5 MECHATROLINK Watchdog Timer Error YES 340
EF Forward/Reverse Run Command Input Error YES 354
EF0 Option Card External Fault YES 354
to EF1 to EF8 External Fault (input terminal S1 to S8) YES 354
FAn Internal Fan Fault YES 340
FbH Excessive PID Feedback YES 354
FbL PID Feedback Loss YES 355
Hbb Safe Disable Signal Input YES 355
HbbF Safe Disable Signal Input YES 355 Troubleshooting
HCA Current Alarm YES 355
LT-1 Cooling Fan Maintenance Time No output <1> 355
LT-2 Capacitor Maintenance Time No output <1> 355 6

LT-3 Soft Charge Bypass Relay Maintenance Time No output <1> 355
LT-4 IGBT Maintenance Time (50%) No output <1> 356
oH Heatsink Overheat YES 356
oH2 Drive Overheat Warning YES 356
oH3 Motor Overheat YES 356
<2> oH5 Motor Overheat (NTC Input) YES 356
oL3 Overtorque 1 YES 356
oL4 Overtorque 2 YES 356
oL5 Mechanical Weakening Detection 1 YES 357
Digital Operator Display Minor Fault Output

Name Page
LED Operator LCD Operator (H2- = 10)
oS Overspeed YES 357
ov DC Bus Overvoltage YES 357
PASS MEMOBUS/Modbus Comm. Test Mode Complete No output 357
PGo PG Disconnect (for Control Mode with PG) YES 357
PGoH PG Hardware Fault (when using PG-X3) YES 357
rUn Motor Switch during Run YES 357
SE MEMOBUS/Modbus Communication Test Mode Error YES 358
<2> THo Thermistor Disconnect YES 358
TrPC IGBT Maintenance Time (90%) YES 358
UL3 Undertorque Detection 1 YES 358
UL4 Undertorque Detection 2 YES 358
UL5 Mechanical Weakening Detection 2 YES 350
Uv Undervoltage YES 358
voF Output Voltage Detection Fault YES 358
<1> Output when H2- = 2F.

 Operation Errors
Table 6.12 Operation Error Displays
Name Page Name Page
oPE01 Drive Capacity Setting Fault 359 oPE09 PID Control Selection Fault 360
oPE02 Parameter Range Setting Error 359 oPE10 V/f Data Setting Error 360
oPE03 Multi-Function Input Setting Error 359 oPE11 Carrier Frequency Setting Error 361
oPE04 Terminal Board Mismatch Error 360 oPE13 Pulse Monitor Selection Error 361
Run Command/Frequency Reference

oPE05 360 oPE15 Torque Control Setting Error 361
Source Selection Error
oPE06 Control Method Selection Error 360 oPE16 Energy Saving Constants Error 361
Multi-Function Analog Input Selection

oPE07 360 oPE18 Online Tuning Parameter Setting Error 361
Error
oPE08 Parameter Selection Error 360 oPE20 PG-F3 Setting Error 361
 Auto-Tuning Errors
Table 6.13 Auto-Tuning Error Displays
Name Page Name Page
End1 Excessive V/f Setting 362 Er-10 Motor Direction Error 364
End2 Motor Iron-Core Saturation Coefficient 362 Er-11 Motor Speed Error 364
End3 Rated Current Setting Alarm 362 Er-12 Current Detection Error 364
End4 Adjusted Slip Calculation Error 362 Er-13 Leakage Inductance Error 364
End5 Resistance Tuning Error 362 Er-14 Motor Speed Error 2 364
End6 Leakage Inductance Alarm 362 Er-15 Torque Saturation Error 364
End7 No-Load Current Alarm 362 Er-16 Inertia ID Error 364
Er-01 Motor Data Error 363 Er-17 Reverse Prohibited Error 364

Name Page Name Page
Er-02 Minor Fault 363 Er-18 Induction Voltage Error 364
Er-03 STOP Button Input 363 Er-19 PM Inductance Error 364
Er-04 Line-to-Line Resistance Error 363 Er-20 Stator Resistance Error 365
Er-05 No-Load Current Error 363 Er-21 Z Pulse Correction Error 365
High Frequency Injection Parameter

Er-08 Rated Slip Error 363 Er-25 365
Tuning Error
Er-09 Acceleration Error 363 – – – –
 Errors and Displays When Using the Copy Function

Table 6.14 Copy Errors
Digital Operator Display
Name Page
LED Operator LCD Operator
CoPy Writing Parameter Settings (flashing) 366
CPEr Control Mode Mismatch 366
CPyE Error Writing Data 366
CSEr Copy Unit Error 366
dFPS Drive Model Mismatch 366
End Task Complete 366
iFEr Communication Error 366
ndAT Model, Voltage Class, Capacity Mismatch 366
rdEr Error Reading Data 367
rEAd Reading Parameter Settings (flashing) 367
vAEr Voltage Class, Capacity Mismatch 367
vFyE Parameter settings in the drive and those saved to the copy function are not the same 367
vrFy Comparing Parameter Settings (flashing) 367
Troubleshooting
6.4 Fault Detection
6.4 Fault Detection

 Fault Displays, Causes, and Possible Solutions
Faults are detected for drive protection that cause the drive to stop while toggling the form-C output associated with
terminals MA-MB-MC.
Remove the cause of the fault and manually clear the fault before attempting to run the drive again.
Table 6.15 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.
Cause Possible Solution
The wrong braking resistor is installed. Select the optimal braking resistor.
Use a regen converter, regen unit, braking unit, or other
Set L8-55 to 0 to disable Internal Braking Transistor Protection.
device to connect the +1 or +3 terminal to the - terminal.
• Change to a CDBR type braking unit.
The braking transistor use rate is high (i.e., the regen
• Change to a regen converter.
converter is large or the repetition frequency is high).
• Increase the deceleration time.
The braking transistor inside the drive is faulty. Replace the drive.
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.
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.
• 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.
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.
Control Fault
CF
A torque limit was reached continuously for three seconds or longer while ramping to stop in Open Loop Vector Control.
Motor parameters are not set properly. Check the motor parameter settings and repeat Auto-Tuning.
Torque limit is too low. Set the torque limit to the most appropriate setting (L7-01 through L7-04).
• Adjust the deceleration time (C1-02, C1-04, C1-06, C1-08).
Load inertia is too big.
• Set the frequency to the minimum value and interrupt the Run command when the drive finishes decelerating.
Current Offset Fault
CoF The current sensor is damaged or there was residual induction current in the motor (e.g., during sudden deceleration or when
coasting) when the drive attempted to start the motor.
Due to residual induction current in the motor when the • Create a motor restart sequence that allows enough time for the residual induction voltage to dissipate.
drive attempted to start the motor, the drive attempted to • Enable Speed Search at start (b3-01 = 1). Use the multi-function terminals to execute External Speed Search 1 and 2 (H1- =
adjust the current offset value beyond the allowable 61 or 62).
range. Note: When using a PM motor, both External Speed Search 1 and 2 perform the same operation.
Hardware is damaged. Replace the drive. Replace the drive.
6.4 Fault Detection

or CPF00 or CPF01
Control Circuit Error
<1> <1>
• Cycle power to the drive.
There is a self diagnostic error in 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 a Yaskawa representative.
Connector on the operator is damaged. Replace the operator.
A/D Conversion Error
CPF02
An A/D conversion error or control circuit error occurred.
Control circuit is damaged. • If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board,
Control Board Connection Error
CPF03
Connection error between the control board and the drive
• Turn the power off and check the connection between the control board and the drive.
There is a connection error.
• If the problem continues, replace either the control board or the entire drive.
Drive fails to operate properly due to electrical signal
• Use only recommended cables or other shielded line. Ground the shield on the controller side or on the drive input power side.
interference.
• Ensure that other equipment such as switches or relays do not cause noise and use surge suppressors if required.
EEPROM Memory Data Error
CPF06
There is an error in the data saved to EEPROM.
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,
The power supply was switched off when parameters
Reinitialize the drive (A1-03 = 2220, 3330).
were being saved to the drive.
CPF07
Terminal Board Connection Error
CPF08

• Turn the power off and reconnect the terminal board.
There is a fault connection between the terminal board
• If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board,
and control board.
CPF11 RAM Fault

Hardware is damaged. Replace the drive.
Troubleshooting
FLASH Memory Fault
CPF12
Problem with the ROM (FLASH memory).
CPF13
Watchdog Circuit Exception 6
Self-diagnostics problem.
Control Circuit Fault
CPF14
CPU error (CPU operates incorrectly due to noise, etc.)
Clock Fault
CPF16
Standard clock error.
6.4 Fault Detection

Timing Fault
CPF17
A timing error occurred during an internal process.
CPF18
CPU error. Non-Maskable Interrupt (An unusual interrupt was triggered by noise, etc.)
CPF19
CPU error (Manual reset due to noise, etc.)
or <1> CPF20 or CPF21 Control Circuit Error

Hardware is damaged. • If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board,
CPF22 Hybrid IC Error

• Cycle power to the drive. Refer to Diagnosing and Resetting Faults on page 368.
Hybrid IC on the main circuit is damaged. • If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board,
Control Board Connection Error
CPF23
Connection error between the control board and the drive
Hardware is damaged. • If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board,
Drive Unit Signal Fault
CPF24
The drive capacity cannot be detected correctly (drive capacity is checked when the drive is powered up).
Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or a Yaskawa
Hardware is damaged.
representative.
CPF25 Terminal Board not Connected

Terminal board is not connected correctly. Reconnect the terminal board to the connector on the drive, then cycle the power to the drive.
Control Circuit Error
to ,
CPF26 to CPF35,
to CPF40 to CPF45 CPU error
<2>
Hardware is damaged.
representative.
Speed Deviation (for Control Mode with PG and AOLV/PM without PG)
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.
Load is too heavy. Reduce the load.
Acceleration and deceleration times are set too short. Increase the acceleration and deceleration times (C1-01 through C1-08).
The load is locked up. Check the machine.
Parameters are not set appropriately. Check the settings of parameters F1-10 and F1-11.
• Set H6-02 to the same value as the speed feedback signal frequency when the motor runs at maximum speed.
Incorrect speed feedback scaling if terminal RP is used
• Adjust the speed feedback signal using parameters H6-03 through H6-05.
as speed feedback input in V/f control.
• Make sure the speed feedback signal frequency does not exceed the maximum input frequency of terminal RP.
Motor brake engaged. Ensure the motor brake releases properly.
6.4 Fault Detection

Z Pulse Fault
dv1 The motor turned one full rotation without the Z pulse being detected.
Note: Available in CLV/PM control mode only.
PG encoder is not connected, not wired properly, or is • Make sure the PG encoder is properly connected and all shielded lines are properly grounded.
damaged. • If the problem continues after cycling power, then replace either the PG option card or the PG encoder itself.
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.
Electrical signal interference along the PG cable. Separate the PG cable lines from the source of the noise (very possibly drive output wiring).
PG cable is not wired properly. Rewire the PG encoder and make sure all shielded lines are properly grounded.
PG option card or the PG encoder is damaged. If the problem continues after cycling power, then replace either the PG option card or the PG encoder itself.
Inversion Detection
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.
Set the value for Δθ to E5-11 as specified on the motor nameplate. Replacing the PG encoder or changing the application so that
The Z pulse offset is not set properly to E5-11.
the motor rotates in reverse instead requires readjustment of the Z pulse offset. (T2-01 = 3)
The drive incorrectly detected the position of the motor • If the value displayed in U6-57 is lower than 819, then set the polarity judge current (n8-84) higher than the default value.
poles. • Check with the motor manufacturer for the maximum set value.
An external force on the load side has caused the motor • Make sure the motor is rotating in the right direction.
to move. • Look for any problems on the load side that might be causing the motor to rotate in the opposite direction.
Electrical signal interference along the PG cable
affecting the A or B pulse.
Rewire the PG encoder and make sure all lines including shielded line are properly connected.
PG encoder is disconnected, not wired properly, or the
PG option card or PG itself is damaged.
Rotational direction for the PG encoder set to F1-05 is
Make sure motor lines for each phase (U, V, W) are connected properly.
the opposite of the order of the motor lines.
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: 1. 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.
2. Available in CLV/PM control mode only.
• Set the value for Δθ to E5-11 as specified on the motor nameplate.
• If the problem continues after cycling power, then replace either the PG option card or the PG encoder itself. Replacing the PG
The Z pulse offset is not set properly to E5-11.
encoder or changing the application so that the motor rotates in reverse instead requires readjustment of the Z-pulse offset.
(T2-01 = 3)
The setting value of the polarity judge current (n8-84) is • The polarity judge current (n8-84) is higher than default value.
too low. • Check with the motor manufacturer for the maximum set value.
The drive incorrectly detected the position of the motor • If the value displayed in U6-57 is lower than 819, then set the polarity judge current (n8-84) higher than the default value.
poles. • Check with the motor manufacturer for the maximum set value.
Troubleshooting
Electrical signal interference along the PG cable • Make sure the motor is rotating in the correct direction.
affecting the A or B pulse. • Look for any problems on the load side that might be causing the motor to rotate in the opposite direction.
PG encoder is disconnected, not wired properly, or the • Rewire the PG encoder and make sure all lines including shielded line are properly connected.
PG option card or PG itself is damaged. • If the problem continues after cycling power, then replace either the PG option card or the PG encoder itself.
dv7 Polarity Judge Timeout
Cause
Disconnection in the motor coil winding.
Possible Solution
• Measure the motor line-to-line resistance and replace the motor if the motor coil winding is open.
6
• Check for loose terminals. Apply the tightening torque specified in this manual to fasten the terminals.
Loose output terminals. Refer to Wire Size on page 82.
dWAL
DriveWorksEZ Fault
dWFL

Fault output by DriveWorksEZ Correct whatever caused the fault.
EEPROM Memory DriveWorksEZ Data Error
dWF1
There is an error in the DriveWorksEZ program saved to EEPROM.
Problem with EEPROM data. Reinitialize the drive (A1-03 = 2220, 3330) and then download the DriveWorksEZ program again.
There is an error in EEPROM control circuit. • If the problem continues, replace either the control board or the entire drive and then download the DriveWorksEZ program.
For instructions on replacing the control board, contact Yaskawa or a Yaskawa representative.
6.4 Fault Detection

MECHATROLINK Watchdog Timer Error
E5
The watchdog has timed out.
Data has not been received from the PLC, triggering the
 Execute DISCONNECT or ALM_CLR, then issue a CONNECT command or SYNC_SET command and proceed to phase 3.
watchdog timer.
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 2B).
Wiring is incorrect.
• Reconnect the signal line.
• Check if the any unused terminals are set for H1- = 20 to 2B (External Fault).
Incorrect setting of multi-function contact inputs.
• Change the terminal settings.
EEPROM Write Error
Err
Data cannot be written to the EEPROM.
• Press the button.
Noise has corrupted data while writing to the EEPROM. • Correct the parameter setting.
• Cycle power to the drive. Refer to Diagnosing and Resetting Faults on page 368.
• Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or a
Hardware problem.
representative.
Internal Fan Fault
FAn
Fan or magnetic contactor failed (detected when L8-32 = 0 to 2).
Cycle power to the drive and see if the fault is still present.
Internal cooling fan has malfunctioned (models 2A0360, Check if the fan is operating or not.
2A0415, 4A0362 to 4A1200). Verify the cumulative operation time of the fan using monitor U4-03, and the fan maintenance timer in U4-04.
If the cooling fan has passed its expected performance life or is damaged in some way, replace the fan.
Fault detected in the internal cooling fan or magnetic Cycle power to the drive and see if the fault is still present.
contactor to the power supply (models 2A0250 to If the fault still occurs, either replace the control circuit board or the entire unit.
2A0415, 4A0165 to 4A1200). For instructions on replacing the power board, contact Yaskawa or a Yaskawa representative.
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.
Parameters are not set appropriately. Check the settings of parameters b5-36 and b5-37.
Wiring for PID feedback is incorrect. Correct the wiring.
• Check the sensor on the control side.
There is a problem with the feedback sensor.
• Replace the sensor if damaged.
6.4 Fault Detection

PID Feedback Loss
FbL This fault occurs when PID feedback loss detection is programmed to trigger a fault (b5-12 = 2 or 5) and the PID feedback level
is below the detection level set to b5-13 for longer than the time set to b5-14.
Parameters are not set appropriately. Check the settings of parameters b5-13 and b5-14.
Wiring for PID feedback is incorrect. Correct the wiring.
There is a problem with the feedback sensor. Check the sensor on the controller side. If damaged, replace the sensor.
Ground Fault
GF
A current short to ground exceeded 50% of rated current on the output side of the drive.
• 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 generally only
happens when attempting to restart a PM motor that is coasting to stop).
The drive performed a current offset adjustment while
• Enable Speed Search at start (b3-01 = 1).
the motor was rotating.
• 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.
representative.
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.
The output terminal is loose. Apply the tightening torque specified in this manual to fasten the terminals. Refer to Wire Size on page 82.
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.
representative.
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.
Troubleshooting
Terminal wires on the output side of the drive are loose. Apply the tightening torque specified in this manual to fasten the terminals. Refer to Wire Size on page 82.
The output circuit is damaged.
representative.
• 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.
Power Unit Output Phase Loss 3
<2>
LF3
Phase loss occurred on the output side (L8-78 is enabled). 6
The gate drive board in the power unit is damaged.
Cycle the power supply. Refer to Diagnosing and Resetting Faults on page 368 for instructions. If the fault continues to occur,
The current detection circuit in the power unit is replace the gate drive board or the drive.
damaged.
Connector for the internal current detection circuit cable
is removed. Contact Yaskawa or a Yaskawa representative for instructions.
Terminal connected to the output reactor is loose.
6.4 Fault Detection

LSo Fault
LSo
<3> Pull-out has been detected at low speed.
Enter the correct motor code for the PM motor being used into E5-01.
The incorrect motor code has been entered.
For special-purpose motors, enter the correct data to all E5 parameters according to the test report provided for the motor.
Reduce the load.
The load is too heavy.
Replace the drive with a larger model.
• Make sure some external force is not rotating the motor at start.
The drive incorrectly detected the position of the motor • Enable Speed Search Selection at start. (b3-01 = 1)
poles. • If the value displayed in U6-57 is lower than 819, then set the polarity judge current (n8-84) higher than the default value.
• Check with the motor manufacturer for the maximum set value.
Increase the value set to L8-93.
Values set to parameters L8-93, L8-94, and L8-95 are
incorrect.
Set the setting value of n8-39 (Low Pass Filter Cutoff Frequency for High Frequency Injection) to 50% of the setting value of
When high frequency injection is enabled (n8-57 = 1), n8-36 (High Frequency Injection Level).
hunting or oscillation occurs, or there is an unusual noise Decrease the setting value of n8-41 (HFI Overlap Pole Detection Pgain) by 0.5.
from the motor. Note: 1. Depending on the software version of the drive, this parameter may not be displayed.
2. For a typical motor, set n8-41 to a positive value (0.1 or higher).
Increase the setting value of C6-02 (Carrier Frequency Selection).
The volume of the motor excitation sound is too high.
Note: The default setting depends on the settings for o2-04 (Drive Model Selection) and C6-01 (Drive Duty Mode Selection).
Decrease the setting value of C6-02 (Carrier Frequency Selection).
Hunting or oscillation at low speed (3 Hz or lower).
Node Setup Error
nSE
A terminal assigned to the node setup function closed during run.
The node setup terminal closed during run.
A run command was issued while the node setup Stop the drive when using the node setup function.
function was active.
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.
• Check the drive output side short circuit for broken output transistor.
B1 and U/V/W
The drive is damaged.
- (negative) and U/V/W
• Contact Yaskawa or a Yaskawa representative.
• 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 electrical signal interference.
• Review the section on handling electrical signal interference and check the control circuit lines, main circuit lines, and ground
interference.
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.
The overcurrent level has exceeded the value set to L8-
Correct the value set to overcurrent detection gain (L8-27).
27. (PM control modes)
6.4 Fault Detection
• 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”.
The motor cable is long. Use a larger drive.
Increase the setting value of C5-01/C5-03 (ASR Proportional Gain 1, 2) by 5.00 or decrease the setting value of C5-02/C5-04
(ASR Integral Time 1, 2).
Torque or speed response is slow.
Note: C5-03/C5-04 (ASR Proportional Gain 2, ASR Integral Time 2) are enabled only when C5-07 is set (value other than 0.0
Hz).
Decrease the setting value of C5-01/C5-03 (ASR Proportional Gain 1, 2) by 2.00 or increase the setting value of C5-02/C5-04
Hunting or oscillation. Hz).
If torque or speed response is slow, decrease the setting value of C5-06 (ASR Primary Delay Time Constant) by 0.001.
If there is unsatisfactory machine rigidity and oscillation is possible, increase the setting value of C5-06 (ASR Primary Delay
Time Constant).
Responsiveness cannot be ensured because the
• Change the ASR proportional gain and ASR integral time to conform to the output frequency.
application of the load is different at low speed or high
• Change the setting value of C5-07 (ASR Gain Switching Frequency).
speed.
Hunting and faults occur during load or speed variations If torque or speed response is slow, increase the setting value of n8-69 (Speed Calculation Gain) by 0.20.
(fault detected during impact loads). If hunting or oscillation occurs, decrease the setting value of n8-69 (Speed Calculation Gain) by 0.20.
Set the setting value of n8-39 (Low Pass Filter Cutoff Frequency for High Frequency Injection) to 50% of the setting value of
When high frequency injection is enabled (n8-57 = 1), n8-36 (High Frequency Injection Level).
hunting or oscillation occurs, or there is an unusual noise Decrease the setting value of n8-41 (HFI Overlap Pole Detection Pgain) by 0.5.
from the motor. Note: 1. Depending on the software version of the drive, this parameter may not be displayed.
2. For a typical motor, set n8-41 to a positive value (0.1 or higher).
If Speed Search fails in the high speed range, increase the setting value of b3-08 (Current Control Gain during Speed Search
Speed Search failed. (Speed Estimation Type)) by 0.5.
For the constant output state (when induced voltage is larger than the power supply voltage), use short circuit braking.
Check the direction of operation and the load direction, and increase the setting value (L7-01 to L7-04) of the relevant torque limit
(forward/reverse, motoring/regenerative).
Speed decreases when load is applied. Note: If the setting values are increased, the drive will output a large amount of current. Set these parameters so that the motor
and machine are not damaged.
Decrease the setting value of n8-11 (Induction Voltage Estimation Gain 2) by 10 when the torque limit is not applied.
Option Card Connection Error at Option Port CN5-A
oFA00
Option compatibility error
The option card installed into port CN5-A is Check if the drive supports the option card that you are attempting to install. Contact Yaskawa or a Yaskawa representative for
incompatible with the drive. assistance.
A PG option card is connected to option port CN5-A PG option boards are supported by option ports CN5-B and CN5-C only. Place the PG option card into the correct option port.
Option Card Fault at Option Port CN5-A
oFA01
Option not properly connected
• Turn the power off and reconnect the option card.
• Check if the option card is properly plugged into the option port. Make sure the card is fixed properly.
The option board connection to port CN5-A is faulty.
• If the option is not a communication option card, try to use the card in another option port. If it works there, replace the drive. If
the error persists (oFb01 or oFC01 occur), replace the option board.
Troubleshooting
to oFA03 to oFA06
Option Card Error Occurred at Option Port CN5-A
, oFA10, oFA11
to oFA12 to oFA17 Option Card Connection Error (CN5-A)
to oFA30 to oFA43 Comm. Option Card Connection Error (CN5-A)

6
Option card or hardware is damaged. • If the problem continues, replace either the control board or the entire drive. For instructions on replacing the control board,
Option Card Fault at Option Port CN5-B
oFb00
The option card installed into port CN5-B is Check if the drive supports the option card that you are attempting to install. Contact Yaskawa or a Yaskawa representative for
A communication option card has been installed in
Communication option cards are supported by option port CN5-A only. More than one comm. option cannot be installed.
option port CN5-B.
6.4 Fault Detection

oFb01
The option board connection to port CN5-B is faulty.
• Try to use the card in another option port (in case of a PG option use port CN5-C). If option card still doesn’t work there,
replace the drive. If the error persists (oFA01 or oFC01 occur), replace the option board.
oFb02
Same type of option card already connected
An option card of the same type is already installed in
Except for PG options, each option card type can only be installed once. Make sure only one type of option card is connected.
option port CN5-A.
An input option card is already installed in option port Make sure that a comm. option, a digital input option, or an analog input option is installed. The same type of card cannot be
CN5-A. installed twice.
to oFb03 to oFb11
Option Card Error Occurred at Option Port CN5-B
to oFb12 to oFb17
Option Card Connection Error at Option Port CN5-C
oFC00
The option card installed into port CN5-C is Check if the drive supports the option card that you are attempting to instal. Contact Yaskawa or a Yaskawa representative for
A communication option card has been installed in
Communication option cards are supported by option port CN5-A only. More than one comm. option cannot be installed.
option port CN5-C.
Option Card Fault at Option Port CN5-C
oFC01
The option board connection to port CN5-C is faulty.
• Try to use the card in another option port (in case of a PG option use port CN5-B). If it works there, replace the drive. If the
error persists (oFA01 or oFb01 occur), replace the option board.
Option Card Fault at Option Port CN5-C
oFC02
Same type of option card already connected
An option card of the same type is already installed in
Except for PG options, each option card type can only be installed once. Make sure only one type of option card is connected.
option port CN5-A or CN5-B.
An input option card is already installed in option port Make sure that a comm. option, a digital input option, or an analog input option is installed. The same type of card cannot be
CN5-A or CN5-B. installed twice.
Three PG option boards are installed. Maximum two PG option boards can be used at the same time. Remove the PG option board installed into option port CN5-A.
to oFC03 to oFC11
Option Card Error Occurred at Option Port CN5-C
to oFC12 to oFC17
to oFC50 to oFC55 Option card error occurred at option port CN5-C

Option card or hardware is damaged. Refer to the option manual for details.
6.4 Fault Detection

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. Refer to Cooling Fan Component Names on page 386.
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.
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.
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, H3-10, or H3-06 be set to “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.
Motor has overheated • Be careful not to lower E1-08 and E1-10 too much, as 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 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, H3-10, or H3-06 = “E”.
• Check the size of the load, the accel/decel times, and the cycle times.
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).
Troubleshooting
Motor Overheat (NTC Input)
<2> oH5
The motor temperature exceeded the level set in L1-16 (or L1-18 for motor 2).
Motor has overheated.

• Check the ambient temperature.
6
Motor Overload
oL1
The electronic motor overload protection tripped.
Reduce the load.
Load is too heavy. Note: After the value of U4-16 has decreased to one less than 100, reset oL1. The value of U4-16 must be less than 100 before
oL1 can be reset.
Cycle times are too short during acceleration and
Increase the acceleration and deceleration times (C1-01 through C1-08).
deceleration.
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.
L1-01 (Motor Overload Protection Selection) is set to 1
(General-purpose motor (standard self-cooled)) when a Set L1-01 to 2.
drive dedicated motor is used.
6.4 Fault Detection
V/f characteristics (voltage and frequency) are not

Set the V/f pattern setting parameters (E1-04 to E1-10) to match the motor characteristics.
suitable
• 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.
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 electronic thermal protector is operating at the • Check the current rating listed on the motor nameplate.
wrong 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.
• Set n3-23 (Overexcitation Operation Selection) to 0 (disabled).
• 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 power supply loss Check the power supply for phase loss.
Calculated value of electronic thermal protector is being • Set the parameter so that the calculated value of the electronic thermal protector always starts from 0 when the power supply is
stored when power supply to drive is turned OFF (when turned ON.
L1-13 = 1 is set). • Set the setting for continuous electrothermal operation selection to L1-13 = 0 (Disabled).
Drive Overload
oL2
The electronic thermal protector 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).
V/f characteristics (voltage) are not suitable Set the V/f pattern setting parameters (E1-04 to E1-10) to match the motor characteristics.
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.
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).
Parameter settings are not appropriate for the load. Check the settings of parameters L6-02 and L6-03.
Fault on the machine side (e.g., machine is locked up). Check the status of the load. Remove the cause of the fault.
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).
A fault occurred on the machine (e.g., the machine is
Check the status of the machine. Remove the cause of the fault.
locked up when overtorque occurs.).
Mechanical Weakening Detection 1
oL5
Overtorque occurred, matching the conditions specified in L6-08.
Overtorque triggered mechanical weakening detection
Check for the cause of mechanical weakening.
level set to 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.
Excessive load inertia.
• Reduce deceleration times in parameters C1-02, C1-04, C1-06, and C1-08 for applications that do not use High Slip Braking.
Motor is driven by the load.
• Use a braking resistor to shorten deceleration time.
Something on the load side is restricting deceleration.
• Increase parameter n3-04 (High-slip Braking Overload Time).
The overload time during High Slip Braking is too short.
• Install a thermal relay and increase the setting of n3-04 to the maximum value.
6.4 Fault Detection

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).
• Check the connection between the operator and the drive.
External operator is not properly connected to the drive. • Replace the cable if damaged.
• Turn off the drive input power and disconnect the operator. Next reconnect the operator and turn the drive input power back on.
Overspeed
oS
The motor speed feedback exceeded the F1-08 setting.
• Reduce the settings for C5-01 (Speed Control Proportional Gain 1) and increase C5-02 (Speed Control Integral Time 1).
Overshoot is occurring.
• If using a Closed Loop Vector mode, enable Feed Forward and perform Inertia Auto-Tuning.
Incorrect speed feedback scaling if terminal RP is used • Set H6-02 to the value of the speed feedback signal frequency when the motor runs at the maximum speed.
as speed feedback input in V/f control. • Adjust the input signal using parameters H6-03 through H6-05.
Incorrect number of PG pulses has been set. Check and correct parameter F1-01.
Inappropriate parameter settings. Check the setting for the overspeed detection level and the overspeed detection time (F1-08 and F1-09).
Hz).
Hunting or oscillation. Hz).
If torque or speed response is slow, decrease the setting value of C5-06 (ASR Primary Delay Time Constant) by 0.001.
If there is unsatisfactory machine rigidity and oscillation is possible, increase the setting value of C5-06 (ASR Primary Delay
Time Constant).
Responsiveness cannot be ensured because the
• Change the ASR proportional gain and ASR integral time to conform to the output frequency.
application of the load is different at low speed or high
• Change the setting value of C5-07 (ASR Gain Switching Frequency).
speed.
Overvoltage
ov Voltage in the DC bus has exceeded the overvoltage detection level.
• For 200 V class: approximately 410 V
• Increase the deceleration time (C1-02, C1-04, C1-06, C1-08).
Deceleration time is too short and regenerative energy is • Install a dynamic braking option.
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
• Use longer S-curve acceleration and deceleration times.
speed reference.
• Enable the Overvoltage Suppression function (L3-11 = 1).
Troubleshooting
• 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 dynamic
Excessive braking load.
braking 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.
• Check the settings for Speed Search-related parameters. 6
Improper Setting of Speed Search related parameters.
• Enable Speed Search restart function (b3-19 greater than or equal to 1, up 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.
Electrical signal interference along the PG encoder
Separate the wiring from the source of the noise (often the output lines from the drive).
wiring.
• Review the list of possible solutions provided for controlling noise.
• Review the section on handling electrical signal interference and check the control circuit lines, main circuit lines, and ground
interference.
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.
6.4 Fault Detection
• 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).
If Speed Search fails in the high speed range, increase the setting value of b3-08 (Current Control Gain during Speed Search
Speed Search failed. (Speed Estimation Type)) by 0.5.
For the constant output state (when induced voltage is larger than the power supply voltage), use short circuit braking.
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 73
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 main capacitor(s) if U4-05 is greater than 90%. For instructions on replacing the capacitor(s), contact Yaskawa or a
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 a Yaskawa
representative.
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 has no power. Check the power line to the PG encoder.
PG encoder brake is clamped shut. Ensure the motor brake releases properly.
PG Hardware Fault (detected when using a PG-X3 option card)
PGoH
PG cable is not connected properly.
PG cable is disconnected. Reconnect the cable. Check the setting of F1-20.
Braking Resistor Fault
rF
The resistance of the braking resistor being used is too low.
The proper braking resistor option has not been
Select the braking resistor option so that fits to the drives braking transistor specification.
installed.
A regenerative converter, regenerative unit or braking
unit is being used and the +1 or +3 terminal is connected Disable the braking transistor protection selection (set L8-55 to 0).
to - terminal.
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 (C1-01 to C1-08).
• Replace the dynamic braking option with a larger device that can handle the power that is discharged.
Check the duty cycle.
The duty cycle is too high.
Maximum of 3% duty cycle is available when L8-01 = 1.
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. Refer to Diagnosing and Resetting Faults on page 368.
• Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or a
The control circuit is damaged. Yaskawa representative.
6.4 Fault Detection

Output Short-Circuit or IGBT Fault
SC Short Circuit or Ground Fault is detected
Note: Fault reset will not be received to prevent a short-circuit of the internal circuitry caused by the IGBP fault.
Motor has been damaged from overheat or the motor
Check the motor insulation resistance and replace the motor if continuity is detected.
insulation has been weakened.
The cable is damaged and is coming into contact with
Check the motor power cable. Repair any short-circuits.
something causing a short-circuit.
A short-circuit or grounding fault on the drive output side has damaged the output transistors.
Make sure drive output is not shorted as follows:
B1 ←→ U, V, W
Hardware fault.
– (negative) ←→ U, V, W
The above short-circuit will damage the output transistors.
Contact Yaskawa or a Yaskawa representative for assistance.
The overcurrent level has exceeded the value set to
Correct the value set to overcurrent detection gain (L8-27).
L8-27. (PM control modes)
Too Many Speed Search Restarts
SEr
The number of Speed Search restarts exceeded the number set to b3-19.
• Reduce the detection compensation gain during Speed Search (b3-10).
• Increase the current level when attempting Speed Search (b3-17).
Speed Search parameters are set to the wrong values.
• Increase the detection time during Speed Search (b3-18).
• Repeat Auto-Tuning.
The motor is coasting in the opposite direction of the
Enable Bi-Directional Speed Search (b3-14 = 1).
Run command.
Motor Pull Out or Step Out Detection
STo
Motor pull out or step out has occurred. Motor has exceeded its pull-out torque.
• Enter the correct motor code for the PM being used into E5-01.
The wrong motor code is set (Yaskawa motors only).
• For special-purpose motors, enter the correct data to all E5 parameters according to the test report provided for the motor.
• Increase the load inertia for PM motor (n8-55).
• Increase the pull-in current during accel/decel (n8-51).
Load is too heavy.
• Increase the motor or drive capacity.
Load inertia is too heavy. Increase the load inertia for PM motor (n8-55).
Acceleration and deceleration times are too short.
• Increase the S-curve acceleration and deceleration times (C2-01).
Speed response is too slow. Increase the load inertia for PM motor (n8-55).
Hz).
Hunting or oscillation.
Hz).
Hunting and faults occur during load or speed variations If torque or speed response is slow, increase the setting value of n8-69 (Speed Calculation Gain) by 0.20.
(fault detected during impact loads). If hunting or oscillation occurs, decrease the setting value of n8-69 (Speed Calculation Gain) by 0.20.
Troubleshooting
Check the direction of operation and the load direction, and increase the setting value (L7-01 to L7-04) of the relevant torque limit
(forward/reverse, motoring/regenerative).
Speed decreases when load is applied. Note: If the setting values are increased, the drive will output a large amount of current. Set these parameters so that the motor
and machine are not damaged.
Decrease the setting value of n8-11 (Induction Voltage Estimation Gain 2) by 10 when the torque limit is not applied.
6
Zero Servo Fault
SvE
Position deviation during zero servo.
Torque limit is set too low. Set the torque limit to an appropriate value using parameters L7-01 to L7-04.
Excessive load torque. Reduce the amount of load torque.
Electrical signal interference along PG encoder wiring. Check the PG signal for electrical signal interference.
Thermistor Disconnect
<2>
THo
The thermistor used to detect motor temperature has become disconnected.
The motor thermistor is not connected properly. Check the wiring for the thermistor.
6.4 Fault Detection

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).
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).
There is a fault on the machine side. Check the load for any problems.
UL5
The operation conditions matched the conditions set to L6-08.
Undertorque was detected and matched the conditions
Check the load side for any problems.
for mechanical loss detection set to L6-08.
Current Unbalance
UnbC
<2> Current flow has become unbalanced.
• Check wiring.
The internal current sensor has detected a current
• Check for damaged transistors.
unbalance situation.
• Check for short circuits or grounding problems on the connected motor.
DC Bus Undervoltage
One of the following conditions occurred while the drive was running:
Uv1 • Voltage in the DC bus fell below the undervoltage detection level (L2-05)
• 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 73
• 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.
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.
The relay or contactor on the soft-charge bypass circuit contact Yaskawa or a Yaskawa 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.
For models CIMR-A2A0004 through 2A0056 and
CIMR-A4A0002 through 4A0031: L2-02 was
Correct the setting to L2-02 or install an optional Momentary Power Loss Ride-Thru unit.
changed from its default value without installing a
Momentary 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.
• Cycle power to the drive and see if the fault reoccurs.
The relay or contactor on the soft-charge bypass circuit contact Yaskawa or a Yaskawa 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,
6.4 Fault Detection

Gate Drive Board Undervoltage
Uv4
<2> Voltage drop in the gate drive board circuit.
• Cycle power to the drive and see if the fault reoccurs. Refer to Diagnosing and Resetting Faults on page 368.
Not enough power is being supplied to the gate drive
• If the problem continues, replace either the gate drive board or the entire drive. For instructions on replacing the gate board,
board.
<1> Displayed as or when occurring at drive power up. When one of the faults occurs after successfully starting the drive, the
display will show or .
<3> This function prevents continuous operation in reverse when using high frequency injection (n8-57 = 1) in the Advanced Open Loop Vector
Control mode for PM motors (A1-02 = 6) with a motor for which no motor code has been entered (it does not simply prevent reverse
operation). To quickly detect undesirable reverse operation, set L8-93, L8-94, and L8-95 to low values within range of erroneous detection.
Troubleshooting
6.5 Alarm Detection
6.5 Alarm Detection

 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.
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).
Table 6.16 Alarm Codes, Causes, and Possible Solutions
Digital Operator Display Minor Fault Name
Station Address Setting Error (CC-Link, CANopen, MECHATROLINK)
AEr
Option card node address is outside the acceptable setting range.
Minor Fault
Cause Possible Solutions
(H2- = 10)
Station number is set outside the possible setting • Set parameter F6-10 to the proper value if a CC-Link option card is used.
YES
range. • Set parameter F6-35 to the proper value if a CANopen option card is used.
Baseblock
bb
Drive output interrupted as indicated by an external baseblock signal.
Minor Fault
(H2- = 10)
External baseblock signal was entered via one of the
Check external sequence and baseblock signal input timing. No output
multi-function input terminals (S1 to S8).
Braking Transistor Overload Fault
boL
The braking transistor in the drive has been overloaded.
Minor Fault
(H2- = 10)
The proper braking resistor has not been installed. Select the optimal braking resistor.
Use a regen converter, regen unit, braking unit, or
other device to connect the +1 or +3 terminal to the - Set L8-55 to 0 to disable Internal Braking Transistor Protection.
terminal.
YES
The braking transistor’s use rate is high (i.e., the • Change to a CDBR type braking unit.
regen converter is large or the repetition frequency is • Change to a regen converter.
high). • Increase the deceleration time.
The braking transistor inside the drive is faulty. Replace the drive.
Option Communication Error
bUS • After initial communication was established, the connection was lost.
• Assign a Run command frequency reference to the option card.
Minor Fault
(H2- = 10)
• Check for faulty wiring.
Connection is broken or master controller stopped
communicating.
Option card is damaged. If there are no problems with the wiring and the fault continues to occur, replace the option card.
The option card is not properly connected to the • The connector pins on the option card are not properly lined up with the connector pins on the drive.
drive. • Reinstall the option card.
• Check options available to minimize the effects of noise. YES
• Take steps to counteract noise in the control circuit wiring, main circuit lines and ground wiring.
• Try to reduce noise on the controller side.
• Use surge absorbers on magnetic contactors or other equipment causing the disturbance.
A data error occurred due to noise.
• Use recommended cables or some other type of shielded line. Ground the shield to the controller side or on the
input power side.
• All wiring for comm. devices should be separated from drive input power lines. Install an EMC noise filter to the
drive input power.
6.5 Alarm Detection

Serial Communication Transmission Error
CALL
Communication has not yet been established.
Minor Fault
(H2- = 10)
• Check for wiring errors.
Communications wiring is faulty, there is a short
circuit, or something is not connected properly.
Programming error on the master side. Check communications at start-up and correct programming errors.
• Perform a self-diagnostics check. YES
Communications circuitry is damaged. • If the problem continues, replace either the control board or the entire drive. For instructions on replacing the
control board, contact Yaskawa or a Yaskawa representative.
A termination resistor must be installed at both ends of a communication line. Slave drives must have the internal
Termination resistor setting is incorrect.
termination resistor switch set correctly. Place DIP switch S2 to the ON position.
MEMOBUS/Modbus Communication Error
CE
Control data was not received correctly for two seconds.
Minor Fault
(H2- = 10)
• Check options available to minimize the effects of noise.
• Take steps to counteract noise in the control circuit wiring, main circuit lines, and ground wiring.
• Reduce noise on the controller side.
A data error occurred due to noise. • Use surge absorbers for the magnetic contactors or other components that may be causing the disturbance.
• Use only recommended shielded line. Ground the shield on the controller side or on the drive input power side.
• Separate all wiring for comm. devices from drive input power lines. Install an EMC noise filter to the drive input
power supply.
• Check the H5 parameter settings as well as the protocol setting in the controller.
Communication protocol is incompatible. YES
• Ensure settings are compatible.
The CE detection time (H5-09) is set shorter than the • Check the PLC.
time required for a communication cycle to take • Change the software settings in the PLC.
place. • Set a longer CE detection time (H5-09).
Incompatible PLC software settings or there is a • Check the PLC.
hardware problem. • Remove the cause of the error on the controller side.
• Check the connector to make sure the cable has a signal.
Communications cable is disconnected or damaged.
• Replace the communications cable.
CrST Cannot Reset
Minor Fault
(H2- = 10)
A fault reset command was entered while the Run • Ensure that a Run command cannot be entered from the external terminals or option card during fault reset.
YES
command was still present. • Turn off the Run command.
MECHATROLINK Comm. Cycle Setting Error
CyC
Comm. Cycle Setting Error was detected.
Minor Fault
(H2- = 10)
The controller is using a comm. cycle beyond the
allowable setting range for the MECHATROLINK Set the comm. cycle for the upper controller within the allowable setting range for the MECHATROLINK option. YES
option.
Troubleshooting
Speed Deviation (when using a PG option card and AOLV/PM without PG)
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.
Minor Fault
(H2- = 10)
Load is too heavy Reduce the load.
Acceleration and deceleration times are set too short. Increase the acceleration and deceleration times (C1-01 through C1-08).
The load is locked up. Check the machine. 6
Parameter settings are inappropriate. Check the settings of parameters F1-10 and F1-11. YES
• Set H6-02 to value of the speed feedback signal frequency when the motor runs at the maximum speed.
Incorrect speed feedback scaling if terminal RP is
• Adjust the speed feedback signal using parameters H6-03 through H6-05.
used as speed feedback input in V/f Control.
• Make sure the speed feedback signal frequency does not exceed he maximum input frequency of terminal RP.
The motor brake engaged. Ensure the brake releases properly.
dnE Drive Disabled
Minor Fault
(H2- = 10)
“Drive Enable” is set to a multi-function contact
input (H1- = 6A) and that signal was switched Check the operation sequence. YES
off.
6.5 Alarm Detection

Forward/Reverse Run Command Input Error
EF
Both forward run and reverse run closed simultaneously for over 0.5 s.
Minor Fault
(H2- = 10)
Check the forward and reverse command sequence and correct the problem.
Sequence error YES
Note: When minor fault EF detected, motor ramps to stop.
Option Card External Fault
EF0
An external fault condition is present.
Minor Fault
(H2- = 10)
An external fault was received from the PLC with
• Remove the cause of the external fault.
F6-03 = 3 (causing the drive to continue running
• Remove the external fault input from the PLC. YES
when an external fault occurs).
There is a problem with the PLC program. Check the PLC program and correct problems.
External fault (input terminal S1)
EF1
EF2
EF3
EF4
EF5
EF6
EF7
EF8
Minor Fault
(H2- = 10)
An external device has tripped an alarm function. Remove the cause of the external fault and reset the multi-function input value.
• Ensure the signal lines have been connected properly to the terminals assigned for external fault detection
Wiring is incorrect. (H1- = 2C to 2F).
YES
• Reconnect the signal line.
• Check if the unused terminals have been set for H1- = 2C to 2F (External Fault).
Multi-function contact inputs are set incorrectly.
• Change the terminal settings.
Internal Fan Fault
FAn
Fan or magnetic contactor failed (Detected when L8-32 = 3 or 4).
Minor Fault
(H2- = 10)
Cycle power to the drive and see if the fault is still present.
Internal cooling fan has malfunctioned (models Check if the fan is operating or not.
2A0360, 2A0415, 4A0362 to 4A1200). Verify the cumulative operation time of the fan using monitor U4-03, and the fan maintenance timer in U4-04.
If the cooling fan has passed its expected performance life or is damaged in some way, replace the fan. YES
Fault detected in the internal cooling fan or magnetic Cycle power to the drive and see if the fault is still present.
contactor to the power supply (models 2A0250 to If the fault still occurs, either replace the control circuit board or the entire unit.
2A0415, 4A0165 to 4A1200). For instructions on replacing the power board, contact Yaskawa or a Yaskawa representative.
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.
Minor Fault
(H2- = 10)
Parameters settings for b5-36 and b5-37 are
Check parameters b5-36 and b5-37.
incorrect.
PID feedback wiring is faulty. Correct the wiring.
YES
Feedback sensor has malfunctioned. Check the sensor and replace it if damaged.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact
Feedback input circuit is damaged.
Yaskawa or a Yaskawa representative.
6.5 Alarm Detection

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 is set to 1 or 4.
Minor Fault
(H2- = 10)
Parameters settings for b5-13 and b5-14 are
Check parameters b5-13 and b5-14.
incorrect.
PID feedback wiring is faulty. Correct the wiring.
YES
Feedback sensor has malfunctioned. Check the sensor and replace it if damaged.
Feedback input circuit is damaged.
Safe Disable Signal Input
Hbb
Both Safe Disable Input channels are open.
Minor Fault
(H2- = 10)
• Check signal status at the input terminals H1 and H2.
Both Safe Disable Inputs H1 and H2 are open. • Check the Sink/Source Selection for the digital inputs.
• If the Safe Disable function is not utilized, check if the terminals H1-HC, and H2-HC are linked. YES
Internally, both Safe Disable channels are broken.
Safe Disable Signal Input
HbbF
One Safe Disable channel is open while the other one is closed.
Minor Fault
(H2- = 10)
The signals to the Safe Disable inputs are wrong or Check signal status at the input terminals H1 and H2. If the Safe Disable function is not utilized, the terminals
the wiring is incorrect. H1-HC, and H2-HC must be linked.
YES
One of the Safe Disable channels is faulty.
Current Alarm
HCA
Drive current exceeded overcurrent warning level (150% of the rated current).
Minor Fault
(H2- = 10)
Either reduce the load for applications with repetitive operation (repetitive stops and starts, etc.), or replace the
Load is too heavy.
drive.
• Calculate the torque required during acceleration and for the inertia moment.
• If the torque level is not right for the load, take the following steps:
Acceleration and deceleration times are too short.
• Increase the capacity of the drive.
YES
A special-purpose motor is being used, or the drive is
• Check the motor capacity.
attempting to run a motor greater than the maximum
• Use a motor appropriate for the drive. Ensure the motor is within the allowable capacity range.
allowable capacity.
The current level increased due to Speed Search after
The alarm will appear only briefly. There is no need to take action to prevent the alarm from occurring in such
a momentary power loss or while attempting to
instances.
perform a fault restart.
Cooling Fan Maintenance Time
Troubleshooting
LT-1 The cooling fan has reached its expected maintenance period and may need to be replaced.
Note: If H2- = 2F, the signal will close at the maintenance period. The signal will not close if H2- = 10.
Maintenance
Cause Possible Solutions Time
(H2- = 2F)
The cooling fan has reached 90% of its expected
Replace the cooling fan and reset the Maintenance Monitor by setting o4-03 to 0. YES
performance life.
Digital Operator Display Minor Fault Name 6
Capacitor Maintenance Time
LT-2 The main circuit and control circuit capacitors are nearing the end of their expected performance life.
Maintenance
(H2- = 2F)
The main circuit and control circuit capacitors have
Replace the drive. YES
reached 90% 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.
Maintenance
(H2- = 2F)
The DC bus soft charge relay has reached 90% of
their expected performance life.
6.5 Alarm Detection

IGBT Maintenance Time (50%)
LT-4 IGBTs have reached 50% of their expected performance life.
Maintenance
(H2- = 2F)
IGBTs have reached 50% of their expected
Check the load, carrier frequency, and output frequency. YES
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).
Minor Fault
(H2- = 10)
• Check the surrounding temperature.
Surrounding temperature is too high
• Install a fan or air conditioner to cool surrounding area.
• Remove anything near drive that may cause extra heat.
• Replace the cooling fan. Refer to Cooling Fan Component Names on page 386.
Internal cooling fan has stopped.
• After replacing the drive, reset the cooling fan maintenance parameter to (o4-03 = “0”). YES
• Provide proper installation space around the drive as indicated in the manual. Refer to Installation Orientation
and Spacing on page 46.
Airflow around the drive is restricted. • Allow for the specified space and ensure that there is sufficient circulation around the control panel.
• Check for dust or foreign materials clogging cooling fan.
• Clear debris caught in the fan that restricts air circulation.
Drive Overheat Warning
oH2
“Drive Overheat Warning” was input to a multi-function input terminal, S1 through S8 (H1-= B)
Minor Fault
(H2- = 10)
An external device triggered an overheat warning in • Search for the device that tripped the overheat warning.
YES
the drive. • Solving the problem will clear the warning.
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).
Minor Fault
(H2- = 10)
Motor thermostat wiring is fault (PTC input). Repair the PTC input wiring.
There is a fault on the machine side (e.g., the • Check the status of the machine.
machine is locked up). • Remove the cause of the fault.
• Check the load size, accel/decel times, and cycle times.
• Increase accel and decel times (C1-01 to C1-08). YES
• Adjust the preset V/f pattern (E1-04 through E1-10). This will mainly involve reducing E1-08 and E1-10.
Motor has overheated. Note: Do not lower E1-08 and E1-10 excessively, because this reduces load tolerance at low speeds.
• Check the motor-rated current.
• Enter motor-rated current on motor nameplate (E2-01).
Motor Overheat (NTC Input)
<1> oH5
The motor temperature exceeded the level set in L1-16 (or L1-18 for motor 2).
Minor Fault
(H2- = 10)
Motor has overheated. YES
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.
Minor Fault
(H2- = 10)
Inappropriate parameter settings. Check parameters L6-02 and L6-03.
There is a fault on the machine side (e.g., the • Check the status of the machine. YES
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.
Minor Fault
(H2- = 10)
Parameter settings are not appropriate. Check parameters L6-05 and L6-06.
There is a fault on the machine side (e.g., the • Check the status of the machine being used. YES
6.5 Alarm Detection

oL5
Overtorque occurred, matching the conditions specified in L6-08.
Minor Fault
(H2- = 10)
Overtorque occurred, triggering the mechanical
Check for the cause of mechanical weakening. YES
weakening level set to L6-08.
Overspeed
oS
The motor speed feedback exceeded the F1-08 setting.
Minor Fault
(H2- = 10)
• Increase the settings for C5-01 (Speed Control Proportional Gain 1) and reduce C5-02 (Speed Control Integral
Overshoot is occurring. Time 1).
• If using a Closed Loop Vector mode enable Feed Forward Control and perform Inertia Auto-Tuning.
Incorrect speed feedback scaling if terminal RP is • Set H6-02 to value of the speed feedback signal frequency when the motor runs at the maximum speed. YES
used as speed feedback input in V/f control • Adjust the input signal using parameters H6-03 through H6-05.
Incorrect PG pulse number has been set Check and correct parameter F1-01.
Inappropriate parameter settings. Check the setting for the overspeed detection level and the overspeed detection time (F1-08 and F1-09).
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
Minor Fault
(H2- = 10)
• Install a DC reactor or an AC reactor.
Surge voltage present in the drive input power. • Voltage surge can result from a thyristor convertor and a phase advancing capacitor operating on the same drive
input power system.
The motor is short-circuited.
• Check the motor power cable, relay terminals and motor terminal box for short circuits.
Ground current has over-charged the main circuit • Correct grounding shorts and turn the power back on.
capacitors via the drive input power.
• Review possible solutions for handling electrical signal interference.
• Review section on handling electrical signal interference and check control circuit lines, main circuit lines and YES
Electrical signal interference causes the drive to ground wiring.
operate incorrectly. • If the magnetic contactor is identified as a source of noise, install a surge protector to the MC coil.
Set number of fault restarts (L5-01) to a value other than 0.
Electrical signal interference along PG encoder
Separate PG wiring from the source of the noise (often output wiring from the drive).
wiring.
PASS MEMOBUS/Modbus Comm. Test Mode Complete
Minor Fault
(H2- = 10)
MEMOBUS/Modbus test has finished normally. This verifies that the test was successful. No output
PG Disconnect (for Control Mode with PG)
Troubleshooting
PGo
Detected when no PG pulses are received for a time longer than setting in F1-14.
Minor Fault
(H2- = 10)
YES
PG encoder does not have enough power. Make sure the correct power supply is properly connected to the PG encoder.
Brake is holding the PG. Ensure the brake releases properly 6
PG Hardware Fault (detected when using a PG-X3 option card)
PGoH
PG cable has become disconnected.
Minor Fault
(H2- = 10)
PG cable is disconnected. Reconnect the cable. Check the setting of F1-20. YES
Motor Switch during Run
rUn
A command to switch motors was entered during run.
Minor Fault
(H2- = 10)
A motor switch command was entered during run. Change the operation pattern so that the motor switch command is entered while the drive is stopped. YES
6.5 Alarm Detection

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).
Minor Fault
(H2- = 10)
A digital input set to 67H (MEMOBUS/Modbus
Stop the drive and run the test again. YES
test) was closed while the drive was running.
Thermistor Disconnect
<1> THo
The thermistor that detects motor temperature has become disconnected.
Minor Fault
(H2- = 10)
The motor thermistor is not connected properly. Check the thermistor wiring. YES
IGBT Maintenance Time (90%)
TrPC
IGBTs have reached 90% of their expected performance life.
Minor Fault
(H2- = 10)
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.
Minor Fault
(H2- = 10)
YES
Load has dropped or decreased significantly. Check for broken parts in the transmission system.
UL4
Drive output current (or torque in OLV, CLV, AOLV/PM, CLV/PM) less than L6-05 for longer than L6-06 time.
Minor Fault
(H2- = 10)
YES
The load has dropped or decreased significantly. Check for broken parts in the transmission system.
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.
Minor Fault
(H2- = 10)
Phase loss in the drive input power. Check for wiring errors in the main circuit drive input power. Correct the wiring.
• Ensure the terminals have been properly tightened.
Loose wiring in the drive input power terminals. • Apply the tightening torque to the terminals as specified. Refer to Wire Gauges and Tightening Torque on
page 73
There is a problem with the drive input power • Check the voltage.
voltage. • Lower the voltage of the drive input power so that it is within the limits listed in the specifications.
YES
Drive internal circuitry is worn. • Replace either the control board or the entire drive if U4-05 exceeds 90%. For instructions on replacing the
control board, contact Yaskawa or a Yaskawa representative.
The drive input power transformer is too small and • Check for an alarm when the magnetic contactor, line breaker, and leakage breaker are closed.
voltage drops when the power is switched on. • Check the capacity of the drive input power transformer.
Air inside the drive is too hot. Check the temperature inside the drive.
The CHARGE light is broken or disconnected.
Output Voltage Detection Fault
voF
There is a problem with the output voltage.
Minor Fault
(H2- = 10)
Hardware is damaged. YES
6.6 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 359 for the appropriate action. When oPE02 or oPE08 appear on the operator display, press the
ENTER button to view U1-18 and see which parameter is causing the oPE.
Table 6.17 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.
The drive model selection (o2-04) and the actual capacity of the drive are not the same. Correct the value set to o2-04.
Parameter Range Setting Error
oPE02
Use U1-18 to find parameters set outside the range.
Parameters were set outside the possible setting range. Set parameters to the proper values.
Note: When multiple errors occur at the same time, other errors are given precedence over oPE02.
Multi-Function Input Selection Error
oPE03
A contradictory setting is assigned to multi-function contact inputs H1-01 to H1-08.
• The same function is assigned to two multi-function inputs. • Ensure all multi-function inputs are assigned to different functions.
• Excludes “Not used” and “External Fault.” • Re-enter the multi-function settings to ensure this does not occur.
The Up command was set but the Down command was not, or vice versa (settings 10 vs. 11).
The Up 2 command was set but the Down 2 command was not, or vice versa (settings 75 vs. Correctly set functions that need to be enabled in combination with other functions.
76).
• Run/Stop command for a 2-wire sequence was set (H1- = 42), but Forward/Reverse
command (H1- = 43) was not. Correctly set functions that need to be enabled in combination with other functions.
• “Drive Enable” is set to multi-function input S1 or S2 (H1-01 = 6A or H1-02 = 6A).
• Two of the following functions are set at the same time:
• Up/Down Command (10 vs. 11)
• Check if contradictory settings have been assigned to the multi-function input terminals at
• Up 2/Down 2 Command (75 vs. 76)
the same time.
• Hold Accel/Decel Stop (A)
• Correct setting errors.
• Analog Frequency Reference Sample/Hold (1E)
• Offset Frequency 1, 2, 3 Calculations (44, 45, 46)
The Up/Down command (10, 11) is enabled at the same time as PID control (b5-01). Disable control PID (b5-01 = 0) or disable the Up/Down command.
Settings for N.C. and N.O. input for the following functions were selected at the same time:
• External Search Command 1 and External Search Command 2 (61 vs. 62)
Troubleshooting
• Fast Stop N.O. and Fast Stop N.C. (15 vs. 17)
• KEB for Momentary Power Loss and High Slip Braking (65, 66, 7A, 7B vs. 68)
Check for contradictory settings assigned to the multi-function input terminals at the same
• Motor Switch Command and Accel/Decel Time 2 (16 vs. 1A)
time. Correct setting errors.
• KEB Command 1 and KEB Command 2 (65, 66 vs. 7A, 7B)
• FWD Run Command (or REV) and FWD/REV Run Command (2-wire) (40, 41 vs. 42, 43)
• External DB Command and Drive Enable (60 vs. 6A)
• Motor Switch Command and Up 2/Down 2 Command (16 vs. 75, 76)
One of the following settings was entered while H1- = 2 (External Reference 1/2):
• b1-15 = 4 (Pulse Train Input) but the pulse train input selection is not set for the frequency 6
reference (H6-01 > 0)
• b1-15 or b1-16 set to 3 but no option card is connected
• Although b1-15 = 1 (Analog Input) and H3-02 or H3-10 are set to 0 (Frequency Bias) Correct the settings for the multi-function input terminal parameters.
H2- = 38 (Drive Enabled) but H1- is not set to 6A (Drive Enable).
H1- = 7E (Direction Detection) although H6-01 is not set to 3 (for V/f Control with PG
using terminal RP as speed feedback input).
H1- = 16 is selected when using PG-RT3. Correct the setting. PG-RT3 is not available for the application with Motor 2 Selection.
oPE04 Terminal Board Mismatch Error

The drive, control board, or terminal board has been replaced and the parameter settings Set A1-03 to 5550 to load the parameter settings stored in the terminal board to the drive.
between the control board and the terminal board no longer match. Initialize parameters after drive replacement by setting A1-03 to 2220 or 3330.
oPE05 Run Command/Frequency Reference Source Selection Error

Frequency reference is assigned to an option card (b1-01 = 3) but an input option card is not
connected to the drive.
Reconnect the input option card to the drive.
The Run command is assigned to an option card (b1-02 = 3) but an input option card is not
connected to the drive.
Frequency reference is assigned to the pulse train input (b1-01 = 4), but terminal RP is not set
Set H6-01 to “0”.
for frequency reference input (H6-01 > 0)
Although the digital card input is set for BCD special for a 5 digit input (F3-01 = 6), the data
Set the input data for 16 bit (F3-03 = 2).
length is set for 8 bit or 12 bit (F3-03 = 0, 1).
The following values have been set while an AI-A3 option card is installed:
• The source of frequency reference setting is assigned to an option card (b1-01 = 3). Make sure parameters are set properly.
• The action for the analog card is set for separate terminal input (F2-01 = 0).
Control Method Selection Error
oPE06
Correct the setting for the control method.
A control mode has been selected that requires a PG option card to be installed, but no PG • Connect a PG option card.
encoder is installed (A1-02 = 1, 3, or 7). • Correct the value set to A1-02.
Multi-Function Analog Input Selection Error
oPE07 A contradictory setting is assigned to multi-function analog inputs H3-02, H3-10, or H3-06
and PID functions conflict.
Change the settings to H3-02, H3-10, or H3-06 so that functions no longer conflict.
At least two analog input terminals are set to the same function (i.e., at least two of these
Note: Both 0 (frequency reference bias) and F (not used) or 1F (Through mode) can be set to
parameters has the same setting: H3-02, H3-10, or H3-06).
H3-02, H3-10, or H3-06 at the same time.
The following simultaneous contradictory settings:
• H3-02, H3-10, or H3-06 = B (PID Feedback) while H6-01 (Pulse Train Input) = 1 (PID
Feedback)
• H3-02, H3-10, or H3-06 = C (PID Target Value) while H6-01 = 2 (pulse train input sets the
Disable one of the PID selections.
PID target value)
• H3-02, H3-10, or H3-06 = C (PID Target Value) while b5-18 = 1 (enables b5-19 as the
target PID value)
• H6-01 = 2 (PID target) while b5-18 = 1 (enables b5-19 as the target PID value)
Parameter Selection Error
oPE08
A function has been set that cannot be used in the motor control method selected.
Attempted to use a function that is not valid for the selected control mode. Check the motor control method and the functions available.
In Open Loop Vector Control, n2-02 is greater than n2-03 Correct parameter settings so that n2-02 is less than n2-03.
In Open Loop Vector Control, C4-02 is greater than C4-06 Correct parameter settings so that C4-02 is less than C4-06.
• Set the correct motor code in accordance with the motor being used (E5-01).
In OLV/PM, parameters E5-02 to E5-07 are set to 0. • When using a special-purpose motor, set E5- in accordance with the test report
provided.
Both E5-09 and E5-24 are set to 0, or are not 0 in control modes for PM. Set E5-09 or E5-24 to the correct value, and set the other to “0”.
Correct the parameter settings. Or, set n8-57 to 1 to enable High Frequency Injection, and
then perform High-Frequency Injection Parameter Tuning after setting the motor
In AOLV/PM High Frequency Injection is disabled (n8-57 = 0) and the minimum frequency
parameters.
(E1-09) is set lower than 1/20 of the base frequency setting.
Note: High Frequency Injection cannot be used with an SPM motor. Refer to T2-01: PM
Motor Auto-Tuning Mode Selection on page 130 for details.
Note: Use U1-18 to find which parameters are set outside the specified setting range. Other errors are given precedence over oPE08 when multiple errors occur at the same time.
PID Control Selection Fault
oPE09 PID control function selection is incorrect. Requires that PID control is enabled (b5-01 = 1
to 4).
The following simultaneous contradictory settings have occurred:
• b5-15 not 0.0 (PID Sleep Function Operation Level) • Set b5-15 to another value besides 0.
• The stopping method is set to either DC Injection Braking or coast to stop with a timer • Set the stopping method to coast to stop or ramp to stop (b1-03 = 0 or 1).
(b1-03 = 2 or 3).
PID control is set to b5-01 = 1 or 2, but the lower limit for the frequency reference (d2-02) is
Correct the parameter settings.
not set to 0 while reverse output is enabled (b5-11 = 1).
PID control is set to b5-01 = 3 or 4, but the lower limit for the frequency reference (d2-01) is
Correct the parameter settings.
not 0.
V/f Data Setting Error
oPE10 The following setting errors have occurred where:
• E1-09 ≤ E1-07 < E1-06 ≤ E1-11 ≤ E1-04
• E3-09 ≤ E3-07 < E3-06 ≤ E3-11 ≤ E3-04
Correct the settings for E1-04, E1-06, E1-07, E1-09, and E1-11 (for motor 2, correct E3-04,
V/f Pattern Setting Error
E3-06, E3-07, E3-09, and E3-11).

Carrier Frequency Setting Error
oPE11
Correct the setting for the carrier frequency.
The following simultaneous contradictory settings: C6-05 is greater than 6 and C6-04 is
greater than C6-03 (carrier frequency lower limit is greater than the upper limit). If C6-05 is
less than or equal to 6, the drive operates at C6-03. Correct the parameter settings.
Upper and lower limits between C6-02 and C6-05 contradict each other.
Pulse Monitor Selection Error
oPE13
Incorrect setting of monitor selection for pulse train (H6-06).
Scaling for the pulse train monitor is set to 0 (H6-07 = 0) while H6-06 is not set to 101, 102,
Change scaling for the pulse train monitor or set H6-06 to 101, 102, 105, or 116.
105, or 116.
Torque Control Setting Error
oPE15
Parameters settings that are not allowed in combination with Torque Control have been set.
Torque Control in enabled (d5-01 = 1) while the Speed/Torque Control switch function is
assigned to a digital input (H1- = 71).
Either Torque Control is enabled by d5-01 = 1, the or Speed/Torque Control switch is assigned
to a digital input H1- = 71, while at the same time: Correct the parameter settings.
• Feed Forward is enabled (n5-01 = 1), or
• Droop Control is enabled (b7-01 ≠ 0), or
• Intelligent Stall Prevention or Intelligent Stall Prevention 2 is enabled (L3-04 = 2 or 5), or
• A digital input is set for the power KEB 1 or KEB 2 (H1- = 7A or 7B)
oPE16 Energy Savings Constants Error

In AOLV/PM the automatically calculated energy saving coefficients are out of the allowable
Check and correct the motor data in E5 parameters.
range.
Online Tuning Parameter Setting Error
oPE18
Parameters that control Online Tuning are not set correctly.
One of the following setting errors has occurred while Online Tuning is enabled in OLV
(A1-02 = 2):
• E2-02 has been set below 30% of the original default value Make sure E2-02, E2-03, and E2-06 are set the correct values.
• E2-06 has been set below 50% of the original default value
• E2-03 = 0
PG-F3 Setting Error
oPE20
The encoder signal frequency is too high.
With the entered encoder resolution (F1-01), maximum output frequency (E1-04), and motor • Set F1-01 to the correct encoder resolution.
pole number (E5-04,) the calculation encoder signal frequency exceeds 50 kHz (with PG-F3 • Reduce the maximum output frequency of the drive in parameter E1-04 so the encoder
option). signal frequency at maximum speed is lower than 50 kHz.
 Causes and Possible Solutions for a Blank and Unresponsive Digital Operator Troubleshooting
Table 6.18 Causes and Possible Solutions for a Blank and Unresponsive Digital Operator
A short circuit between +V, -V, and AC terminals. Correct wiring
Control circuit terminal overload.

Check the resistance and wiring for the frequency setting potentiometer, etc. 6
Check that the current for terminals +V and -V is 20 mA or less.
The short circuit bar between terminals +1 and +2 in the main circuit has been removed. Attach the short circuit bar.
• Check the Braking unit wiring including cables connected to the Braking unit and relay
Braking unit terminals P and N are connected in reverse. terminals.
• Replace the drive.
Charge indicator is lit:
• Replace the digital operator
• Replace the drive control board.
Control power circuit failure
Charge indicator is not lit:
• Check the input power supply voltage
• Replace the drive.
Malfunction occurred in the control power circuit. Turn OFF the power, wait for 5 minutes, then turn ON the power again.
Digital operator contact failure Turn OFF the power, remove the digital operator, then replace the digital operator.
6.7 Auto-Tuning Fault Detection

Auto-Tuning faults in this section are displayed on the digital operator and will cause the motor to coast to a stop.
Auto-tuning faults do not trigger a multi-function digital output set for fault or alarm output.
An (End) error on the digital operator display indicates Auto-Tuning has successfully completed with discrepancies in
the calculations. Check the cause of the (End) error using the tables in this section and perform Auto-Tuning again
after fixing the cause.
The drive may be used in the application if no cause can be identified despite the existence of an (End) error.
An (Er-) error indicates that Auto-Tuning has not completed successfully. Check for the cause of the error using the
tables in this section, and perform Auto-Tuning again after fixing the cause.
 Auto-Tuning Codes, Causes, and Possible Solutions

Table 6.19 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)
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
exceeded 80%. Auto-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
• Check the setting of parameter A1-02.
A1-02 setting error
• Check the control mode and repeat Auto-Tuning.
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
Auto-Tuning was performed when the drive had an
Clear the alarm and perform Auto-Tuning again.
alarm.
Motor 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.
Wiring is incorrect. • Check and correct faulty wiring.
• Check the machine.
Load is too heavy. • Check the load.
• Investigate the cause and refer to Alarm Codes, Causes, and Possible Solutions on page 352 for the appropriate action.
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%.
6
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.

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 a Yaskawa
representative.
Attempted Auto-Tuning without motor connected to
Connect the motor and perform Auto-Tuning.
the drive.
Current detection signal error.
representative.
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
• First try reducing the test signal amplitude in T3-01 and repeat the tuning. If necessary, then try reducing the test signal frequency
L7-01 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 result of Back EMF Constant Tuning (induced
Double check the data that was entered to the T2- parameters, and perform Auto-Tuning again.
voltage) exceeds the allowable setting range.
Er-19 PM Inductance Error
The induced voltage constant inductance values set
to E5-08 or E5-09 exceed the allowable range.

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.
Check the signal output from the PG encoder attached to the motor. If the PG encoder is damaged, replace it and perform
PG encoder is damaged.
Auto-Tuning again.
Motor inertia is large. Increase the setting of n8-02 (Pole Attraction Current).
• Disconnect the motor from the mechanical system, set b1-04 to 0 (Reverse operation enabled), and perform Z-Pulse Offset Tuning
if a machine cannot be reversed. Make sure to return the setting of b1-04 to 1 (Reverse operation disabled) after the Auto-Tuning is
Z-Pulse Offset Tuning was performed when b1-04
complete.
was set to 1.
• If the machine allows reverse operation, set b1-04 to 0 to enable Reverse Operation Selection and then perform the Z-Pulse Offset
Tuning.
• Increase the setting of n8-03, Current Startup Time, and n8-04, Pole Attraction Time.
Motor vibrates during tuning.
• Decrease the setting of n8-02, Pole Attraction Current.
Er-25 High Frequency Injection Parameter Tuning Error
Perform Stationary Auto-Tuning and then perform High Frequency Injection Parameter Tuning again. If the problem continues, high
Motor data was incorrect. frequency injection control might not be possible with that motor.
Note: Auto-Tuning is not applicable for SPM motors.
Troubleshooting
6.8 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 6.20 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 6.20 Copy Function Task and Error Displays
Digital Operator Display Task
CoPy Writing Parameter Settings (flashing)
Parameters are being written to the drive. Not an error.
CPEr Control Mode Mismatch
Control mode of the parameters to be loaded onto the drive and Check the control mode for the parameters that are to be loaded onto the drive and the control mode set to the drive those
the control mode already set to the drive don’t match. parameters will be written to. Set the same control mode using parameter A1-02 and try again.
CPyE Error Writing Data
Failed writing parameters. Try writing parameters again.
CSEr Copy Unit Error
Hardware fault Replace the operator or the USB Copy Unit.
dFPS Drive Model Mismatch
The drive from which the parameter were copied and the drive
Check the model number of the drive that the parameters were copied from and the model of the drive you are attempting to
you are attempting to write to are not the same model.
write those parameters to.
• The drive the parameters were copied from is a different
Make sure the drive from which the parameter are copied and the drive to be written to have the same model numbers and
model drive.
software versions.
• The drive you attempting to write to is a different model.
End Task Complete
Finished reading, writing, or verifying parameters. Not an error.
iFEr Communication Error
A communication error occurred between the drive and the
Check the cable connection.
operator or the USB copy unit.
A non-compatible cable is being used to connect the USB
Use the cable originally packaged with the USB Copy Unit.
Copy Unit and the drive.
ndAT Model, Voltage Class, Capacity Mismatch
The drive the parameters were copied from and the drive you
are attempting to write to have different electrical
Make sure model numbers and specifications are the same for both drives.
specifications, a different capacity, is set to a different control
mode, or is a different model number.
The device being used to write the parameters is blank and
Making sure all connections are correct, and copy the parameter settings onto the USB Copy Unit or the operator.
does not have any parameters saved on it.

rdEr Error Reading Data
Failed while attempting to read parameter settings from the
Press and hold the READ key on the USB Copy Unit for at least one second to have the unit read parameters from the drive.
drive.
rEAd Reading Parameter Settings (flashing)
Displayed while the parameter settings are being read onto the
Not an error.
USB Copy Unit.
vAEr Voltage Class, Capacity Mismatch
The drive the parameters were copied from and the drive you
performing the Verify mode on have different electrical Make sure electrical specifications and capacities are the same for both drives.
specifications or are a different capacity.
vFyE Parameter settings in the drive and those saved to the copy function are not the same
Indicates that parameter settings that have been Read and To have parameters be the same, either write the parameters save on the USB Copy Unit or LCD digital operator onto the
loaded onto the Copy Unit or Digital Operator are different. drive, or Read the parameter settings on the drive onto the USB Copy Unit.
vrFy Comparing Parameter Settings (flashing)
The Verify mode has confirmed that parameters settings on the
Not an error.
drive and parameters read to the copy device are identical.
Troubleshooting
6.9 Diagnosing and Resetting Faults

When a fault occurs and the drive stops, follow the instructions below to remove whatever conditions triggered the fault,
then restart the drive.
 Fault Occurs Simultaneously with Power Loss

WARNING! Electrical Shock Hazard. Ensure there are no short circuits between the main circuit terminals (R/L1, S/L2, and T/L3) or
between the ground and main circuit terminals before restarting the drive. Failure to comply may result in serious injury or death and
will cause damage to equipment.
1. Turn on the drive input power.

2. Use monitor parameters U2- to display data on the operating status of the drive just before the fault
occurred.
3. Remove the cause of the fault and reset.
Note: 1. To find out what faults were triggered, check the fault history in U2-02. Information on drive status when the fault occurred such as
the frequency, current, and voltage can be found in U2-03 through U2-20. Refer to Viewing Fault Trace Data After Fault on
page 368 for information on how to view fault data.
2. When the fault continues to be displayed after cycling power, remove the cause of the fault and reset.
 If the Drive Still has Power After a Fault Occurs

1. Look at the digital operator for information on the fault that occurred.
2. Refer to Fault Displays, Causes, and Possible Solutions on page 336
3. Reset the fault. Refer to Fault Reset Methods on page 369.
 Viewing Fault Trace Data After Fault

Step Display/Result
- MODE - DRV Rdy

FREF (OPR)
U1-01= 0.00Hz
1. Turn on the drive input power. The first screen displays.
U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
- MODE - DRV Rdy

Monitor Menu
U1-01= 0.00Hz
2. Press or until the monitor screen is displayed. U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
-MONITR- DRV Rdy

Monitor
U1 -01= 0.00Hz
3. Press to display the parameter setting screen. U1-02= 0.00Hz LSEQ
U1-03= 0.00A LREF
JOG FWD FWD/REV
- MONITR - DRV Rdy

Last Fault
Press and to scroll to monitor U2-02. The fault code U2-02= oC
4.
U2-03= 0.00Hz LSEQ
shown in U2-02 is the fault that occurred last. U2-04= 0.00Hz LREF
JOG FWD FWD/REV
- MONITR - DRV Rdy

Frequency Ref
U2-03= 0.00Hz
U2-04= 0.00Hz LSEQ
U2-05= 0.00A LREF
JOG FWD FWD/REV
Press to view drive status information when fault occurred.
5.
Parameters U2-03 through U2-20 help determine the cause of a fault.
Parameters to be monitored differ depending on the control mode. - MONITR - DRV Rdy
Heatsink Temp
U2-20= XX °C
U2-01= ----- LSEQ
U2-02= ----- LREF
JOG FWD FWD/REV
 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

- MODE - DRV
oC
Overcurrent
Fix the cause of the fault, restart the drive, and Press on the digital operator when error code is FWD RESET
reset the fault RESET F1 F2
displayed. ESC
LO
RE
RESET ENTER
RUN STOP
Drive
Fault Reset Switch
S4 Fault Reset Digital Input
Close then open the fault signal digital input via terminal S4.
Resetting via Fault Reset Digital Input S4
S4 is set for “Fault Reset” as default (H1-04 = 14). SN Digital Input Common
SC
SP
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.
Troubleshooting
6.10 Troubleshooting without Fault Display

This section describes troubleshooting problems that do not trip an alarm or fault.
The following symptoms indicate that the drive is not set correctly for proper performance with the motor. Refer to
Motor Performance Fine-Tuning on page 326 for guidance on troubleshooting.
• Poor motor torque
• Poor speed precision
• Poor motor torque and speed response
• Motor noise
 Common Problems
Common Problems Page
Cannot Change Parameter Settings 370
Motor Does Not Rotate 371
Motor Does Not Rotate Properly after Pressing RUN Button or after Entering
Motor Rotates in the Opposite Direction from the Run Command 372
External Run Command
Motor Rotates in One Direction Only 372
Motor is Too Hot 372
Drive Does Not Allow Selection of Rotational Auto-Tuning 372
oPE02 Error Occurs When Lowering the Motor Rated Current Setting 372
Motor Stalls During Acceleration or With Large Loads 373
Drive Frequency Reference Differs from the Controller Frequency Reference Command 373
Excessive Motor Oscillation and Erratic Rotation 373
Deceleration Takes Longer Than Expected with Dynamic Braking Enabled 374
Load Falls When Brake is Applied (Hoist-Type Applications) 374
Noise From Drive or Motor Cables When the Drive is Powered On 374
Equipment for Residual Current Monitoring/Detection (RCM/RCD) Trips During
374
Run.
Unexpected Noise from Connected Machinery 374
Connected Machinery Vibrates When Motor Rotates
Oscillation or Hunting 374
PID Output Fault 375
Insufficient Starting Torque 375
Motor Rotates After the Drive Output is Shut Off (Motor Rotates During DC Injection Braking) 375
Output Frequency is not as High as Frequency Reference 375
Buzzing Sound from Motor at 2 kHz 375
Unstable Motor Speed when Using PM or IPM 376
Motor Does Not Restart after Power Loss 376
 Cannot Change Parameter Settings

• Stop the drive and switch over to the Programming Mode.
The drive is running the motor (i.e., the Run command is present).
• Most parameters cannot be edited during run.
The Access Level is set to restrict access to parameter settings. • Set the Access Level to allow parameters to be edited (A1-01 = 2).
• See what mode the operator is currently set for.
The operator is not in the Parameter Setup Mode (the screen will
• Parameters cannot be edited when in the Setup Mode (“STUP”). Switch modes so that “PAr” appears on the screen.
display “PAr”).
Refer to The Drive and Programming Modes on page 99.
A multi-function contact input terminal is set to allow or restrict • When the terminal is open, parameters cannot be edited.
parameter editing (H1-01 through H1-08 = 1B). • Turn on the multi-function contact input set to 1B.
• If the password entered to A1-04 does not match the password saved to A1-05, then drive settings cannot be
changed.
• Reset the password.
The wrong password was entered. If you cannot remember the password:
• Scroll to A1-04. Press the STOP button and press at the same time. Parameter A1-05 will appear.
• Set a new password to parameter A1-05.
• Check the drive input power voltage by looking at the DC bus voltage (U1-07).
Undervoltage was detected.
• Check all main circuit wiring.
 Motor Does Not Rotate Properly after Pressing RUN Button or after Entering
External Run Command
 Motor Does Not Rotate
• Check if the DRV light on the digital operator is lit.
The drive is not in the Drive Mode.
• Enter the Drive Mode to begin operating the motor. Refer to The Drive and Programming Modes on page 99.
Stop the drive and check if the correct frequency reference source is selected. If the operator keypad shall be the source, the LO/RE button
LED must be on. If the source is REMOTE, it must be off.
Take the following steps to solve the problem:
The button was pushed.
• Push the button.
• If o2-01 is set to 0, then the LO/RE button will be disabled.
• When Auto-Tuning completes, the drive is switched back to the Programming Mode. The Run command will not be accepted unless the
Auto-Tuning has just completed. drive is in the Drive Mode.
• Use the digital operator to enter the Drive Mode. Refer to The Drive and Programming Modes on page 99.
A Fast Stop was executed and has not yet
Reset the Fast Stop command.
been reset.
Check parameter b1-02 (Run Command Selection).
Set b1-02 so that it corresponds with the correct Run command source.
Settings are incorrect for the source that 0: Digital operator
provides the Run command. 1: Control circuit terminal (default setting)
2: MEMOBUS/Modbus communications
3: Option card
• Check the wiring for the control terminal.
There is faulty wiring in the control circuit
• Correct wiring mistakes.
terminals.
• Check the input terminal status monitor (U1-10).
Check parameter b1-01 (Frequency Reference Selection 1).
Set b1-01 to the correct source of the frequency reference.
The drive has been set to accept the 0: Digital operator
frequency reference from the incorrect 1: Control circuit terminal (default setting)
source. 2: MEMOBUS/Modbus communications
3: Option card
4: Pulse train input (RP)
The terminal set to accept the main speed
If the frequency reference is set at terminal A1, check parameter H3-01 for the correct signal level selection. If terminal A2 is used, check DIP
reference is set to the incorrect voltage and/
switch S1 parameter H3-08. If terminal A3 is used, check parameter H3-08. Refer to Terminal A2 Input Signal Selection on page 87.
or current.
• Set the wire jumper between SC and SP for selection of sinking mode.
Selection for the sink/source mode and the • Set the wire jumper between SC and SN for selection of sourcing mode.
internal/external power supply is incorrect. • Remove the wire jumper for external power supply.
Refer to Sinking/Sourcing Mode for Digital Inputs on page 85
• Check the frequency reference monitor (U1-01).
Frequency reference is too low.
• Increase the frequency by changing the maximum output frequency (E1-09).
• Check the multi-function analog input settings.
Multi-function analog input is set up to • Check if analog input A1, A2, or A3 is set for frequency reference gain (H3-02, H3-10, H3-06 = 1). If so, check if the correct signal is
accept gain for the frequency reference, but applied to the terminal. The gain and the frequency reference will be 0 if no signal is applied to the gain input.
no voltage (current) has been provided. • Check if H3-02, H3-10, and H3-06 have been set to the proper values.
• Check if the analog input value has been set properly. (U1-13 to U1-15)
• When the STOP button is pressed, the drive will decelerate to stop.
The STOP button was pressed when
Troubleshooting
• Switch off the Run command and then re-enter a new Run command.
the drive was started from a REMOTE
source. • The STOP button can be disabled when o2-02 is set to 0.
Motor starting torque is too low. Refer to Motor Performance Fine-Tuning on page 326
Frequency reference value is too low or the
Enter a value that is above the minimum output frequency determined by E1-09.
drive does not accept the value entered.
• If the drive is supposed to be set up for a 2-wire sequence, then ensure parameters H1-03 through H1-08 are not set to 0.
The sequence Start/Stop sequence is set up
incorrectly.
• If the drive is supposed to be set up for a 3-wire sequence, then one of the parameters H1-03 through H1-08 must be set to 0. Terminal S1 6
will become the Start, terminal S2 will become the Stop input.
 Motor Rotates in the Opposite Direction from the Run Command

• Check the motor wiring.
• Switch two motor cables (U, V, and W) to reverse motor direction.
Phase wiring between the drive and motor is incorrect.
• Connect drive output terminals U/T1, V/T2, and W/T3 in the right order to match motor terminals U, V, and W.
• Change the setting of parameter b1-14.
Typically, forward is designated as being counterclockwise when looking from the motor shaft (see figure below).
The forward direction for the motor is setup incorrectly.
2
1. Forward Rotating Motor (looking down the motor shaft)
2. Motor Shaft
The motor is running at almost 0 Hz and the Speed Search estimated
• Disable bi-directional search (b3-14 = “0”) so that Speed Search is performed only in the specified direction.
the speed to be in the opposite direction.
Note: Check the motor specifications for the forward and reverse directions. The motor specifications will vary depending on the
manufacturer of the motor.
 Motor Rotates in One Direction Only

• Check parameter b1-04.
The drive prohibits reverse rotation.
• Set the drive to allow the motor to rotate in reverse (b1-04 = 0).
A Reverse run signal has not been entered, although 3-wire
• Make sure that one of the input terminals S3 to S8 used for the 3-wire sequence has been set for reverse.
sequence is selected.
 Motor is Too Hot

If the load is too heavy for the motor, the motor will overheat as it exceeds its rated torque value for an extended
period of time.
Keep in mind that the motor also has a short-term overload rating in addition to the possible solutions provided below:
The load is too heavy. • Reduce the load.
• Increase the acceleration and deceleration times.
• Check the values set for the motor protection (L1-01, L1-02) as well as the motor rated current (E2-01).
• Increase motor capacity.
The air around the motor is too hot.
• Cool the area until it is within the specified temperature range.
The drive is operating in a vector control mode but Auto-Tuning has
• Calculate the motor value and reset the motor parameters.
not yet been performed.
• Change the motor control method to V/f Control (A1-02 = 0).
When the motor cable is long, high voltage surges occur between the motor coils and drive switching.
Normally, surges can reach up to three times the drive input power supply voltage (600 V for 200 V class, and 1200 V
for 400 V class).
Insufficient voltage insulation between motor phases. • Use a motor with a voltage tolerance higher than the max voltage surge.
• Use a motor designed to work specifically with a drive when using a 400 V class unit.
• Install an AC reactor on the output side of the drive. The carrier frequency should be set to 2 kHz when installing
an AC reactor.
The motor fan has stopped or is clogged. Check the motor fan.
Carrier frequency is too low. Increase the carrier frequency to lower the current harmonic distortion and lower the motor temperature.
 Drive Does Not Allow Selection the Desired Auto-Tuning Mode

The desired Auto-Tuning mode is not available for the selected • Check if the desired tuning mode is available for the selected control mode. Refer to Auto-Tuning on page 118.
control mode. • Change the motor control method by setting A1-02.
 oPE02 Error Occurs When Lowering the Motor Rated Current Setting
• The user is trying to set the motor rated current in E2-01 to a value lower than the no-load current set in E2-03.
Motor rated current and the motor no-load current setting in the • Make sure that value set in E2-01 is higher than E2-03.
drive are incorrect. • If it is necessary to set E2-01 lower than E2-03, first lower the value set to E2-03, then change the setting in E2-01
as needed.
 Motor Stalls during Acceleration or Acceleration Time is Too Long

Torque limit has been reached or current suppression keeps the drive Take the following steps to resolve the problem:
from accelerating. • Reduce the load.
• Increase motor capacity.
Note: Although the drive has a Stall Prevention function and a Torque Compensation Limit function, accelerating too
Load is too heavy. quickly or trying to drive an excessively large load can exceed the capabilities of the motor.
Torque limit is not set properly. Check the torque limit setting.
• Check the maximum output frequency (E1-04).
• Increase E1-04 if it is set too low.
Frequency reference is too low. Check U1-01 for proper frequency reference.
Check if a frequency reference signal switch has been set to one of the multi-function input terminals.
Check for low gain level set to terminals A1, A2, or A3 (H3-03, H3-11, H3-07).
• Reduce the load so that the output current remains within the motor rated current.
• In extruder and mixer applications, the load will sometimes increase as the temperature drops.
Load is too heavy.
• Increase the acceleration time.
• Check if the mechanical brake is fully releasing as it should.
Acceleration time has been set too long. Check if the acceleration time parameters have been set too long (C1-01, C1-03, C1-05, C1-07).
• Set the correct V/f pattern so that it matches the characteristics of the motor being used.
Motor characteristics and drive parameter settings are incompatible
• Check the V/f pattern set to E1-03.
with one another.
• Execute Rotational Auto-Tuning.
Although the drive is operating in Open Loop Vector motor control
• Calculate motor data and reset motor parameters.
method, Auto-Tuning has not been performed.
• Switch to V/f Control (A1-02 = 0).
• Check the multi-function analog input settings. Multi-function analog input terminal A1, A2, or A3 is set for
frequency gain (H3-02, H3-10, or H3-06 is set to “1”), but there is no voltage or current input provided.
Incorrect frequency reference setting.
• Make sure H3-02, H3-10, and H3-06 are set to the proper values.
• See if the analog input value is set to the right value (U1-13 to U1-15).
• Check the Stall Prevention level during acceleration (L3-02).
The Stall Prevention level during acceleration and deceleration set
• If L3-02 is set too low, acceleration may be taking too long.
too low.
• Increase L3-02.
• Check the Stall Prevention level during run (L3-06).
The Stall Prevention level during run has been set too low. • If L3-06 is set too low, speed will drop as the drive outputs torque.
• Increase the setting value.
• The motor cable may be long enough (over 50 m) to require Auto-Tuning for line-to-line resistance.
Drive reached the limitations of the V/f motor control method. • Be aware that V/f Control is comparatively limited when it comes to producing torque at low speeds.
• Consider switching to Open Loop Vector Control.
 Drive Frequency Reference Differs from the Controller Frequency Reference

Command
• Check the gain and bias settings for the analog inputs that are used to set the frequency reference. Check parameters
The analog input gain and bias for the frequency reference input H3-03 and H3-04 for input A1, check parameters H3-11, and H3-12 for input A2, and check parameters H3-07 and
are set to incorrect values. H3-08 for input A3.
• Set these parameters to the appropriate values.
• If more than one of multi-function analog inputs A1 to A3 is set for frequency reference bias (H3-02, H3-10, or H3-06
Troubleshooting
A frequency bias signal is being entered via analog input terminals is set to “0”), then the sum of all signals builds the frequency reference.
A1 to A3. • Make sure that H3-02, H3-10, and H3-06 are set appropriately.
• Check the input level set for terminals A1 to A3 (U1-13 to U1-15).
PID control is enabled, and the drive is consequently adjusting the
output frequency to match the PID setpoint. The drive will only
If PID control is not necessary for the application, disable it by setting b5-01 to “0”.
accelerate to the maximum output frequency set in E1-04 while
PID control is active.
6
 Excessive Motor Oscillation and Erratic Rotation
Poor balance between motor phases. Check drive input power voltage to ensure that it provides stable power.
• Enable Hunting Prevention (n1-01 = 1).
Hunting prevention function is disabled.
• Increase the AFR gain (n2-01) or the AFR time constant (n2-02).
 Deceleration Takes Longer Than Expected with Dynamic Braking Enabled

• Check the Stall Prevention level during deceleration (L3-04).
L3-04 is set incorrectly.
• If a dynamic braking option has been installed, disable Stall Prevention during deceleration (L3-04 = 0).
The deceleration time is set too long. Set deceleration to more appropriate time (C1-02, C1-04, C1-06, C1-08).
• Assuming parameter settings are normal and that no overvoltage occurs when there is insufficient torque, it is likely
Insufficient motor torque. that the demand on the motor has exceeded the motor capacity.
• Use a larger motor.
• Check the settings for the torque limit (L7-01 through L7-04).
• If the torque limit is enabled, deceleration might take longer than expected because the drive cannot output more
torque than the limit setting. Ensure the torque limit is set to a high enough value.
• Increase the torque limit setting.
Reaching the torque limit.
• If multi-function analog input terminal A1, A2, or A3 is set to torque limit (H3-02, H3-10, or H3-06 equals 10, 11, 12,
or 15), ensure that the analog input levels are set to the correct levels.
• Ensure H3-02, H3-10, and H3-06 are set to the right levels.
• Ensure the analog input is set to the correct value (U1-13 to U1-15).
Load exceeded the internal torque limit determined by the drive
Switch to a larger capacity drive.
rated current.
 Load Falls When Brake is Applied (Hoist-Type Applications)

The timing for the brake to close and release is not set properly. Refer to Notes on Controlling the Brake when Using the Hoist Application Preset on page 115.
Insufficient DC Injection Braking. Increase the amount of DC Injection Braking (b2-02).
 Noise From Drive or Motor Cables When the Drive is Powered On

• Install a noise filter on the input side of drive input power.
• Install a noise filter on the output side of the drive.
Relay switching in the drive generates excessive noise. • Place the wiring inside a metal conduit to shield it from switching noise.
• Ground the drive and motor properly.
• Separate the main circuit wiring and the control lines.
• Make sure wires and the motor have been properly grounded.
 Equipment for Residual Current Monitoring/Detection (RCM/RCD) Trips During Run

• Increase the RCM/RCD sensitivity or use RCM/RCD with a higher threshold.
Excessive leakage current trips RCM/RCD. • Reduce the length of the cable used between the drive and the motor.
• Install a noise filter or reactor on the output side of the drive. Set the carrier frequency to 2 kHz when connecting a
reactor.
 Connected Machinery Vibrates When Motor Rotates

 Unexpected Noise from Connected Machinery
The carrier frequency is at the resonant frequency of the connected
Adjust the carrier frequency using parameters C6-02 through C6-05.
machinery.
• Adjust the parameters used for the Jump frequency function (d3-01 through d3-04) to skip the problem-causing
The drive output frequency is the same as the resonant frequency
bandwidth.
of the connected machinery.
• Place the motor on a rubber pad to reduce vibration.
Note: The drive may have trouble assessing the status of the load due to white noise generated from using Swing PWM (C6-02 = 7 to A).
 Oscillation or Hunting
Perform Auto-Tuning.
Insufficient tuning.
Refer to Motor Performance Fine-Tuning on page 326.
Gain is too low when using PID control. Refer to b5: PID Control on page 167 for details.
• Ensure that noise is not affecting the signal lines.
The frequency reference is assigned to an external source and the • Separate main circuit wiring and control circuit wiring.
signal is noisy. • Use twisted-pair cables or shielded wiring for the control circuit.
• Increase the analog input time filter constant (H3-13).
The cable between the drive and motor is too long.
• Reduce the length of the cable.
 PID Output Fault

• Check the multi-function analog input terminal settings.
• Set multi-function analog input terminal A1, A2, or A3 for PID feedback (H3-02, H3-10, or H3-06 = “B”).
• A signal input to the terminal selection for PID feedback is needed.
No PID feedback input. • Check the connection of the feedback signal.
• Check the various PID-related parameter settings.
• No PID feedback input to the terminal causes the value detected to be 0, causing a PID fault and the drive to operate
at max frequency.
• PID control keeps the difference between target and detection values at 0. Set the input level for the values relative to
The level of detection and the target value do not correspond with
one another.
each other.
• Use analog input gains H3-03 and H3-11 to adjust PID target and feedback signal scaling.
Reverse drive output frequency and speed detection. When output
Set PID output for reverse characteristics (b5-09 = 1).
frequency rises, the sensor detects a speed decrease.
Adjustment made to PID parameter settings are insufficient. Refer to b5: PID Control on page 167 for details.
 Insufficient Starting Torque

Auto-Tuning has not yet been performed (required for vector
Perform Auto-Tuning. Refer to Motor Performance Fine-Tuning on page 326.
control modes).
The control mode was changed after performing Auto-Tuning. Perform Auto-Tuning again.
Only Stationary Auto-Tuning was performed. Perform Rotational Auto-Tuning.
 Motor Rotates After the Drive Output is Shut Off (Motor Rotates During DC Injection
Braking)
• Adjust the DC Injection braking settings.
DC Injection Braking is set too low and the drive cannot decelerate
• Increase the current level for DC Injection Braking (b2-02).
properly.
• Increase the DC Injection Braking time at stop (b2-04).
The stopping method is set so that the drive coasts to stop. Set b1-03 (Stopping Method Selection) to 0 or 2.
 Output Frequency is not as High as Frequency Reference

• Adjust the parameters used for the Jump frequency function (d3-01, d3-02, d3-03).
Frequency reference is set within the range of the Jump frequency.
• Enabling the Jump frequency prevents the drive from outputting the frequencies specified in the Jump range.
• Set the maximum output frequency and the upper limit for the frequency reference to more appropriate values
Upper limit for the frequency reference has been exceeded. (E1-04, d2-01).
• The following calculation yields the upper value for the output frequency = E1-04 × d2-01 / 100
Large load triggered Stall Prevention function during acceleration.
• Adjust the Stall Prevention level during acceleration (L3-02).
Set b1-21 (Start Condition Selection at Closed Loop Vector Control) to 1.
Motor runs at following speed.
Set E1-09 (Minimum Output Frequency) to a value lower than the setting for b2-01 (DC Injection Braking Start
Troubleshooting
b2-01 ≤ Motor speed < E1-09
Frequency).
 Buzzing Sound from Motor at 2 kHz

Exceeded 110% of the rated output current of the drive while

• If the output current rises too high at low speeds, the carrier frequency is automatically reduced and causes a whining
or buzzing sound. 6
• If the sound is coming from the motor, disable carrier frequency derating (L8-38 = 0).
operating at low speeds.
• Disabling the automatic carrier frequency derating increases the chances of an overload fault (oL2). Switch to a larger
capacity motor if oL2 faults occur too frequently.
 Unstable Motor Speed when Using PM

The motor code for the PM motor (E5-01 or T2-02) is set
Refer to Motor Performance Fine-Tuning on page 326 for details.
incorrectly (Yaskawa motors only).
Drive is attempting to operate the motor beyond the speed control
Check the speed control range and adjust the speed accordingly.
range listed in the specifications.
Drive is attempting to operate the motor at 5% or less of the speed
Use alternative motor if the drive is attempting to operate the motor at 5% or less of the speed reference value.
reference value.
Motor hunting occurs. Refer to Motor Performance Fine-Tuning on page 326 for details.
Hunting occurs at start. Increase the S-curve time at the start of acceleration (C2-01).
• Enter the correct motor code for the PM motor being used into E5-01.
Too much current is flowing through the drive. • For special-purpose motors, enter the correct data to all E5 parameters according to the test report provided for the
motor.
 Motor Does Not Restart after Power Loss

• Check the sequence and wiring that has been set up to enter the Run command.
The Run command was not issued again when power was restored.
• A relay should be set up to make sure the Run command remains enabled throughout any power loss.
The relay that is supposed to maintain the Run command has been
Check wiring and circuitry for the relay intended to keep the Run command enabled.
switched off.
7
Periodic Inspection & Maintenance
This chapter describes the periodic inspection and maintenance of the drive to ensure that it
receives the proper care to maintain overall performance.
7.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378

7.2 INSPECTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
7.3 PERIODIC MAINTENANCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
7.4 COOLING FAN AND CIRCULATION FAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
7.5 REPLACING THE AIR FILTER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
7.6 DRIVE REPLACEMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409
7.1 Section Safety
7.1 Section Safety

DANGER
supply is turned off. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc. To prevent
electric shock, wait for at least the time specified on the warning label once all indicators are OFF, and then measure
the DC bus voltage level to confirm it has reached a safe level.
Never connect or disconnect wiring, remove connectors or option cards, or replace the cooling fan, and air filter
while the power is on.
supply is turned off.
WARNING
installation, adjustment, and maintenance of AC drives.
work on the drive.
7.1 Section Safety
WARNING
Fire Hazard
NOTICE
Follow cooling fan replacement instructions. The cooling fan cannot operate properly when it is installed
incorrectly and could seriously damage the drive.
Follow the instructions in this manual to replace the cooling fan, making sure that the label is on top before inserting
the cooling fan into the drive. To ensure maximum useful product life, replace both cooling fans when performing
maintenance.
Failure to comply may cause electrical interference resulting in poor system performance. Use shielded, twisted-pair
Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with
Check all the wiring to ensure that all connections are correct after installing the drive and connecting any other
devices.
Maintenance

Comply with proper wiring practices.
The motor may run in reverse if the phase order is backward.
Connect motor input terminals U, V and W to drive output terminals U/T1,V/T2, and W/T3. The phase order for the 7
drive and motor should match.
Frequently switching the drive power supply to stop and start the motor can damage the drive.
To get the full performance life out of the electrolytic capacitors and circuit relays, refrain from switching the drive
power supply off and on more than once every 30 minutes. Frequent use can damage the drive. Use the drive to stop
and start the motor.
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.
7.2 Inspection
7.2 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 7.1 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 7.1 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
visible discoloration. • Check for dirty heatsink or motor.
Cooling • Ambient temperature
• Check for clogged or dirty fan.
Inspect drive cooling fan and circulation fan operation.
• Check fan operation drive parameter.
Inspect drive air filter. • Check for the dirty air filter.
Verify the drive environment complies with the specifications listed • Eliminate the source of contaminants or correct poor
Environment
in Installation Environment on page 46. environment.
The drive output current should not be higher than the motor or drive • Check for excessive load.
Load
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.
7.2 Inspection
 Recommended Periodic Inspection

Table 7.2 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.
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
Table 7.2 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.
• Remove foreign particles and dust by sucking them out with a
Inspect for dirt, foreign particles, or dust collection on components.
vacuum cleaner to avoid touching parts.
• 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.
Terminals Inspect terminals for stripped, damaged, or loose connections. Tighten loose screws and replace damaged screws or 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 Remove foreign particles and dust by sucking them out with a
Inspect for dust or other foreign material collected on the surface.
Transistor) vacuum cleaner to avoid touching parts.
Motor Periodic Inspection
Stop the motor and contact qualified maintenance personnel as
Operation Check Check for increased vibration or abnormal noise.
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 connections
• Do not use any solvents to clean the board.
Circuit Boards are properly fastened and that no dust or oil mist has accumulated on
• Remove foreign particles and dust by sucking them out with a
the surface of the board.
vacuum cleaner to avoid touching parts.
• The drive has few serviceable parts and may require complete
drive replacement.
Cooling System Periodic Inspection
Maintenance
Air filter Check for dirty or clogged filter. Replace the air filter. Refer to page 407 for detail.
Cooling Fan, Replace as required.
• Check for abnormal oscillation or unusual noise.
Circulation Fan Refer to Cooling Fan and Circulation Fan on page 385 for
• Check for damaged or missing fan blades.
Control Board Cooling Fan information on cleaning or replacing the fan.
Remove foreign particles and dust by sucking them out with a
Heatsink Inspect for dust or other foreign material collected on the surface.
vacuum cleaner to avoid touching parts. 7
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 Yaskawa or a Yaskawa representative if there is any
Digital Operator • Inspect for dust or other foreign material that may have collected trouble with the display or keypad.
on surrounding components. • Clean the digital operator.
7.2 Inspection
 Storage Guidelines
The drive contains electrolytic capacitors and fine electronic parts that undergo chemical changes. Observe the following
precautions to help maintain the expected performance life and reliability during long-term storage.
 Storage Location
Temperature and Humidity
Store the drive in a location that is between -10 and +40°C with a relative humidity of 95% or less. Do not store the drive
in direct sunlight or where condensation or ice will form.
Storage temperatures between -20 to +60°C are allowed when storing the drive for approximately one month.
Note: Package and store the drive during shipping to protect it from vibration and shock.
Dust and Oil Mist
Do not store the drive in a dusty location or a location subject to oil mist.
Corrosive Gas
Do not store the drive in a location subject to corrosive gas.
Salt Damage
Do not store the drive in a location subject to salt damage, such as near the ocean.
Do not store the drive in adverse environments. Store all drives in storage rooms that are not subjected to adverse
environmental elements.
Periodic Power Application
Yaskawa recommends applying power to the drive once per year for at least 30 minutes to prevent the capacitors from
deteriorating.
When applying power after power has not been applied for more than two years, Yaskawa recommends using a variable
power source and gradually increasing the power from 0 V to the rated drive voltage over a period of 2 to 3 minutes.
Apply power for at least 1 hour with no load to age the main circuit electrolytic capacitor.
Wire the drive normally and check for drive faults, overcurrents, motor vibration, speed fluctuations, and other
abnormalities during operation after performing the above procedure.
Figure 7.1
Variable power source Drive
R U
AC supply V
S
MC
W
T
Figure 7.1 Power Distribution Method
7.3 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.
For replacement parts, contact the distributor where the drive was purchased or contact Yaskawa or a Yaskawa
representative.
• Cooling Fan, Circulation Fan, Control Board Cooling Fan
• Electrolytic Capacitors
• Inrush Prevention Circuit
• IGBTs
 Replacement Parts
Table 7.3 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 7.3 Estimated Performance Life
Component Estimated Performance Life
Cooling Fan, Circulation Fan, Control Board 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 (IP20/IP00 enclosure)
Yearly average of 30°C (IP20/UL Type 1 enclosure, side-by-side mounting, finless drive or external heatsink installation)
• 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.
Set parameters L8-12 (Ambient Temperature Setting) and L8-35 (Installation Method Selection) for use with the
installation environment when using maintenance monitors.
Refer to Recommended Periodic Inspection on page 381 for more details.
Table 7.4 Performance Life Monitors Used for Component Replacement Maintenance
Parameter Component Contents

Displays the accumulated operation time of the fan, from 0 to 99999 hours. This value is automatically reset to 0 once it
U4-03 Cooling Fan, Circulation Fan, reaches 99999.
Control Board Cooling Fan
U4-04 Displays the accumulated 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. 7
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
display an alarm like shown in Table 7.5 to indicate the specific components that may need maintenance.
Table 7.5 Maintenance Alarms
Alarm Display
Function Corrective Action
LED Operator LCD Operator
<1> LT-1 The cooling fans have reached 90% of their designated life time. Replace the cooling fan.
The DC bus capacitors have reached 90% of their designated life Contact Yaskawa or a Yaskawa representative on possible drive
<1> LT-2
time. replacement.
The DC bus charge circuit has reached 90% of its designated life Contact Yaskawa or a Yaskawa representative on possible drive
<1> LT-3
time. replacement.
<1> LT-4 The IGBT’s have reached 50% of their designated life time. Check the load, carrier frequency, and output frequency.
Contact Yaskawa or a Yaskawa representative on possible drive
<2> TrPC The IGBT’s have reached 90% of their designated life time.
replacement.
<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 455 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.
7.4 Cooling Fan and Circulation Fan

NOTICE: Follow cooling fan replacement instructions. The cooling fan cannot operate properly when installed incorrectly and could
seriously damage the drive. To ensure maximum useful product life, replace all cooling fans when performing maintenance.
Contact Yaskawa or a Yaskawa representative to order replacement cooling fans as required.

For drives with multiple cooling fans, replace all the fans when performing maintenance to ensure maximum product
performance life.
 Number of Fan
Three-Phase 200 V Class Three-Phase 400 V Class

Model Model Control Board
Cooling Fan Circulation Fan Page Cooling Fan Circulation Fan Page
CIMR-A CIMR-A Cooling Fan
2A0004 – – – 4A0002 – – – –
2A0006 – – – 4A0004 – – – –
2A0010 – – – 4A0005 – – – –
2A0012 – – – 4A0007 1 – –
2A0021 1 – 4A0009 1 – –
2A0030 2 – 4A0011 1 – –
2A0040 2 – 4A0018 2 – –
387 387
2A0056 2 – 4A0023 2 – –
2A0069 2 – 4A0031 2 – –
2A0081 2 – 4A0038 2 – –
2A0110 2 – 4A0044 2 – –
389
2A0138 2 – 4A0058 2 – –
389
2A0169 2 – 4A0072 2 – –
2A0211 2 – 4A0088 2 – –
391
2A0250 2 – 4A0103 2 – –
393
2A0312 2 – 4A0139 2 – –
2A0360 3 1 4A0165 2 – –
2A0415 3 1 4A0208 2 – –
393
– – – – 4A0250 3 – –
– – – – 4A0296 3 – –
– – – – 4A0362 3 1 –
– – – – 4A0414 3 1 – 397
– – – – 4A0515 3 2 2
399
– – – – 4A0675 3 2 2
– – – – 4A0930 6 4 4
402
– – – – 4A1200 6 4 4

Maintenance
 Cooling Fan Component Names

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.
CAUTION! Burn Hazard. Do not touch a hot drive heatsink. Failure to comply could result in minor or moderate injury. Shut off the
power to the drive when replacing the cooling fan. To prevent burns, wait at least 15 minutes and ensure the heatsink has cooled
down.
Figure 7.2
2A0021 to 2A0081 2A0110 to 2A0138 2A0169 to 2A0415

4A0007 to 4A0044 4A0058 to 4A0103 4A0139 to 4A0362
A
A
D
D B
C
D
E
F
4A0414 4A0515, 4A0675
D
D
H
E E
F G
G I
4A0930, 4A1200
J
D
L
I
M
A – Fan Cover H – Circulation Fan Base

B – Fan Guard I – Circulation Fan
C – Cable Cover J – Circuit Board Cooling Fan
D – Cooling Fan K – Circuit Board Cooling Fan Unit Case
E – Fan Unit Case L – Circuit Board Cooling Fan Unit Case (L)
F – Fan Unit Case (L) M – Circuit Board Cooling Fan Unit Case (R)
G – Fan Unit Case (R)
Figure 7.2 Cooling Fan Component Names
 Cooling Fan Replacement: 2A0021 to 2A0081 and 4A0007 to 4A0044

any components.
down.
NOTICE: Prevent Equipment Damage. Follow cooling fan and circulation fan replacement instructions. Improper fan replacement
could result in damage to equipment. When installing the replacement fan into the drive, make sure the fan is facing upwards. To
ensure maximum useful product life, replace all fans when performing maintenance.
 Removing the Cooling Fan

1. Depress the right and left sides of the fan cover hooks and pull upward. Remove the fan cover from the top of the
drive.
Figure 7.3
Figure 7.3 Removing the Fan Cover: 2A0021 to 2A0081, 4A0007 to 4A0044
2. Remove the cooling fan cartridge. Disconnect the pluggable connector and remove the fan.
Figure 7.4

Maintenance
Figure 7.4 Removing the Cooling Fan: 2A0021 to 2A0081, 4A0007 to 4A0044
 Installing the Cooling Fan

Reverse the procedure described above to reinstall the cooling fan.
1. Install the replacement fan into the drive, ensuring the alignment pins line up as shown in the figure below.
Figure 7.5
A – Push the connectors together so C – Make sure the alignment pins

no space remains between them. line up properly.
B – Label facing up
Figure 7.5 Installing the Cooling Fan: 2A0021 to 2A0081, 4A0007 to 4A0044
2. Make sure the power lines for the fan are properly connected, then place the cable back into the recess of the
drive.
Figure 7.6
A – Back B – Front
Figure 7.6 Cooling Fan Power Supply Connectors: 2A0021 to 2A0081, 4A0007 to 4A0044
3. While pressing in on the hooks on the left and right sides of the fan cover, guide the fan cover until it clicks back
into place.
Figure 7.7
Figure 7.7 Reattach the Fan Cover: 2A0021 to 2A0081, 4A0007 to 4A0044
4. Turn the power supply back on and reset the cooling fan operation time for the Maintenance Monitor by setting
o4-03 to 0.
 Cooling Fan Replacement: 2A0110 and 2A0138, 4A0058 and 4A0072

any components.
down.

1. While pressing in on the hooks located on the left and right sides of the fan cover, free the fan cover leading by
lifting the back end first.
Figure 7.8
Figure 7.8 Removing the Cooling Fan Cover: 2A0110 and 2A0138, 4A0058 and 4A0072
2. Lift the fan cover out leading with the back end. Unplug the replay connector and free the fan cover from the
drive.
Figure 7.9
Lift the fan cover out of the drive

leading with the back end.

Figure 7.9 Removing the Cooling Fan: 2A0110 and 2A0138, 4A0058 and 4A0072 Maintenance

1. Make sure the power lines for the fan are properly connected.
2. Place the power supply connectors and cable back into the recess of the drive.
Figure 7.10
Figure 7.10 Cooling Fan Power Supply Connectors: 2A0110 and 2A0138, 4A0058 and 4A0072
3. Install the replacement fan into the drive.
Figure 7.11
Insert the fan at an angle so that

it tilts towards the front of the
drive. Next press down on the
back of the fan that still protrudes
from the drive so that the fan
snaps into place.
Figure 7.11 Installing the Cooling Fan: 2A0110 and 2A0138, 4A0058 and 4A0072
4. Angle the fan cover so the back end tilts up. Slide the cover into the small opening towards the front of the drive,
and then guide the entire fan cover into place.
Figure 7.12
Insertion area
Front of drive Back of drive

Cross-Section
Fan cover Back of drive
Hook Hook
Front of drive
Figure 7.12 Reattach the Fan Cover: 2A0110 and 2A0138, 4A0058 and 4A0072
into place.
Figure 7.13
Figure 7.13 Reattach the Fan Cover: 2A0110 and 2A0138, 4A0058 to 4A0072
o4-03 to 0.
 Cooling Fan Replacement: 4A0088 and 4A0103

any components.
down.

1. While pressing in on the hooks located on the left and right sides of the fan cover, free the fan cover leading by
lifting the back end first.
Figure 7.14
Figure 7.14 Removing the Cooling Fan Cover: 4A0088 and 4A0103 Periodic Inspection &
2. Lift the cooling fan directly up on the fan as shown below. Unplug the relay connector and free the fan from the
drive.
Maintenance
Figure 7.15
Figure 7.15 Removing the Cooling Fan: 4A0088 and 4A0103

1. Install the replacement fan into the drive, ensuring the alignment pins line up as shown in the figure below.
Figure 7.16
Figure 7.16 Installing the Cooling Fan: 4A0088 and 4A0103

2. Make sure the power lines for the fan are properly connected, then place the power supply connectors and cable
back into the recess of the drive.
Figure 7.17
Figure 7.17 Cooling Fan Power Supply Connectors: 4A0088 and 4A0103
3. Angle the fan cover as shown and insert the connector tabs into the corresponding holes on the drive.
Figure 7.18
Holes for connector tabs.
Fan cover Four tabs

Back or Drive
Hook Hook
Front of Drive
Figure 7.18 Reattach the Fan Cover: 4A0088 and 4A0103
into place.
Figure 7.19
Figure 7.19 Reattach the Fan Cover: 4A0088 and 4A0103

o4-03 to 0.
 Cooling Fan Replacement: 2A0169 to 2A0415, 4A0139 to 4A0362

any components.
down.
 Removing and Disassembling the Cooling Fan Unit

1. Remove the terminal cover and front cover.
2. Remove the fan connector (CN6). Remove the fan connector (CN6, CN7) in models 2A0360, 2A0415, and
4A0362.
Figure 7.20
2A0169, 2A0211, 2A0250, 2A0312, 4A0208 2A0360, 2A0415,

4A0139, 4A0165 4A0250, 4A0296, 4A0362
A C A A
B
B D
C
C E Maintenance
A – Fan Unit D – Circulation Fan Relay Cable

B – Fan Relay Cable E – Fan Connector (CN7)
C – Fan Connector (CN6) 7
Figure 7.20 Cooling Fan Replacement: Fan Unit and Connectors
3. Remove the screws holding the fan unit in place and slide the fan unit out of the drive.
Figure 7.21
Figure 7.21 Removing the Fan Unit: 2A0169 to 2A0415, 4A0139 to 4A0362
4. Remove the fan guard and replace the cooling fans.
Note: Make sure the fan cable does not get pinched between parts when reassembling the fan unit.
Figure 7.22
4A0250, 4A0296 2A0360, 2A0415,

4A0362
A A
2A0169, 2A0211, 2A0250, 2A0312,
4A0139, 4A0165, 4A0208
A B B
C C
A – Fan Guard C – Cooling Fan

B – Cable Cover D – Circulation Fan
Figure 7.22 Fan Unit Disassembly: 2A0169 to 2A0415, 4A0139 to 4A0362
 Cooling Fan Wiring: 2A0169, 2A0211, 4A0139, and 4A0165

1. Position the protective tube so that the fan connector sits in the center of the protective tube.
Protective tube
2. Place the fan connector covered by the tube as shown in the drawings below.
Figure 7.23
2A0169, 2A0211, 4A0139 4A0165
Fan B1 Fan B2
Connector for fan B1 Connector for fan B2
Figure 7.23 Cooling Fan Wiring: 2A0169, 2A0211, 4A0139 and 4A0165
3. Make sure that the protective tube does not stick out beyond the fan guard.
 Cooling Fan Wiring: 2A0250, 2A0312 and 4A0208
Protective tube
2. Place the connector for fan B2 before the B1 connector and guide the lead wire for fan B2 so that it is held in
place by the cable hook.
Figure 7.24
Cable hook

Maintenance
Fan B1 Fan B2
7
Connector for fan B2 Connector for fan B1
Figure 7.24 Cooling Fan Wiring: 2A0250, 2A0312 and 4A0208

3. Make sure that the protective tube does not stick out beyond the fan guard.
 Cooling Fan Wiring: 2A0360, 2A0415, 4A0250 to 4A0362

Protective tube
2. The fan connector for fan B2 should be placed in front of the fan B1 connector between fans B1 and B2.
3. The connector for fan B3 should be pressed in between fan B2 and B3.
Figure 7.25
Connector for fan B1
Cable cover
Fan B3
Fan B1 Fan B2
Figure 7.25 Cooling Fan Wiring: 2A0360, 2A0415, 4A0250 to 4A0362

4. Double check the relay connector to ensure that it is properly connected.
5. Reattach the cable cover to its original position and tighten the screws so that the fan guard holds the cable
cover in place.
 Installing the Cooling Fan Unit

1. Reverse the procedure described above to reinstall the cooling fan unit.
Figure 7.26
Figure 7.26 Installing the Cooling Fan Unit: 2A0169 to 2A0415, 4A0139 to 4A0362
2. Reattach the covers and digital operator.
o4-03 to 0.
 Cooling Fan Replacement: 4A0414

any components.
CAUTION! Burn Hazard. Do not touch a hot drive heatsink and a fan unit. Failure to comply could result in minor or moderate injury.
Shut off the power to the drive when replacing the cooling fan. To prevent burns, wait at least 15 minutes and ensure the heatsink and
the fan unit have cooled down.

1. Remove the terminal cover and front cover 1 and 2.
Refer to Removing the Terminal Cover on page 67 for detail.
2. Remove the fan connector (CN6).

Figure 7.27
B
C
D G
A – Fan Unit E – Fan Relay Cable

B – Circulation Fan Unit F – Fan Connector (CN6)
C – Circulation Fan G – Hook
D – Circulation Fan Relay Cable H – Fan Connector (CN7)
Figure 7.27 Component Names: 4A0414
3. Remove the circulation fan relay cable from the hook. Remove the fan connector (CN7).
4. Remove the screws holding the fan units in place and slide the fan units out of the drive.
Figure 7.28

Maintenance
Figure 7.28 Removing the Fan Unit: 4A0414
5. Remove the fan guard and circulation fan casing. Replace the cooling fans.
Figure 7.29
D
C
A – Fan Guard D – Circulation Fan Base

B – Cooling Fan E – Circulation Fan
C – Fan Unit Case
Figure 7.29 Fan Unit Disassembly: 4A0414
 Cooling Fan Wiring

Protective tube
2. Place the fan connector covered by the tube as shown in the drawings below.
Figure 7.30
Cooling Fan B1 Cooling Fan B2 Cooling Fan B3
Connector Connector Connector

for fan B1 for fan B2 for fan B3
Figure 7.30 Cooling Fan Wiring: 4A0414


Figure 7.31
Figure 7.31 Installing the Cooling Fan Unit: 4A0414

o4-03 to 0.

any components.

1. Remove the terminal cover and front cover 1 and 2.
Refer to Removing the Terminal Cover on page 67 for detail.
2. Remove the connectors for the cooling fan relay and the circuit board cooling fan.
Figure 7.32

A Maintenance
7
D
E F G F E
A – Fan Unit E – Hook

B – Fan Relay Connector F – Circuit Board Cooling Fan Connector
C – Circuit Board Cooling Fan G – Circuit Board Cooling Fan Cable
D – Circuit Board Cooling Fan Case
Figure 7.32 Component Names: 4A0515 and 4A0675
3. Loosen the screw A (2) and the screw B (9), then slide the panel that the screws held into place to the right.
Note: The fan unit can be removed simply by loosening these screws.
Figure 7.33
Screw B
Slide Panel
Screw A
Screw A Screw B
Figure 7.33 Removing the Fan Unit: 4A0515 and 4A0675

4. Remove the slide panel and fan unit along with the cooling fan unit for the circuit boards from the drive.
Note: The fan unit can be removed simply by loosening these screws.
Figure 7.34
Figure 7.34 Removing the Fan Units: 4A0515 and 4A0675
 Replacing the Cooling Fans

1. Replace the cooling fans.
Figure 7.35
A – Cooling Fan C – Cooling Fan Connector

B – Fan Unit Case
Figure 7.35 Fan Unit Disassembly: 4A0515 and 4A0675
2. Place the cooling fan connectors and guide the lead wires so that they are held in place by the cable hooks.
Figure 7.36
Cooling Fan B2 Cooling Fan B3

Cooling Fan B1
Relay Connector Relay Connector Relay Connector
Figure 7.36 Cooling Fan Wiring: 4A0515 and 4A0675

3. Turn the fan unit over and replace the circulation fans.
Figure 7.37
A – Circulation Fan C – Fan Unit Case

B – Cooling Fan Connector
4. Turn over the cooling fan unit. Guide the lead wires so that they are held in place by the cable hooks and place
the circulation fan connectors between the fan and fan unit.
Figure 7.38

Circulation Fan B5 Circulation Fan B4
Maintenance

5. Replace the cooling fans
Figure 7.39
A
7
B C
A – Circuit Board Cooling Fan C – Relay Connector

B – Circuit Board Cooling Fan Case
6. Position the protective tube so that the fan connector sits in the center of the protective tube. (Only for circuit
board cooling fans)
Protective tube
7. Guide lead wires through the hooks provided so that the wires are held in place.
Figure 7.40
Circuit board cooling fan Circuit board cooling fan

Relay connector Hook Relay connector

Figure 7.41
Figure 7.41 Installing the Cooling Fan Units: 4A0515 and 4A0675
o4-03 to 0.

any components.

1. Remove the terminal cover and front covers 1 and 2. Refer to Removing the Terminal Cover on page 67 for
details.
2. Remove the connectors for the cooling fan relay and the circuit board cooling fan.
Figure 7.42
B D
A C
E I G H
F E I G H
F
Circuit board cooling fan (L)

Circuit board cooling fan (R)
A – Fan Unit (L) F – Circuit Cooling Fan Case

B – Fan Relay Connector (L) G – Hook
C – Fan Unit (R) H – Circuit Board Cooling Fan
Connector
D – Fan Relay Connector (R) I – Circuit Board Cooling Fan Cable
E – Circuit Board Cooling Fan
Figure 7.42 Component Names: 4A0930 and 4A1200
3. Loosen screw A (4 count) and screw B (18 count), and slide the panel to the right.
Note: The fan unit can be removed by loosening these screws; they do not need to be removed.
Figure 7.43
Screw B Screw B
Slide Panel Slide Panel
Screw A Screw A

Maintenance
Screw B Screw A Screw B
Figure 7.43 Removing the Fan Unit: 4A0930 and 4A1200
4. Remove the slide panel, fan unit, cooling fan unit, and circuit board cooling fan unit.
Figure 7.44
Figure 7.44 Removing the Fan Units: Models 4A0930 and 4A1200
 Replacing the Cooling Fans

1. Replace the Cooling Fans.
Note: 1. Figure 7.45 shows the right side fan unit.
2. Do not pinch the fan cable between parts when reassembling the fan unit.
Figure 7.45

B – Fan Unit Case
Figure 7.45 Replacing the Cooling Fans: Models 4A0930 and 4A1200
Figure 7.46
Fun Unit Case (L) Fun Unit Case (R)
Cooling Fan B1 Hook Cooling Fan B2 Cooling Fan B3 Cooling Fan B5 Cooling Fan B6
Cooling Fan B4 Hook
Relay Connector Relay Connector Relay Connector Relay Connector Relay Connector Relay Connector
Figure 7.46 Cooling Fan Wiring: Models 4A0930 and 4A1200
3. Turn the fan unit over and replace the circulation fans.
Figure 7.47

B – Fan Unit Case
Figure 7.47 Replacing the Circuit Board Cooling Fans
Figure 7.48
Fun Unit Case (L) Fun Unit Case (R)

Relay Connector Relay Connector
Circulation Fan B8 Circulation Fan B7 Circulation Fan B10 Circulation Fan B9
Hook Hook
Figure 7.48 Cooling Fan Wiring: Models 4A0930 and 4A1200

5. Replace the circuit board cooling fans.
Note: Figure 7.49 shows the right side circuit board cooling fan.
Figure 7.49

A
B
Maintenance
A – Circuit Board Cooling B – Circuit Board Cooling

Fan Fan Case
Figure 7.49 Replacing the circuit board cooling fans: Models 4A0930 and 4A1200
6. Position the protective tube so that the fan connector sits in the center of the protective tube. (Only for circuit
board cooling fans).
Protective tube
7. Guide lead wires through the provided hooks so the wires are held in place.
Figure 7.50
Circuit board cooling fan Circuit board cooling fan

Relay connector Hook Relay connector
Figure 7.50 Circuit Board Cooling Fan Wiring: 4A0930 and 4A1200
8. Double-check the relay connector to ensure that it is properly connected.
Note: Properly connect the relay connectors to the fan unit connectors.
Figure 7.51
Figure 7.51 Installing the Cooling Fan Units: 4A0930 and 4A1200
o4-03 to 0.
7.5 Replacing the Air Filter

Models CIMR-A4A0930 and 4A1200 have a built-in air filter.
Contact Yaskawa or a Yaskawa representative to order new replacement air filters necessary.
Follow the instructions below to remove and replace the air filter.
 Air Filter Replacement

any components.
CAUTION! Burn Hazard. Do not touch a hot drive heatsink and filter cases. Failure to comply could result in minor or moderate injury.
the filter cases have cooled down.
 Removing the Air Filter

1. Remove the terminal cover. Refer to Terminal Cover on page 66 for more information.
2. Remove the screws holding the blind cover in place on the bottom of the drive. Pull forward on the blind cover to
free it from the drive.
Figure 7.52
Main circuit terminals
Blind cover screws

Blind cover Maintenance
Close-up
Figure 7.52 Air Filter Replacement: Removing the Blind Cover
3. Loosen the screws holding the filter case in place.

Note: The filter case should not be removed, only loosened.
Figure 7.53
Screws holding the filter case in place
Close-up
Figure 7.53 Air Filter Replacement: Loosening the Filter Case Screws
4. While holding onto the bottom of the filter case, slide it out from the drive.
Figure 7.54
Opening
Main circuit terminals
Filter case
Opening
Hold here, then slide

the filter case out.
Figure 7.54 Air Filter Replacement: Sliding Out the Filter Case
5. Take the filter out of the filter case.
Figure 7.55
Air filter
Filter case
Figure 7.55 Air Filter Replacement: Taking Out the Filter
 Installing the Air Filter

Reverse the procedure described above to reinstall the air filter.
7.6 Drive Replacement

 Serviceable Parts
The drive contains some serviceable parts. The following parts can be replaced over the life span of the drive:
• Terminal board I/O PCBs
• Cooling fan(s)
• Front cover
Replace the drive if the main power circuitry is damaged. Contact Yaskawa or a Yaskawa representative before replacing
parts if the drive is still under warranty. Yaskawa reserves the right to replace or repair the drive according to Yaskawa
warranty policy.
 Terminal Board
The drive has a modular I/O terminal block that facilitates quick drive replacement. The terminal board contains
on-board memory that stores all drive parameter settings and allows the parameters to be saved and transferred to the
replacement drive. To transfer the terminal board, disconnect the terminal board from the damaged drive then reconnect
it to the replacement drive. Once transferred, there is no need to manually reprogram the replacement drive.
Note: If the damaged drive and the new replacement drive are have different capacities, the data stored in the terminal board cannot be
transferred to the new drive and an oPE01 error will appear on the display. The terminal board can still be used, but parameter
setting from the old drive cannot be transferred. The replacement drive must be initialized and manually programmed.
Figure 7.56
A
Maintenance
C D
A – Removable terminal board D – Bottom cover screws

B – Charge LED E – Terminal board locking screws
C – Bottom cover
Figure 7.56 Terminal Board
 Replacing the Drive

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
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 7.57
Figure 7.57 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 7.58
Figure 7.58 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 7.59
Figure 7.59 Drive Replacement: Remove the Terminal Board

Figure 7.60
Figure 7.60 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 7.61. Use the
installation screw to fasten the terminal block into place.
Figure 7.61

Maintenance
Figure 7.61 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. 7
3. Put the terminal cover back into its original place.
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.
8
Peripheral Devices & Options
This chapter explains the installation of peripheral devices and options available for the drive.
8.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414

8.2 DRIVE OPTIONS AND PERIPHERAL DEVICES. . . . . . . . . . . . . . . . . . . . . . . . . 416
8.3 CONNECTING PERIPHERAL DEVICES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418
8.4 OPTION CARD INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
8.5 INSTALLING PERIPHERAL DEVICES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
8.1 Section Safety
8.1 Section Safety

DANGER
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
Installation, maintenance, inspection and servicing must be performed only by authorized personnel familiar with
Remove all metal objects such as watches and rings, secure loose clothing and wear eye protection before beginning
work on the drive.
Fire Hazard
8.1 Section Safety
NOTICE
Contact Yaskawa or a Yaskawa representative if the cause cannot be identified after checking the above.
be identified.

Options
8.2 Drive Options and Peripheral Devices

Table 8.1 lists the names of the various accessories and options available for Yaskawa drives. Contact Yaskawa or a
Yaskawa representative to order these peripheral devices.
• Peripheral Device Selection: Refer to the Yaskawa catalog for selection and part numbers.
• Peripheral Device Installation: Refer to the corresponding option manual for installation instructions.
Table 8.1 Available Peripheral Devices
Option Model Number Description
Power Options
Improves the power factor by suppressing harmonic distortion from the power
DC Reactor –
supply.
Protects the drive when operating from a large power supply and improves the
AC Reactor – power factor by suppressing harmonic distortion. Highly recommended for power
supplies that exceed 600 kVA.
For use with systems that require dynamic braking with up to 3% ED. If higher
Braking Resistor ERF-150WJ Series
ED is required, use a Braking Resistor Unit.
Braking Unit CDBR Series External braking transistor
Input / Output Option Cards
Allows high precision, high resolution analog reference input.
Input channels: 3
Analog Input AI-A3
Voltage input: -10 to 10 Vdc (20 kΩ), 13 bit signed
Current input: 4 to 20 mA or 0 to 20 mA (250 Ω), 12 bit
Provides extra multi-function analog output terminals.
Analog Monitor AO-A3 Output channels: 2
Output voltage: -10 to 10 V, 11 bit (signed)
This cover protects the DC bus capacitors when mounting the heatsink outside the
Condenser Cover ECAT31726-1, ECAT31698-1 enclosure. It is required for UL approval.
For more information, contact Yaskawa or a Yaskawa representative.
Used to set the frequency reference by digital inputs
Input channels: 18 (including SET signal and SIGN signal)
Digital Input DI-A3
Input signal type: BCD 16 bit (4 digit), 12 bit (3 digit), 8 bit (2 digit)
Input signal: 24 Vdc, 8 mA
Provides extra insulated multi-function digital outputs.
Digital Output DO-A3 Photocoupler relays: 6 (48 V, up to 50 mA)
Contact relays: 2 (250 Vac/up to 1 A, 30 Vdc/up to 1 A)
Motor Speed Feedback Option Cards
For speed feedback input by connecting a motor encoder
Input: 3 track (can be used with one or two tracks), for HTL encoder connection,
Motor PG Feedback Open Collector
PG-B3 50 kHz max
Interface
Output: 3 track, open collector
Encoder power supply: 12 V, max current 200 mA
For speed feedback input by connecting a motor encoder
Motor PG Feedback Line Driver Input: 3 track (can be used with one or two tracks), line driver, 300 kHz max
PG-X3
Interface Output: 3 track, line driver
Encoder power supply: 5 V or 12 V, max current 200 mA
For speed feedback input by connecting a motor encoder.
Encoder type: EnDat 2.1/01, EnDat 2.2/01, and EnDat 2.2/22 (HEIDENHAIN),
HIPERFACE (SICK STEGMANN)
Maximum input frequency: 50 kHz
Pulse monitor: Matches RS-422 level
EnDat Encoder PG-F3
Output voltage: 5 V±5%, 8 V±10%
Maximum output current: 200 mA
Wiring length: 20 m max. for the encoder, 30 m max. for the pulse monitor
Note: 1. This option card can only be used in CLV/PM.
2. Not available with models CIMR-A4A0930 and 4A1200.
For motor speed feedback by connecting a resolver (TS2640N321E64 by
Tamagawa Seiki Co., LTD).
Input voltage: 7 Vac rms 10 kHz
Motor Feedback Resolver Interface PG-RT3
Transformation ratio: 0.5 ± 5%
maximum input current: 100 mA rms
Note: Not available with models CIMR-A4A0930 and 4A1200.
Communication Options Cards
PROFIBUS-DP SI-P3 Connects to a PROFIBUS-DP network.
CC-Link SI-C3 Connects to a CC-Link network
DeviceNet SI-N3 Connects to a DeviceNet network
CANopen SI-S3 Connects to a CANopen network
MECHATROLINK-II SI-T3 Connects to a MECHATROLINK-II network
MECHATROLINK-III SI-ET3 Connects to a MECHATROLINK-III network.
EtherNet/IP SI-EN3 Connects to an EtherNet/IP network
Modbus TCP/IP SI-EM3 Connects to a Modbus TCP/IP network
LONWORKS SI-W3 Connects to a LONWORKS network
Interface Options
LED Operator JVOP-182 5-digits LED operator; max. cable length for remote usage: 3 m
Extension cable (1 m or 3 m) to connect the digital operator for remote operation
Remote Control Extension Cable WV001/WV003
RJ-45, 8 pin straight through, UTP CAT5e cable
Option Model Number Description

Allows the user to copy and verify parameter settings between drives. Can also be
USB Copy Unit JVOP-181
used as an adapter to connect the drive to the USB port on a PC.
Mechanical Options
Attachment for External Heatsink EZZ020800A/B/C/D Installation kit for mounting the drive with the heatsink outside of the panel
UL Type 1 Kit EZZ021136A-H Parts to make the drive conform to IP20/UL Type 1 enclosure requirements
Installation Support Set A EZZ020642A For installing the digital operator keypad on the outside of an enclosure panel that
Installation Support Set B EZZ020642B houses the drive. Also refer to Digital Operator Remote Installation on page 50.
Others
200 V class: PS-A10LB
24 V Power Supply Option to supply the drive controller with 24 Vdc power during main power loss
400 V class: PS-A10HB
PC Software Tools
DriveWizard Plus Contact Yaskawa or a Yaskawa representative PC tool for drive setup and parameter management
DriveWorksEZ Contact Yaskawa or a Yaskawa representative PC tool for enhanced programming of the drive

Options
8.3 Connecting Peripheral Devices
8.3 Connecting Peripheral Devices

Figure 8.1 illustrates how to configure the drive and motor to operate with various peripheral devices.
For more detailed instructions on how to install each device shown below, refer to the specific manual for that device.
Figure 8.1
Engineering Software Tools

DriveWizard
DriveWorksEZ
LED Operator/LCD Operator

Power
YASKAWA
USB Copy Unit
ERR
Supply
COM
JVOP-181
LOCK
USB Cable
py rify ad
Co Ve Re
USB Copy unit (Type-AB)

Line
Breaker PC
(MCCB) USB Cable
and/or (Type-AB, sold separately)
Leakage
Breaker <2> <3>
Drive B1 B2 +3(B1) −
Magnetic
Contactor
(MC)
+2
+1
DC Reactor
<1>
AC Reactor Thermal Relay
Braking Resistor
Braking Unit
or
Zero-phase Braking Resistor Unit
Reactor
Fuse
Ground
Input Side R/L1 S/L2 T/L3 U/T1V/T2W/T3

24 V control
Noise Filter power supply
unit
Output Side
Noise Filter
Motor
Magnetic Zero-phase
Contactor Reactor
(switches to
line power)
Ground
<1> Terminals +1 and +2 for connecting a DC choke are available only in units CIMR-A2A0004 to 0081 and CIMR-A40002 to 0044.
Drives above have built in DC chokes.
<2> Terminals B1 and B2 for connecting a braking resistor are available only in units CIMR-A2A0004 to 0138 and CIMR-A40002 to
0072.
<3> When using an external braking chopper in drives from CIMR-A2A0004 to 0138 and CIMR-A40002 to 0072 connect the
chopper to drive terminals B1 and -. When using larger drives connect the chopper to terminals +3 and -.
Figure 8.1 Connecting Peripheral Devices
8.4 Option Card Installation

This section provides instructions on installing the option cards listed in Table 8.1.
 Prior to Installing the Option

Prior to installing the option, wire the drive, make the necessary connections to the drive terminals, and verify that the
drive functions normally. Refer to the Table 8.2 for information on wiring and connecting the drive.
Table 8.2 below lists the number of option cards that can be connected to the drive and the drive connectors for
connecting those option cards.
Table 8.2 Option Card Installation
Option Card Connector Number of Cards Possible
PG-B3, PG-X3 CN5-C (CN5-B) <1> 2 <1>
PG-RT3 <2> <3>, PG-F3 <2> <3> CN5-C 1
DO-A3, AO-A3 CN5-A, B, C 1
SI-C3, SI-EM3, SI-EN3, SI-ET3, SI-N3, SI-P3, SI-S3, SI-T3,
CN5-A 1
SI-W3, AI-A3 <4>, DI-A3 <4>
<1> If only one PG option card is connected to the drive, use the CN5-C connector. If two PG option cards are connected, use both CN5-B and
CN5-C.
<2> These option cards are not available for the application with Motor 2 Selection.
<3> These option cards are not available with models CIMR-A4A0930 and 4A1200.
<4> When AI-A3 and DI-A3 are to be used as monitors, the card can be connected to any of CN5-A, CN5-B or CN5-C. The input status of AI-A3
can then be viewed using U1-21, U1-22, and U1-23, and the input status of DI-A3 can then be viewed using U1-17.
Figure 8.2 shows an exploded view of the drive with the option and related components for reference.
Figure 8.2
A
B
C
L
D
J E
F
H G
A – Insertion point for CN5 G – Removable tabs for wire routing

B – Option card H – Ground wire
C – Included screws I – Drive grounding terminal (FE)
D – Front cover J – Connector CN5-A
Options
E – Digital operator K – Connector CN5-B

F – Terminal cover L – Connector CN5-C
Figure 8.2 Drive Components with Option 8
 Installing the Option

Refer to the instructions below to install the option.
DANGER! Electrical Shock Hazard. Disconnect all power to the drive and wait at least the amount of time specified on the drive front
cover safety label. After all indicators are off, measure the DC bus voltage to confirm safe level, and check for unsafe voltages before
servicing to prevent electric shock. The internal capacitor remains charged even after the power supply is turned off.
WARNING! Electrical Shock Hazard. Do not allow unqualified personnel to perform work on the drive. Failure to comply could result in
death or serious injury. Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar
with installation, adjustment and maintenance of AC drives and Option Cards.
NOTICE: Damage to Equipment. Observe proper electrostatic discharge procedures (ESD) when handling the option card, drive, and
circuit boards. Failure to comply may result in ESD damage to circuitry.
NOTICE: Damage to Equipment. Tighten all terminal screws to the specified tightening torque. Failure to comply may cause the
application to operate incorrectly or damage the drive.
1. Shut off power to the drive, wait the appropriate amount of time for voltage to dissipate, then remove the digital
operator (E) and front covers (D, F). Refer to Digital Operator and Front Cover on page 68
Figure 8.3
Figure 8.3 Remove the Front Covers and Digital Operator
2. Insert the option card (B) into the CN5-A (J), CN5-B (K), or CN5-C (L) connectors located on the drive and fasten
it into place using one of the included screws (C). Refer to Table 8.2 for more information.
Figure 8.4
A
B
C
L
Figure 8.4 Insert the Option Card
3. Connect one end of the ground wire (H) to the ground terminal (I) using one of the remaining screws (C).
Connect the other end of the ground wire (H) to the remaining ground terminal and installation hole on the option
(B) using the last remaining provided screw (C).
Figure 8.5
Figure 8.5 Connect the Ground Wire

Note: 1. The option package includes two ground wires. Use the longer wire when plugging the option into connector CN5-C on the drive
side. Use the shorter wire when plugging the option into connector
CN5-B. Refer to the option card instruction manual for more information.
2. There are two screw holes on the drive for use as ground terminals (I). When connecting three options, two ground wires will need to
share the same drive ground terminal.
4. Prepare and connect the wire ends as shown in Figure 8.6 and Figure 8.7. Refer to Wire Gauges and
Tightening Torques on page 424 to confirm that the proper tightening torque is applied to each terminal. Take
particular precaution to ensure that each wire is properly connected and wire insulation is not accidentally
pinched into electrical terminals.
WARNING! Fire Hazard. Tighten all terminal screws according to the specified tightening torque. Loose electrical connections could
result in death or serious injury by fire due to overheating electrical connections. Tightening screws beyond the specified tightening
torque may result in erroneous operation, damage to the terminal block, or cause a fire.
NOTICE: Heat shrink tubing or electrical tape may be required to ensure that cable shielding does not contact other wiring. Insufficient
insulation may cause a short circuit and damage the option or drive.
Figure 8.6
Shield Insulation
PG option terminal PG at motor
Ground Terminal
FE/SD Shield sheath
(Insulate with electrical tape
or shrink tubing)
Figure 8.6 Preparing Ends of Shielded Cable

Figure 8.7
Preparing wire ends: Screwdriver blade size

Options
Pull back the shielding and

lightly twist the end with fingers,
keeping the ends from fraying.
Blade depth of
about 5.5 mm (7/32”)
0.4 mm or less
8
When not using Blade width of
crimped insulated 2.5 mm or less
sleeves
Loosen the screws and

insert the wire into the Option terminal block
opening on the terminal block.
Shielded cable
(do not solder ends)
Figure 8.7 Preparing and Connecting Cable Wiring
5. For the PG-B3 and PG-X3 Option, wire the motor PG encoder to the terminal block. Refer to Figure 8.8 and
Figure 8.12 for wiring instructions.
Refer to Terminal Functions on page 423 for a detailed description of the option terminal functions.
Connecting PG-B3 Option

Parameter Settings and Connections for Different Encoder Types
• Connecting a Single-Pulse Encoder
When using a single-pulse encoder in V/f with PG control mode, connect the pulse output from the PG to the option
and set drive parameter F1-21 to 0.
• Connecting a Two-Pulse Encoder
When using a two-pulse encoder, connect the A and B pulse outputs on the PG to the option and set F1-21 to 1.
When using a two-pulse encoder in Closed Loop Vector control mode, connect pulse outputs A and B from the encoder
to the corresponding terminals on the option.
• Connecting a Two-Pulse Encoder with Z Marker Pulse
When using a two-pulse encoder with Z marker pulse, connect the A, B, and Z pulse outputs to the corresponding
terminals on the option.
Control Method V/f with PG Closed Loop Vector
No. of Encoders 1 (CN5-C) 2 (CN5-B) 1 (CN5-C) 2 (CN5-B)
Single Pulse (A) F1-21 = 0 F1-37 = 0 N/A N/A
Two Pulse (AB Quadrature) F1-21 = 1 F1-37 = 1 No setting required No setting required
Two Pulse with Marker (ABZ) F1-21 = 1 F1-37 = 1 No setting required No setting required
Connection Diagram of PG-B3

Refer to Table 8.3 for a detailed description of the option board terminal functions.
Refer to Wire Gauges and Tightening Torques on page 424 for information on making cables.
R/L1 U/T1
S/L2 V/T2 M
T/L3 W/T3
YASKAWA TB1
Drive PGB3 3
A+
Option 4
A
5
B+
6 PG
B
Z+
Z
SD
NC
FE E
<1>
TB2
1
IP
IG 2
CN5 AO
IG A pulse monitor signal
BO
B pulse monitor signal
IG
ZO Z pulse monitor signal
FE IG
Ground wire
Twisted-pair shielded line

Main circuit terminal Control circuit terminal
<1> Ground the shield on the PG side and the drive side. If noise problems arise in the PG signal, remove the shield ground from one end of the
signal line or remove the shield ground connection on both ends.
Figure 8.8 PG-B3 Option and Encoder Connection Diagram

Note: The PG-B3 Option reads a maximum input frequency from the PG encoder of 50 kHz. Be sure to select an PG encoder with an
output pulse frequency of maximum 50 kHz when operating at maximum speed.
Take the following steps to prevent erroneous operation caused by noise interference:
• Use shielded wire for the PG encoder signal lines.
• Limit the length of all motor output power cables to less than 100 m. Limit the length of open-collector output lines to
less than 50 m.
• Use separate conduit or cable tray dividers to separate option control wiring, main circuit input power wiring, and
motor output power cables.
Interface Circuit
• Complementary Output
Figure 8.8
PG-B3 IP Vcc PG Encoder

12 V
330 Ω A+,B+,Z+ A,B,Z
470 Ω A-,B-,Z- 0V
330 Ω
IG 0V
AO,BO,ZO
Monitor Signals
IG
Figure 8.9 Complementary Outputs for the Interface Circuit

• Open-Collector Outputs
Figure 8.9
PGB3 IP Vcc
12 V PG Encoder
330 Ω A+,B+,Z+
470 Ω A,B,Z
A,B,Z
330 Ω
IG 0V
AO,BO,ZO
Monitor Signals
IG
Figure 8.10 Open-Collector Outputs for the Interface Circuit

Terminal Functions
Table 8.3 Option Terminal Functions
Terminal Block Terminal Function Description
TB1
A+ A+ pulse signal input
A– A– pulse signal input • Pulse signal inputs from the PG.
B+ B+ pulse signal input • Signal inputs from complementary and open-collector outputs
A+ A- B+ B- Z+ Z-
• Signal level
B– B– pulse signal input
IP IG
TB1 H level: 8 to 12 V
Z+ Z+ pulse signal input L level: 2.0 V or less
Z– Z– pulse signal input
SD NC pin (open) For use when cables shields should not be grounded
AO IG BO IG ZO IG
FE Ground Used for grounding shielded lines

IP PG power supply • Output voltage: 12.0 V ± 5%

SD FE
IG PG power supply common • Max output current: 200 mA <1>

AO A pulse monitor signal
• Outputs the monitor signal for the A, B, and Z pulses from the PG speed
TB2 BO B pulse monitor signal control card
ZO Z pulse monitor signal • For open collector outputs from the option
Options
• Max voltage: 24 V
TB2 IG Monitor signal common • Max current: 30 mA
<1> A separate UL Listed class 2 power supply is necessary when the PG requires more than 200 mA to operate.
8
Wire Gauges and Tightening Torques

Wire gauge and torque specifications are listed in Table 8.4. For simpler and more reliable wiring, use crimp ferrules on
the wire ends. Refer to the option manuals for the wire size and torque specifications of other options.
Table 8.4 Wire Gauges and Tightening Torques
Bare Cable Crimp Terminals
Tightening Torque
Screw Applicable Wire Applicable Wire
Terminal Signal Nm Recomm. Wire Size Recomm. Wire Size Wire Type
Size (inlb) Size Size
mm2 mm2
mm2 mm2
A+, A–, B+, Stranded wire:
Shielded twisted
B–, Z+, Z–, 0.25 to 1.0
pair, etc.
FE, IP, IG 0.22 to 0.25 0.75 (24 to 17 AWG) 0.5 0.25 to 0.5
M2
(1.95 to 2.21) (18 AWG) Solid wire: (20 AWG) (24 to 20 AWG)
AO, IG, BO, 0.25 to 1.5 Shielded cable,
IG, ZO, IG (24 to 16 AWG) etc.
Crimp Terminals
Yaskawa recommends using CRIMPFOX 6 by Phoenix Contact or equivalent crimp terminals with the specifications
listed in Table 8.5 for wiring to ensure proper connections.
Note: Properly trim wire ends so loose wire ends do not extend from the crimp terminals.
Table 8.5 Crimp Terminal Sizes
Wire Size L d1 d2
Phoenix Contact Model
mm2 mm (in) mm (in) mm (in)
AI 0.25–6YE
0.25 (24 AWG) 10.5 (13/32) 0.8 (1/32) 2 (5/64)
AI 0.25–6BU
d1 6 mm d2 0.34 (22 AWG) AI 0.34-6TQ 10.5 (13/32) 0.8 (1/32) 2 (5/64)

L
0.5 (20 AWG) AI 0.5-6WH 12 (15/32) 1.1 (3/64) 2.5 (3/32)
PG Encoder Cables for PG-B3 Option

Yaskawa recommends using a LMA-B-S185Y (complementary output) for cables running between the PG-B3
Option and the PG as show in Figure 8.11.
For instructions on wiring the terminal block, refer to Table 8.3.
Figure 8.10
TB1 TB2
A+ A- B+ B- Z+ Z- SD FE IP IG AO IG BO IG ZO IG
3 4 5 6 E 1 2
TA1 A G
B H F
PG encoder side
C E
D
Pin
Figure 8.11 Wiring PG Encoder Cable
Table 8.6 Connecting the PG Encoder Cable Specification
PG Encoder Cable
Option Terminal
Wire Color Pin
IP 1 Blue C
IG 2 White H
A+ 3 Yellow B
A– 4 White G
B+ 5 Green A
B– 6 White F
FE E N/A (shield) D
Table 8.7 PG Encoder Cable Types

Length Type Length Type
10 m (32 ft.) W5010 50 m (164 ft.) W5050
30 m (98 ft.) W5030 100 m (328 ft.) W5100
Connecting PG-X3 Option

Parameter Settings and Connections for Different Encoder Types
• Connecting a Single-Pulse Encoder
When using a single-pulse encoder in V/f with PG control mode, connect the pulse output from the PG to the option
and set drive parameter F1-21 to 0.
• Connecting a Two-Pulse Encoder
When using a two-pulse encoder, connect the A and B pulse outputs on the PG to the option and set F1-21 to 1.
When using a two-pulse encoder in Closed Loop Vector control mode, connect pulse outputs A and B from the encoder
to the corresponding terminals on the option.
• Connecting a Two-Pulse Encoder with Z Marker Pulse
When using a two-pulse encoder with Z marker pulse, connect the A, B, and Z pulse outputs to the corresponding
terminals on the option.
When using a two-pulse encoder in CLV/PM control mode, connect pulse outputs A and B from the encoder to the
corresponding terminals on the option.
Control Method V/f with PG Closed Loop Vector
No. of Encoders 1 (CN5-C) 2 (CN5-B) 1 (CN5-C) 2 (CN5-B)
Single Pulse (A) F1-21 = 0 F1-37 = 0 N/A N/A
Two Pulse (AB Quadrature) F1-21 = 1 F1-37 = 1 No setting required No setting required
Two Pulse with Marker (ABZ) F1-21 = 1 F1-37 = 1 No setting required No setting required
Connection Diagram of PG-X3

Refer to Table 8.8 for a detailed description of the option board terminal functions.
The positioning of jumper CN3 selects the PG encoder power supply voltage (5.5 V or 12 V). Select the voltage level for
the PG encoder connected to the option and motor. If the wrong voltage is selected, the PG encoder may not operate
properly or may become damaged as a result.
Refer to Setting the PG Encoder Power Supply Voltage on page 426 for details.
R/L1 U/T1
S/L2 V/T2 M
T/L3 W/T3
TB1
YASKAWA
Drive PGX3 A+
Option A
B+
PG
B
Z+
Z
SD
NC
FE
<1>
CN3
TB2
IP12
IP5 IP
IG IG
SG
Options
CN5-B a+
A pulse monitor signal
or a
CN5-C b+
B pulse monitor signal
b
FE
z+
z
Z pulse monitor signal 8
Ground wire
twisted-pair shielded line
main circuit terminal control circuit terminal
<1> Ground the shield on the PG side and the drive side. If noise problems arise in the PG signal, remove the shield ground from one end of the
signal line or remove the shield ground connection on both ends.
Figure 8.12 PG-X3 Option and PG Encoder Connection Diagram
Note: The PG-X3 Option reads a maximum input frequency from the PG of 300 kHz. Be sure to select a PG with an output pulse
frequency of maximum 300 kHz when operating at maximum speed.
Take the following steps to prevent erroneous operation caused by noise interference:
• Use shielded wire for the PG encoder signal lines.
• Use separate conduit or cable tray dividers to separate option control wiring, main circuit input power wiring, and
motor output power cables.
Interface Circuit
Figure 8.11
PGX3 PG Encoder
A+,B+,Z+ A,B,Z
600 Ω
A,B,Z
26LS32 level A,B,Z 26LS31 level
a+,b+,z+
a,b,z
Monitor Signals
26LS31 level SG
Figure 8.13 Interface Circuit (PG-X3)

Terminal Functions
Table 8.8 Option Terminal Functions
Terminal Block Terminal Function Description
A+ A+ pulse signal input
A– A– pulse signal input
TB1
B+ B+ pulse signal input • Inputs for the A channel, B channel, and Z pulses from the PG encoder
B– B– pulse signal input • Signal level matches RS-422
A+ A− B+ B− Z+ Z−
TB1 Z+ Z+ pulse signal input

IP IG
Z– Z– pulse signal input

Open connection connectors for use when cable shields should not be
SD NC pin (open)
grounded
SG a+ a− b+ b− z+ z−
FE Ground Used as the shield ground termination point.

IP PG encoder power supply • Output voltage: 12.0 V ± 5% or 5.5 V ± 5%
IG PG encoder power supply common • Max. output current: 200 mA <1>
SD FE
SG Monitor signal common

a+ A+ pulse monitor signal
TB2 a– A- pulse monitor signal • Output signal for monitoring A channel, B channel, and Z pulses from the
b+ B+ pulse monitor signal PG encoder
b– B- pulse monitor signal • Signal level matches RS-422
TB2
z+ Z+ pulse monitor signal
z– Z- pulse monitor signal
<1> A separate UL Listed class 2 power supply is necessary when the PG requires more than 200 mA to operate.
Setting the PG Encoder Power Supply Voltage
For the PG-X3 Option, set the voltage for the PG encoder power supply using jumper CN3 located on the option.
NOTICE: Set the jumper to 12 V when using a Yaskawa standard motor with PG encoder (SST4 Series).
NOTICE: The positioning of jumper CN3 selects the PG encoder power supply voltage (5.5 V or 12 V). Select the voltage level for the
PG encoder connected to the option and motor. If the wrong voltage is selected, the PG encoder may not operate properly or may
become damaged as a result.
Table 8.9 Setting the PG Encoder Power Supply Voltage (IP) with Jumper CN3
Voltage Level 5.5 V ± 5% (default) 12.0 V ± 5%
5.5 V 12 V 5.5 V 12 V
CN3 CN3
Jumper CN3

Wire gauge and torque specifications are listed in Table 8.10. For simpler and more reliable wiring, use crimp ferrules on
the wire ends. Refer to the option manuals for the wire size and torque specifications of other options.
Table 8.10 Wire Gauges and Tightening Torques
Tightening Torque Bare Cable Crimp Terminals
Screw
Terminal Signal Nm Recomm. Gauge Applicable Gauges Recomm. Gauge Applicable Gauges Wire Type
Size
(inlb) mm2 mm2 mm2 mm2
A+, A–, B+, Stranded wire:
Shielded twisted
B–, Z+, Z–, 0.25 to 1.0
pair, etc.
SD, FE, IP, IG 0.22 to 0.25 0.75 (24 to 17 AWG) 0.5 0.25 to 0.5
M2
(1.95 to 2.21) (18 AWG) Solid wire: (20 AWG) (24 to 20 AWG)
a+, a–, b+, 0.25 to 1.5 Shielded cable,
b–, z+, z–, SG (24 to 16 AWG) etc.
Crimp Terminals
Yaskawa recommends using CRIMPFOX 6 by Phoenix Contact or equivalent crimp terminals with the specifications
listed in Table 8.11 for wiring to ensure proper connections.
Note: Properly trim wire ends so loose wire ends do not extend from the crimp terminals.
Table 8.11 Crimp Terminal Sizes
Wire Gauge Phoenix Contact Model L d1 d2
mm2 mm (in) mm (in) mm (in)
AI 0.25–6YE
0.25 (24 AWG) 10.5 (13/32) 0.8 (1/32) 2 (5/64)
AI 0.25–6BU
d1 6 mm d2 0.34 (22 AWG) AI 0.34-6TQ 10.5 (13/32) 0.8 (1/32) 2 (5/64)

L
0.5 (20 AWG) AI 0.5-6WH 12 (15/32) 1.1 (3/64) 2.5 (3/32)
6. Route the option wiring.

Depending on the drive model, some drives may require routing the wiring through the side of the front cover to
the outside. For drive models CIMR-A2A0004 through 2A0040 and 4A0002 through 4A0023, cut out the
perforated openings on the left side of the drive front cover as shown in Figure 8.14-A and leave no sharp edges
to damage wiring.
Route the wiring inside the enclosure as shown in Figure 8.14-B for drive models CIMR-A2A0056 through
2A0415 and 4A0031 through 4A1200 that do not require routing through the front cover.
Figure 8.12
A Peripheral Devices &

Options
A – Route wires through the openings B – Use the open space provided inside
provided on the left side of the front the drive to route option wiring.
cover. <1> (CIMR-A2A0056 to 2A0415, 4A0031
(CIMR-A2A0004 to2A0040, 4A0002 to 4A1200)
to 4A0023)
<1> The drive will not meet IP20/UL Type 1 requirements if wiring is exposed outside the enclosure.
Figure 8.14 Wire Routing Examples
7. Replace and secure the front covers of the drive (D, F) and replace the digital operator (E).
Figure 8.13
Figure 8.15 Replace the Front Covers and Digital Operator

Note: Take proper precautions when wiring the option so that the front covers will easily fit back onto the drive. Make sure cables are
not pinched between the front covers and the drive when replacing the covers.
8. For the PG-B3 and PG-X3 Option, set drive parameters for proper motor rotation.
With a two-pulse or three-pulse PG encoder, the leading pulse determines the motor rotation direction. A PG
encoder signal with leading A pulse is considered to be rotating forward (counter-clockwise when viewing
rotation from motor load side).
Figure 8.14
The A pulse leads, followed

by the B pulse displaced at 90 degrees
A pulse
B pulse
Time
Figure 8.16 Displacement of A and B Pulses
After connecting the PG encoder outputs to the option, apply power to the drive and manually rotate the motor
and check the rotation direction by viewing monitor U1-05 on the digital operator.
Reverse motor rotation is indicated by a negative value for U1-05; forward motor rotation is indicated by a
positive value.
If monitor U1-05 indicates that the forward direction is opposite of what is intended, set F1-05 or F1-32 to 1, or
reverse the two A pulse wires with the two B pulse wires on option terminal TB1 as shown in Figure 8.17.
Figure 8.15
A+ A- B+ B- Z+ Z- A+ A- B+ B- Z+ Z-
3 4 5 6 5 6 3 4
Figure 8.17 A Channel and B Channel Wire Switching

If switching the wires is inconvenient, set drive parameter F1-05/F1-32 to 1 to switch the direction of how the
option reads pulses from the PG encoder output.
Please note that when the drive is initialized using A1-03 =1110, 2220, 3330, the value for F1-05/F1-32 will reset
to factory default and the parameter will need to be adjusted again to switch the direction.
8.5 Installing Peripheral Devices

This section describes the proper steps and precautions to take when installing or connecting various peripheral devices
to the drive.
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.
 Dynamic Braking Options

Dynamic braking (DB) helps bring the motor to a smooth and rapid stop when working with high inertia loads. As the
drive lowers the frequency of a motor moving a high inertia load, regeneration occurs. This can cause an overvoltage
situation when the regenerative energy flows back into the DC bus capacitors. A braking resistor prevents these
overvoltage faults.
NOTICE: Do not allow unqualified personnel to use the product. Failure to comply could result in damage to the drive or braking
circuit. Carefully review the braking resistor instruction manual when connecting a braking resistor option to the drive.
Note: 1. The braking circuit must be sized properly in order to dissipate the power required to decelerate the load in the desired time. Ensure
that the braking circuit can dissipate the energy for the set deceleration time prior to running the drive.
2. Disable the drive's internal braking transistor protection by setting L8-01 = 0 when using braking resistor options.
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.
WARNING! Fire Hazard. The braking resistor connection terminals are B1 and B2. Do not connect a braking resistor directly to any
other terminals. Improper wiring connections could result in death or serious injury by fire. Failure to comply may result in damage to
the braking circuit or drive.
NOTICE: Connect braking resistors to the drive as shown in the I/O wiring examples. Improperly wiring braking circuits could result in
damage to the drive or equipment.
 Installing a Braking Resistor: ERF type

An ERF type braking resistors provides dynamic braking capability with up to 3% ED. It can be directly connected to the
drives B1 and B2 terminals like shown in Figure 8.18.
Enable the drive’s braking resistor overload protection by setting L8-01 = 1 when using ERF type resistors.
Figure 8.16
B1
Drive Braking Resistor
B2
Figure 8.18 Connecting a Braking Resistor: ERF Type

Options
 Installing a Braking Resistor Unit: LKEB type

LKEB type braking resistors provide dynamic braking capability with up to 10% ED. They can be directly connected to
the drives B1 and B2 terminals as shown in Figure 8.19. The LKEB unit has a thermal overload contact that should be
utilized in order to switch off the drive in case braking resistor overheat occurs.
As the drives internal braking resistor overload protection cannot protect LKEB resistors, disable this function by setting
L8-01 to 0.
Figure 8.17
Braking Resistor Unit

(LKEB type)
B1 P 1
Drive Thermal Relay

Trip Contact
B2 B 2
Figure 8.19 Connecting a Braking Resistor Unit: LKEB Type

(CIMR-A2A0004 to 2A0138, 4A0002 to 4A0072)
 Installing Other Types of Braking Resistors

When installing braking resistors other than the ERF or LKEB types, make sure that the drive internal braking transistor
will not be overloaded with the required duty cycle and the selected resistance value. Use a resistor that is equipped with
a thermal overload relay contact, and utilize this contact to switch off the drive in case of braking resistor overheat.
 Braking Resistor Overload Protection
If using a braking resistor option, a sequence such as the one shown in Figure 8.20 should be set up to interrupt the
power supply in case the braking resistor overheats.
Figure 8.18
Circuit Breaker
MC
R R/L1
S S/L2
T T/L3
400/200V
THRX OFF ON MC
Drive
SA
MC
THRX
1 2
SA
Braking Resistor Unit
(Close: Overheat)
Figure 8.20 Power Supply Interrupt for Overheat Protection (Example)
WARNING! Fire Hazard. Set up the sequence to shut off the power at the thermal relay trip contact on the braking resistor unit, as
shown in Figure 8.20, to protect the braking resistor unit from overheating.
If the power was shut off, turn the power back on after identifying the cause of the problem. Disconnect the braking resistor unit if the
power needs to be turned on to investigate the cause of the problem.
 Installing a Braking Unit: CDBR Type

To install a CDBR type braking unit, connect the drive’s B1 terminal (CIMR-A2A0004 through 2A0138 and
CIMR-A4A0002 through 4A0072) or +3 terminal (CIMR-A2A0169 to 2A0415 and CIMR-A4A0088 to 4A1200)
to the positive terminal on the braking unit. Next wire the negative terminals on the drive and braking unit together.
Terminal +2 is not used.
Connect the braking resistor to the CDBRs terminals +0 and -0.
Wire the thermal overload relay contact of the CDBR and the braking resistor in series, and connect this signal to a
circuit that disconnects the main input power supply to the drive in the event of a CDBR or braking resistor overload.
Disable dynamic braking transistor protection by setting L8-55 = 0.
Note: To install a CDBR type braking unit to the drive with built-in dynamic braking transistor (CIMR-A2A0004 through 2A0138
and CIMR-A4A0002 through 4A0072), connect the drive’s B1 terminal to the positive terminal on the braking unit. Next wire
the negative terminals on the drive and braking unit together. Terminal B2 is not used.
Figure 8.19
Braking Unit Braking Resistor Unit

(CDBR type) (LKEB type)
+3 + +0 P 1
Thermal Overload
Drive Protector Trip Contact
− − −0 B 2
3 4
Thermal Relay
Trip Contact
Figure 8.21 Connecting a Braking Unit (CDBR type) and Braking Resistor Unit (LKEB type)
(CIMR-A2A0169 to 2A0415, 4A0088 to 4A1200)
 Using Braking Units in Parallel

When multiple braking units are used, they must be installed with a master-slave configuration with a single braking unit
acting as the master. Figure 8.22 illustrates how to wire braking units in parallel.
Wire the thermal overload contacts relays of all CDBRs and all braking resistors in series, then connect this signal to a
drive digital input. This input can be used to trigger a fault in the drive in case of overload in any of the CDBRs or
braking resistors.
Figure 8.20
Braking Resistor Braking Resistor Braking Resistor

Overheat Contact Overheat Contact Overheat Contact
(Thermal Relay Trip Contact) (Thermal Relay Trip Contact) (Thermal Relay Trip Contact)
+3 −
1 2 Braking 1 2 Braking 1 2 Braking
Resistor Resistor Resistor
P B Unit P B Unit P B Unit
Options
− + +0 −0 − + +0 −0 − + +0 −0
MASTER MASTER
Level Detector
MASTER
Drive
SLAVE 8
+15 SLAVE SLAVE
1 5 1 5 1 5
6 2 6 2 6
2
Braking Unit 1 Braking Unit 2 Braking Unit 3

3 4 3 4 3 4
Cooling Fin Overheat Contact Cooling Fin Overheat Contact Cooling Fin Overheat Contact
(Thermoswitch Contact) (Thermoswitch Contact) (Thermoswitch Contact)
Figure 8.22 Connecting Braking Units in Parallel
 Installing a Molded Case Circuit Breaker (MCCB) and Equipment for Residual
Current Monitoring/Detection (RCM/RCD)
Install a MCCB or an RCM/RCD for line protection between the power supply and the main circuit power supply input
terminals R/L1, S/L2, and T/L3. This protects the main circuit and devices wired to the main circuit while also providing
overload protection.
NOTICE: Prevent Equipment Damage. For models CIMR-A4A0930 and 4A1200, make sure to install a fuse and equipment for
residual current monitoring/detection (RCM/RCD). Failure to comply may result in serious damage to the facilities in case the drive is
defected.
Consider the following when selecting and installing a MCCB or an RCM/RCD:

• The capacity of the MCCB or RCM/RCD should be 1.5 to 2 times the rated output current of the drive. Use a MCCB or
an RCM/RCD with an operation characteristics so that the MCCB or RCM/RCD does not trip faster than the drive
overload protection works (shuts off the drive after 1 min. operation at 150% of the drive rated current).
• If several drives are connected to one MCCB or RCM/RCD, use a sequence that shuts the power OFF when an error
occurs in one drive by using magnetic contactor (MC) as shown in the following figure.
Figure 8.21
A MCCB or RCM/RCD MC
R/L1
S/L2
T/L3
MC
MB
C MC
MC
A – Power supply C – Control Power Supply

B – Drive
Figure 8.23 Power Supply Interrupt Wiring (Example)
WARNING! Electrical Shock Hazard. Switch off and lock the MCCB (or RCM/RCD) and MC before wiring terminals. Failure to comply
may result in serious injury or death.
 Installing a Leakage Breaker

Residual currents occurring in drive installations can contain AC, DC and high frequency components that may prevent a
normal RCM/RCD from tripping. If an RCM/RCD is required in the installation, always use all current sensitive RCM/
RCD (Type B according to IEC/EN 60755) to ensure proper ground fault interruption.
Leakage currents generated by the drive during normal operation may trip an RCM/RCD even if a ground fault is not
present.
Factors that influence the leakage current are:
• Size of the AC drive
• AC drive carrier frequency
• Motor cable type and length
• EMI/RFI filter
If the RCM/RCD trips spuriously consider changing these items or use an RCM/RCD with a higher trip level.
 Installing a Magnetic Contactor

Install a magnetic contactor to the drive input for the purposes explained below.
 Disconnecting the Power Supply
The drive should be shut off with a magnetic contactor (MC) when a fault occurs in any external equipment such as
braking resistors.
NOTICE: Do not connect electromagnetic switches or magnetic contactors to the output motor circuits without proper sequencing.
Improper sequencing of output motor circuits could result in damage to the drive.
NOTICE: Install a MC on the input side of the drive when the drive should not automatically restart after power loss. To get the full
performance life out of the electrolytic capacitors and circuit relays, refrain from switching the drive power supply off and on more than
once every 30 minutes. Frequent use can damage the drive. Use the drive to stop and start the motor.
NOTICE: Use a magnetic contactor (MC) to ensure that power to the drive can be completely shut off when necessary. The MC should
be wired so that it opens when a fault output terminal is triggered.
Note: 1. To keep the drive from restarting automatically when power is restored after momentary power loss, install a magnetic contactor to
the drive input.
2. To have the drive continue operating through momentary power loss, set up a delay for the magnetic contactor so that it does not open
prematurely.
 Protecting the Braking Resistor or Braking Resistor Unit

Use an MC on the input side of the drive to protect a braking resistor or braking resistor unit from overheat or fire.
WARNING! Fire Hazard. When using a braking unit, use a thermal relay on the braking resistors and configure a fault contact output
for the braking resistor unit to disconnect drive main power via an input contactor. Inadequate braking circuit protection could result in
death or serious injury by fire from overheating resistors.
 Connecting an AC or DC Reactor
AC and DC reactors suppress surges in current and improve the power factor on the input side of the drive.
Use a DC reactor or AC reactor or both:
• To suppress harmonic current or improve the power factor of the power supply.
• When using a phase advancing capacitor switch.
• With a large capacity power supply transformer (over 600 kVA).
Note: Use an AC or DC reactor when also connecting a thyristor converter (such as a DC drive) to the same power supply system,
regardless of the conditions of the power supply.
 Connecting an AC Reactor
Note: Set C6-02 to 1 (Carrier Frequency Selection to 2.0 kHz) when connecting an AC reactor to the output side (secondary side) of the
drive.
Figure 8.22
C D
A B
U X R/L1
V Y S/L2
W Z T/L3
Options
A – Power supply C – AC reactor

B – MCCB D – Drive
Figure 8.24 Connecting an AC Reactor 8
 Connecting a DC Reactor
A DC reactor can be installed to drive models CIMR-A2A0004 to 0081 and 4A0002 to 0044. When installing a DC
reactor, ensure the jumper between terminals +1 and +2 (terminals are jumpered for shipment) is removed. The jumper
must be installed if no DC reactor is used. Refer to Figure 8.25 for an example of DC reactor wiring.
Figure 8.23
C
A B
R/L1
S/L2
T/L3
+1 +2
A – Power supply C – Drive

B – MCCB D – DC reactor
Figure 8.25 Connecting a DC Reactor
 Connecting a Noise Filter

 Reducing Radiated, Conducted, and Induced Noise
Drives generate noise that can potentially affect surrounding devices like PLCs, etc.
• Radiated Noise: Electromagnetic waves noise throughout the radio bandwidth radiated from the drive and cables.
• Conducted Noise: Noise generated by the drive and emitted to through the power lines.
• Induced Noise: Noise generated by electromagnetic induction can affect control signal lines.
Take the following measurements to prevent noise causing malfunction of other drives or devices:
• Install all components on a well grounded metal plate.
• Keep the motor cable as short as possible.
• Use noise filters on the input side of the drive to reduce conducted noise.
• Install noise filters on the input and output side of the drive, install the drive in a metal enclosure panel and use a
shielded motor cable to reduce radiated noise.
• Use shielded motor and control circuit lines and lay control circuit lines at least 30 cm away from power lines in order
to prevent malfunction due to induced noise.
Figure 8.24
A
C D E
B MCCB F G
R/L1 U/T1
S/L2 V/T2 M
T/L3 W/T3
H
I
J
A – Metal enclosure F – Shielded motor cable
B – Power supply G – Motor
C – Input noise filter H – Separate at least 30 cm
D – Drive I – Control signal lines
E – Output noise filter J – Controller
Figure 8.26 Reducing Radio Frequency Noise
 Input-Side Noise Filter

Drive outputs generate noise as a result of high-speed switching. This noise flows from inside the drive back to the power
supply, possibly affecting other equipment. Installing a noise filter to the input side of the drive can reduce the amount of
noise flowing back into the power supply. This also prevents noise from entering the drive from the power supply.
• Use a noise filter specifically designed for AC drives.
• Install the noise filter as close as possible to the drive.
Figure 8.25
B C
MCCB
A R U R/L1
S/L2
S V
T/L3
T W
MCCB
A – Power supply C – Drive

B – Input-side noise filter D – Other control device
Figure 8.27 Input-Side Noise Filter (Three-Phase 200/400 V)
This drive is tested according to European standards IEC/EN 61800-5-1 and complies with the EMC guidelines. Refer to
EMC Guidelines Compliance on page 594 for details about EMC filter selection and installation.
 Output-Side Noise Filter
A noise filter on the output side of the drive reduces inductive noise and radiated noise. Figure 8.28 illustrates an
example of output-side noise filter wiring.
NOTICE: Do not connect phase-advancing capacitors or LC/RC noise filters to the output circuits. Improper application of noise filters
could result in damage to the drive.
Figure 8.26
B C
A MCCB D
R/L1 U/T1 1 4
S/L2 V/T2 2 5 M
T/L3 W/T3 3 6
A – Power supply C – Output-side noise filter

B – Drive D – Motor
Figure 8.28 Output-Side Noise Filter
Options
 Installing Input Fuses

NOTICE: If a fuse is blown or an equipment for residual current monitoring/detection (RCM/RCD) tripped, check the wiring and the
Yaskawa recommends installing a fuse on the input side of the drive to prevent damage to the drive if a short circuit
occurs.
Select the appropriate fuse from Table 8.12.
Table 8.12 Input Fuses
Fuse Type Fuse Type
Model Manufacturer: Bussmann Model Manufacturer: Bussmann
CIMR-A Model Fuse Ampere Rating CIMR-A Model Fuse Ampere Rating
2A0004 FWH-70B 70 4A0002 FWH-40B 40
2A0006 FWH-70B 70 4A0004 FWH-50B 50
2A0010 FWH-70B 70 4A0005 FWH-70B 70
2A0012 FWH-70B 70 4A0007 FWH-70B 70
2A0021 FWH-90B 90 4A0009 FWH-90B 90
2A0030 FWH-100B 100 4A0011 FWH-90B 90
2A0040 FWH-200B 200 4A0018 FWH-80B 80
2A0056 FWH-200B 200 4A0023 FWH-100B 100
2A0069 FWH-200B 200 4A0031 FWH-125B 125
2A0081 FWH-300A 300 4A0038 FWH-200B 200
2A0110 FWH-300A 300 4A0044 FWH-250A 250
2A0138 FWH-350A 350 4A0058 FWH-250A 250
2A0169 FWH-400A 400 4A0072 FWH-250A 250
2A0211 FWH-400A 400 4A0088 FWH-250A 250
2A0250 FWH-600A 600 4A0103 FWH-250A 250
2A0312 FWH-700A 700 4A0139 FWH-350A 350
2A0360 FWH-800A 800 4A0165 FWH-400A 400
2A0415 FWH-1000A 1000 4A0208 FWH-500A 500
– – – 4A0250 FWH-600A 600
– – – 4A0296 FWH-700A 700
– – – 4A0362 FWH-800A 800
– – – 4A0414 FWH-800A 800
– – – 4A0515 FWH-1000A 1000
– – – 4A0675 FWH-1200A 1200
– – – 4A0930 FWH-1200A 1200
– – – 4A1200 FWH-1600A 1600
Note: Model CIMR-A4A1200 is UL compliant when the air entering the drive-installed panel or cabinet is 45°C or less. For more
information, contact Yaskawa or a Yaskawa representative.
 Attachment for External Heatsink (IP00 Enclosure)

An external heatsink can be attached that projects outside the enclosure. Steps should be taken to ensure that there is
enough air circulation around the heatsink.
Contact Yaskawa or a Yaskawa representative.
 EMC Filter Installation

This drive is tested according to European standards IEC/EN 61800-5-1 and complies with the EMC guidelines. Refer to
EMC Filter Installation on page 594 for details about EMC filter selection and installation.
 Installing a Motor Thermal Overload (oL) Relay on the Drive Output

Motor thermal overload relays protect the motor by disconnecting power lines to the motor due to a motor overload
condition.
Install a motor thermal overload relay between the drive and motor:
• When operating multiple motors on a single AC drive.
• When using a power line bypass to operate the motor directly from the power line.
It is not necessary to install a motor thermal overload relay when operating a single motor from a single AC drive. The
AC drive has UL recognized electronic motor overload protection built into the drive software.
Note: 1. Disable the motor protection function (L1-01 = 0) when using an external motor thermal overload relay.
2. Create a sequence to produce an external fault (coast to a stop) when triggered.
 General Precautions when Using Thermal Overload Relays

The following application precautions should be considered when using motor thermal overload relays on the output of
AC drives in order to prevent nuisance trips or overheat of the motor at low speeds:
1. Low speed motor operation
2. Use of multiple motors on a single AC drive
3. Motor cable length
4. Nuisance tripping resulting from high AC drive carrier frequency
Low Speed Operation and Motor Thermal oL Relays
Generally, thermal relays are applied on general-purpose motors. When general-purpose motors are driven by AC drives,
the motor current is approximately 5% to 10% greater than if driven by a commercial power supply. In addition, the
cooling capacity of a motor with a shaft-driven fan decreases when operating at low speeds. Even if the load current is
within the motor rated value, motor overheating may occur. A thermal relay cannot effectively protect the motor due to
the reduction of cooling at low speeds. For this reason, apply the UL recognized electronic thermal overload protection
function built into the drive whenever possible.
UL recognized electronic thermal overload function of the drive: Speed-dependent heat characteristics are simulated
using data from standard motors and force-ventilated motors. The motor is protected from overload using this function.
Using a Single Drive to Operate Multiple Motors
Set parameter L1-01 to 0 so that thermal overload protection for the drive is disabled.
Note: The UL recognized electronic thermal overload function cannot be applied when operating multiple motors with a single drive.
Long Motor Cables
When a high carrier frequency and long motor cables are used, nuisance tripping of the thermal relay may occur due to
increased leakage current. To avoid this, reduce the carrier frequency or increase the tripping level of the thermal
overload relay.
Nuisance Tripping Due to a High AC Drive Carrier Frequency
Current waveforms generated by high carrier frequency PWM drives tend to increase the temperature in overload relays.
It may be necessary to increase the trip level setting when encountering nuisance triggering of the relay.
Options
WARNING! Fire Hazard. Confirm an actual motor overload condition is not present prior to increasing the thermal oL trip setting.
Check local electrical codes before making adjustments to motor thermal overload settings.
9
Disposal
9.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440
9.2 DISPOSAL INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
9.3 WEEE DIRECTIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
9.1 Section Safety
9.1 Section Safety

DANGER
De-energize the drive and wait 5 minutes minimum until the Charge LED turns off.
Remove the front cover and terminal cover to do work on wiring, circuit boards, and other parts.
Use terminals for their correct function only.
Incorrect wiring, incorrect ground connections, and incorrect repair of protective covers can cause death or serious
injury.
WARNING
Only let approved personnel install, wire, maintain, examine, replace parts, and repair the drive.
If personnel are not approved, it can cause serious injury or death.
Do not wear loose clothing or jewelry when you do work on the drive. Tighten loose clothing and remove all
metal objects, for example watches or rings.
Loose clothing can catch on the drive and jewelry can conduct electricity and cause serious injury or death.
Crush Hazard
Wear eye protection when you do work on the drive.
If you do not use correct safety equipment, it can cause serious injury or death.
Only approved personnel can operate a crane or hoist to move the drive.
If unapproved personnel operate a crane or hoist, it can cause serious injury or death from falling equipment.
Use a crane or hoist to move large drives when necessary.
If you try to move a large drive without a crane or hoist, it can cause serious injury or death.
CAUTION
Crush Hazard
Tighten terminal cover screws and hold the case safely when you move the drive.
If the drive or covers fall, it can cause moderate injury.
9.2 Disposal Instructions
9.2 Disposal Instructions

Correctly discard the drive and packing material as specified by regional, local, and municipal laws and regulations for
this product.
Disposal
9.3 WEEE Directive
9.3 WEEE Directive

Figure 9.1
Figure 9.1 WEEE Directive

The wheelie bin symbol on this product, its manual, or its packaging identifies that you must recycle it at the end of its
product life.
You must discard the product at an applicable collection point for electrical and electronic equipment (EEE).
Do not discard the product with usual waste.
Appendix: A
Specifications
A.1 HEAVY DUTY AND NORMAL DUTY RATINGS . . . . . . . . . . . . . . . . . . . . . . . . . 444

A.2 THREE-PHASE 200 V CLASS DRIVES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
A.3 THREE-PHASE 400 V CLASS DRIVES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
A.4 DRIVE SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
A.5 DRIVE WATT LOSS DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
A.6 DRIVE DERATING DATA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
A.1 Heavy Duty and Normal Duty Ratings
A.1 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 444 for the differences between HD and ND.
Table A.1 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 445 and Three-Phase 400 V Class Drives on page 446 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
TERMS
needs. The drive 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).
A.2 Three-Phase 200 V Class Drives

Table A.2 Power Ratings (Three-Phase 200 V Class)
Item Specification
CIMR-A2A 0004 0006 0010 0012 0021 0030 0040 0056 0069 0081 0110 0138 0169 0211 0250 0312 0360 0415
Maximum Applicable Motor HD Rating 0.55 0.75 1.5 2.2 4.0 5.5 7.5 11 15 18.5 22 30 37 45 55 75 90 110
Capacity (kW) <1> ND Rating 0.75 1.5 2.2 3 5.5 7.5 11 15 18.5 22 30 37 45 55 75 90 110 110
HD Rating 2.9 5.8 7.5 11 18.9 28 37 52 68 80 82 111 136 164 200 271 324 394
Input Current (A) <2>
ND Rating 3.9 7.3 10.8 13.9 24 37 52 68 80 92 111 136 164 200 271 324 394 394
Rated Voltage
Three-phase 200 to 240 Vac 50/60 Hz/270 to 340 Vdc <3>
Rated Frequency
Input
Allowable Voltage Fluctuation -15 to 10%
Allowable Frequency Fluctuation ±5%
HD Rating 1.3 2.7 3.4 5.0 8.6 13 17 24 31 37 37 51 62 75 91 124 148 180
Input Power (kVA)
ND Rating 1.8 3.3 4.9 6.4 11 17 24 31 37 42 51 62 75 91 124 148 180 215
Rated Output Capacity HD Rating 1.2 1.9 3 4.2 6.7 9.5 12.6 17.9 23 29 32 44 55 69 82 108 132 158
(kVA) <4> ND Rating 1.3 2.3 4.9 6.4 8.5 11 17 24 31 37 42 53 64 80 95 119 137 158
3.2 5 8 11 17.5 25 33 47 60 75 85 115 145 180 215 283 346 415
HD Rating
Rated Output Current <6> <6> <6> <6> <6> <6> <6> <6> <6> <6> <6> <6> <7> <7> <7> <7> <7> <5>
(A) ND
3.5 6 9.6 12 21 30 40 56 69 81 110 138 169 211 250 312 360 415
Rating <5>
Output
HD Rating: 150% of rated output current for 60 s
Overload Tolerance (Derating may be required for applications that start and stop frequently)
ND Rating: 120% of rated output current for 60 s
Carrier Frequency User adjustable between 2 and 15 kHz User adjustable between 2 and 10 kHz
Maximum Output Voltage (V) Three-phase 200 to 240 Vac (proportional to input voltage)
Maximum 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> DC is not available for UL standards.
<4> Rated motor capacity is calculated with a rated output voltage of 220 V.
<5> Carrier frequency is set to 2 kHz. Current derating is required in order to raise the carrier frequency.
<6> Carrier frequency can be increased up the 8 kHz while keeping this current rating. Higher carrier frequency settings require derating.
Specifications

Table A.3 Power Ratings (Three-Phase 400 V Class)
Item Specification
CIMR-A4A 0002 0004 0005 0007 0009 0011 0018 0023 0031 0038 0044 0058 0072 0088 0103
Maximum Applicable Motor HD Rating 0.55 1.1 1.5 2.2 3 4.0 5.5 7.5 11 15 18.5 22 30 37 45
Capacity (kW) <1> ND Rating 0.75 1.5 2.2 3 4.0 5.5 7.5 11 15 18.5 22 30 37 45 55
HD Rating 1.8 3.2 4.4 6 8.2 10.4 15 20 29 39 44 43 58 71 86
ND Rating 2.1 4.3 5.9 8.1 9.4 14 20 24 38 44 52 58 71 86 105
Rated Voltage
Rated Frequency
Input
HD Rating 1.6 2.9 4.0 5.5 7.5 10 13.7 18.3 27 36 40 39 53 65 79
Input Power (kVA)
ND Rating 1.9 3.9 5.4 7.4 8.6 12.8 18.3 22 35 40 48 53 65 79 96
Rated Output Capacity HD Rating <6> 1.4 2.6 3.7 4.2 5.5 7 11.3 13.7 18.3 24 30 34 46 57 69
(kVA) <4> ND Rating <5> 1.6 3.1 4.1 5.3 6.7 8.5 13.3 17.5 24 29 34 44 55 67 78
1.8 3.4 4.8 5.5 7.2 9.2 14.8 18 24 31 39 45 60 75 91
Rated Output Current HD Rating
<6> <6> <6> <6> <6> <6> <6> <6> <6> <6> <6> <6> <6> <6> <6>
(A)
ND Rating <5> 2.1 4.1 5.4 6.9 8.8 11.1 17.5 23 31 38 44 58 72 88 103
Output HD Rating: 150% of rated output current for 60 s
Carrier Frequency User adjustable between 2 and 15 kHz
Maximum Output Voltage (V) Three-phase 380 to 480 Vac (proportional to input voltage)
Maximum Output Frequency (Hz) 400 Hz (user-adjustable)
Item Specification
CIMR-A4A 0139 0165 0208 0250 0296 0362 0414 0515 0675 930 1200
Maximum Applicable Motor HD Rating 55 75 90 110 132 160 185 220 315 450 560
Capacity (kW) <1> ND Rating 75 90 110 132 160 185 220 250 355 500 630
HD Rating 105 142 170 207 248 300 346 410 584 830 1031
ND Rating 142 170 207 248 300 346 410 465 657 922 1158
Rated Voltage
Rated Frequency
Input
HD Rating 96 130 155 189 227 274 316 375 534 759 943
Input Power (kVA)
ND Rating 130 155 189 227 274 316 375 425 601 843 1059
Rated Output Capacity HD Rating 85 114 137 165 198 232 282 343 461 617 831
(kVA) <4> ND Rating <5> 106 126 159 191 226 276 316 392 514 709 915
112 150 180 216 260 304 370 450 605 810 1090
Rated Output Current HD Rating
<7> <7> <7> <7> <7> <7> <7> <5> <5> <5> <5>
(A)
ND Rating <5> 139 165 208 250 296 362 414 515 675 930 1200
Output HD Rating: 150% of rated output current for 60 s
Carrier Frequency User adjustable between 2 to 10 kHz User adjustable between 2 to 5 kHz
Maximum Output Voltage (V) Three-phase 380 to 480 Vac (proportional to input voltage) <8>
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> DC is not available for UL standards.
<4> Rated motor capacity is calculated with a rated output voltage of 440 V.
<5> Carrier frequency is set to 2 kHz. Current derating is required in order to raise the carrier frequency.
<7> Carrier frequency can be increased up the 5 kHz while keeping this current rating. Higher carrier frequency settings require derating
<8> Maximum output voltage is 0.95 × [input voltage].
A.4 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°C 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
Main speed frequency reference: DC -10 to +10 V (20 kΩ), DC 0 to +10 V (20 kΩ), 4 to 20 mA (250 Ω), 0 to 20 mA (250 Ω),
Frequency Setting Signal
Main speed reference: Pulse train input (max. 32 kHz)
V/f, V/f w/PG: 150% at 3 Hz
OLV: 200% at 0.3 Hz <1>
Starting Torque
CLV, AOLV/PM, CLV/PM: 200% at 0.0 min-1 <1>
OLV/PM: 100% at 3 Hz
V/f, V/f w/PG: 1:40
Control OLV: 1:200
Characteristics Speed Control Range CLV, CLV/PM: 1:1500
OLV/PM: 1:20
AOLV/PM: 1:100 <2> <3> <4>
Speed Control Accuracy OLV: ±0.2% (25°C ±10°C), CLV: ±0.02% (25°C ±10°C) <5>
OLV, OLV/PM, AOLV/PM: 10 Hz (25°C ±10°C)
Speed Response
CLV, CLV/PM: 50 Hz (25°C ±10°C)
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)
Approx. 20% (approx. 125% when using braking resistor) <6>
 Short-time decel torque <7>: 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 <8> (over excitation braking/High Slip Braking: approx. 40%)
 Continuous regenerative torque: approx. 20% <8> (approx. 125% with dynamic braking resistor option <6>: 10% ED, 10s)
Braking Transistor Models 2A0004 to 2A0138, 4A0002 to 4A0072 have a built-in braking transistor.
V/f Characteristics User-selected programs and V/f preset patterns possible
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/Modbus Comm. (RS-422/RS-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, etc.
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 <9>
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. <10> Continuous operation during power loss than 2 s (standard) <11>
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 <12>
Specifications
DC Bus Charge LED Remains lit until DC bus voltage falls below 50 V
Area of Use Indoors
IP20/UL Type 1 enclosure: -10°C to +40°C,
Ambient Temperature IP00 enclosure: -10°C to +50°C,
Finless Type: IP20/IP00 enclosure: -10°C to +45°C
Humidity 95 RH% or less (no condensation)
Environment
Storage Temperature -20°C to 60°C (short-term temperature during transportation) A
Altitude Up to 1000 meters <13>
10 to 20 Hz: 9.8 m/s2 <14>
Vibration/Shock 20 to 55 Hz: 5.9 m/s2 (2A0004 to 2A0211, 4A0002 to 4A0165)
2.0 m/s2 (2A0250 to 2A0415, 4A0208 to 4A1200)
Item Specification
• UL508C
• Germanischer Lloyd <15>
Standards
• IEC/EN 61800-3, IEC/EN 61800-5-1
• Two Safe Disable inputs and one EDM output according to ISO/EN 13849-1 Cat. 3 PLd, IEC/EN 61508 SIL2
Protection Design IP00 enclosure, IP20/UL Type 1 enclosure <16>
<1> Select control modes in accordance with the drive and motor capacities.
<2> High-frequency current superposition (n8-57 = 1) can be set. In this case, perform High Frequency Injection Parameter Tuning. High
Frequency Injection cannot be used with an SPM motor. Refer to T2-01: PM Motor Auto-Tuning Mode Selection on page 130 for details.
<3> Rotational Auto Tuning must be performed. Refer to T2-01: PM Motor Auto-Tuning Mode Selection on page 130 for details.
<4> Contact Yaskawa or a Yaskawa representative if using a PM motor other than Super Energy-saving Motors manufactured by Yaskawa Motor
Co., Ltd. (SSR1 series and SST4 series with standard specifications).
<5> 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 or a Yaskawa representative for consultation.
<6> 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.
<7> 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.
<8> Actual specifications may vary according to motor characteristics.
<9> Overload protection may be triggered when operating with 150% of the rated output current if the output frequency is less than 6 Hz.
<10> May be shorter due to load conditions and motor speed.
<11> A separate Momentary Power Loss Ride-Thru Unit is required for the drives CIMR-A2A0004 through 2A0056 and 4A0002 through
4A0031 if the application needs to continue running during a momentary power loss up to 2 s.
<12> A ground protection is triggered when a ground short circuit occurs while the drive is running. The 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.
<13> Up to 3000 m with output current and voltage derating. Refer to Altitude Derating on page 454 for details.
<14> Models CIMR-A4A0930 and 4A1200 are rated at 5.9 m/s2.
<15> This is applicable for drives with Rev. B or higher.
<16> Removing the top protective cover from an IP20/UL Type 1 enclosure drive voids the UL Type 1 protection but still keeps IP20 conformity.
This is applicable to models 2A0004 to 2A0081 and 4A0002 to 4A0044.
A.5 Drive Watt Loss Data
A.5 Drive Watt Loss Data

Table A.4 Watt Loss 200 V Class Three-Phase Models
Heavy Duty Normal Duty
Model Number
CIMR-A Heatsink Loss Interior Unit Rated Amps (A) Heatsink Loss Interior Unit
Rated Amps (A) Total Loss (W) Total Loss (W)
(W) Loss (W) <3> (W) Loss (W)
2A0004 3.2 <1> 14.8 44 59 3.5 18.4 47 66
2A0006 5.0 <1> 24 48 72 6.0 31 51 82
2A0010 8.0 <1> 43 52 95 9.6 57 58 115
2A0012 11.0 <1> 64 58 122 12.0 77 64 141
2A0021 17.5 <1> 101 67 168 21 138 83 222
2A0030 25 <1> 194 92 287 30 262 117 379
2A0040 33 <1> 214 105 319 40 293 145 437
2A0056 47 <1> 280 130 410 56 371 175 546
2A0069 60 <1> 395 163 558 69 491 205 696
2A0081 75 <1> 460 221 681 81 527 257 785
2A0110 85 <1> 510 211 721 110 719 286 1005
2A0138 115 <1> 662 250 912 138 842 312 1154
2A0169 145 <1> 816 306 1122 169 1014 380 1394
2A0211 180 <2> 976 378 1354 211 1218 473 1691
2A0250 215 <2> 1514 466 1980 250 1764 594 2358
2A0312 283 <2> 1936 588 2524 312 2020 665 2686
2A0360 346 <2> 2564 783 3347 360 2698 894 3591
2A0415 415 <3> 2672 954 3626 415 2672 954 3626
<1> These values assume the carrier frequency is set to 8 kHz or less.
Table A.5 Watt Loss 400 V Class Three-Phase Models

Heavy Duty Normal Duty
Model Number
CIMR-A Heatsink Loss Interior Unit Rated Amps (A) Heatsink Loss Interior Unit
Rated Amps (A) Total Loss (W) Total Loss (W)
(W) Loss (W) <3> (W) Loss (W)
4A0002 1.8 <1> 15.9 45 61 2.1 20 48 68
4A0004 3.4 <1> 25 46 70 4.1 32 49 81
4A0005 4.8 <1> 37 49 87 5.4 45 53 97
4A0007 5.5 <1> 48 53 101 6.9 62 59 121
4A0009 7.2 <1> 53 55 108 8.8 66 60 126
4A0011 9.2 <1> 69 61 130 11.1 89 73 162
4A0018 14.8 <1> 135 86 221 17.5 177 108 285
4A0023 18.0 <1> 150 97 247 23 216 138 354
4A0031 24 <1> 208 115 323 31 295 161 455
4A0038 31 <1> 263 141 403 38 340 182 521
4A0044 39 <1> 330 179 509 44 390 209 599
4A0058 45 <1> 349 170 518 58 471 215 686
4A0072 60 <1> 484 217 701 72 605 265 870
4A0088 75 <1> 563 254 817 88 684 308 993
4A0103 91 <1> 723 299 1022 103 848 357 1205
4A0139 112 <2> 908 416 1325 139 1215 534 1749
4A0165 150 <2> 1340 580 1920 165 1557 668 2224
4A0208 180 <2> 1771 541 2313 208 1800 607 2408
4A0250 216 <2> 2360 715 3075 250 2379 803 3182
4A0296 260 <2> 2391 787 3178 296 2448 905 3353
4A0362 304 <2> 3075 985 4060 362 3168 1130 4298
4A0414 370 <2> 3578 1164 4742 414 3443 1295 4738
Specifications
4A0515 450 <3> 3972 1386 5358 515 4850 1668 6518
4A0675 605 <3> 4191 1685 5875 675 4861 2037 6898
4A0930 810 <3> 6912 2455 9367 930 8476 2952 11428
4A1200 1090 <3> 7626 3155 10781 1200 8572 3612 12184
A
A.6 Drive Derating Data

The drive can be operated at above the rated temperature, altitude, and default carrier frequency by derating the drive
capacity.
 Rated Current Depending on Carrier Frequency

Table A.6 shows the drive output current depending on the carrier frequency settings.
The 2 kHz value is equal to the Normal Duty rated current. If the carrier frequency is increased above 2 kHz in ND, the
rated output current is reduced.
The 8 kHz and 5 kHz values are equal to the Heavy Duty rated current. They define the value up to which the carrier
frequency can be increased in HD without a current derating (default HD carrier frequency is 2 kHz). Increasing the
carrier frequency above 8 kHz or 5 kHz reduces the rated output current.
Use the data in Table A.6 to linearly calculate output current values for carrier frequencies not listed in the tables.
Refer to Table A.7 if using AOLV/PM control mode.
Table A.6 Carrier Frequency and Current Derating
Rated Current (A) Rated Current (A)
Model Model
Heavy Duty Rating (HD) Normal Duty Rating (ND) Heavy Duty Rating (HD) Normal Duty Rating (ND)
CIMR-A CIMR-A
2 kHz 8 kHz 15 kHz 2 kHz 8 kHz 15 kHz 2 kHz 8 kHz 15 kHz 2 kHz 8 kHz 15 kHz
2A0004 3.2 3.2 2.56 3.5 3.2 2.56 4A0002 1.8 1.8 1.1 2.1 1.8 1.1
2A0006 5 5 4 6 5 4 4A0004 3.4 3.4 2 4.1 3.4 2
2A0010 8 8 6.4 9.6 8 6.4 4A0005 4.8 4.8 2.9 5.4 4.8 2.9
2A0012 11 11 8.8 12 11 8.8 4A0007 5.5 5.5 3.3 6.9 5.5 3.3
2A0021 17.5 17.5 14 21 17.5 14 4A0009 7.2 7.2 4.3 8.8 7.2 4.3
2A0030 25 25 20 30 25 20 4A0011 9.2 9.2 5.5 11.1 9.2 5.5
2A0040 33 33 26.4 40 33 26.4 4A0018 14.8 14.8 8.9 17.5 14.8 8.9
2A0056 47 47 37.6 56 47 37.6 4A0023 18 18 10.8 23 18 10.8
2A0069 60 60 48 69 60 48 4A0031 24 24 14.4 31 24 14.4
2A0081 75 75 53 81 75 53 4A0038 31 31 18.6 38 31 18.6
2A0110 85 85 60 110 85 60 4A0044 39 39 23.4 44 39 23.4
2A0138 115 115 81 138 115 81 4A0058 45 45 27 58 45 27
4A0072 60 60 36 72 60 36
4A0088 75 75 45 88 75 45
4A0103 91 91 55 103 91 55

Model Heavy Duty Rating (HD) Normal Duty Rating (ND) Model Heavy Duty Rating (HD) Normal Duty Rating (ND)
CIMR-A CIMR-A
2A0169 145 145 116 169 145 116 4A0139 112 112 78 139 112 78
2A0211 180 180 144 211 180 144 4A0165 150 150 105 165 150 105
2A0250 215 215 172 250 215 172 4A0208 180 180 126 208 180 126
2A0312 283 283 226 312 283 226 4A0250 216 216 151 250 216 151
2A0360 346 346 277 360 346 277 4A0296 260 260 182 296 260 182
2A0415 415 415 332 415 415 332 4A0362 304 304 213 362 304 213
4A0414 370 370 259 414 370 259
4A0515 450 375 – 515 397 –
4A0675 605 504 – 675 528 –
4A0930 810 506 – 930 449 –
4A1200 1090 681 – 1200 610 –
Table A.7 Carrier Frequency and Current Derating (AOLV/PM Control Mode)
Model Heavy Duty Rating (HD) Normal Duty Rating (ND) Model Heavy Duty Rating (HD) Normal Duty Rating (ND)
CIMR-A CIMR-A
2A0004 3.2 3.2 2.3 3.5 3.5 2.3 4A0002 1.8 1.8 0.8 2.1 2 0.8
2A0006 5 5 3.6 6 5.6 3.5 4A0004 3.4 3.4 1.5 4.1 3.8 1.5
2A0010 8 8 5.7 9.6 8.8 5.6 4A0005 4.8 4.8 2.1 5.4 5.3 2.1
2A0012 11 11 7.9 12 11.6 7.9 4A0007 5.5 5.5 2.4 6.9 6.1 2.4
2A0021 17.5 17.5 12.5 21 19.6 12.1 4A0009 7.2 7.2 3.1 8.8 8 3.1
2A0030 25 25 17.9 30 27.5 17.5 4A0011 9.2 9.2 3.9 11.1 10.3 3.9
2A0040 33 33 23.6 40 36.7 23.4 4A0018 14.8 14.8 6.3 17.5 16.5 6.3
2A0056 47 47 33.6 56 51 33 4A0023 18 18 7.7 23 20.1 7.7
2A0069 60 60 43 69 64 43 4A0031 24 24 10.3 30.9 26.7 10.3
2A0081 75 75 43 81 80 43 4A0038 31 31 13.3 38 34.5 13.3
2A0110 85 85 49 110 99 55 4A0044 39 39 16.7 44 41.6 17.3
2A0138 115 115 66 138 124 66 4A0058 45 45 19 58 50 19
4A0072 60 60 26 72 67 26
4A0088 75 75 32 88 83 32
4A0103 91 91 39 103 100 39

Model Model
Heavy Duty Rating (HD) Normal Duty Rating (ND) Heavy Duty Rating (HD) Normal Duty Rating (ND)
CIMR-A CIMR-A
2A0169 145 139 87 169 146 78 4A0139 112 105 45 139 113 35
2A0211 180 173 108 211 182 96 4A0165 150 141 60 165 139 62
2A0250 215 206 129 250 217 116 4A0208 180 169 72 208 173 67
2A0312 283 272 170 312 275 165 4A0250 216 203 86 250 208 81
2A0360 346 332 208 360 324 217 4A0296 260 244 104 296 247 101
2A0415 415 398 249 415 379 273 4A0362 304 286 122 362 298 106
4A0414 370 348 148 414 348 148
4A0515 450 338 – 515 338 –
4A0675 605 454 – 675 454 –
4A0930 810 608 – 930 609 –
4A1200 1090 818 – 1200 807 –
Specifications
 Carrier Frequency Derating

As the carrier frequency of the drive is increased above the factory default setting, the drive’s rated output current must
be derated according to Figure A.1 to Figure A.7.
Figure A.1
Normal Duty
2A0004 to 2A0069
Heavy Duty
2A0081 to 2A0138
80% of HD
70% of HD
0 2 kHz 8 kHz 15 kHz
Figure A.1 Carrier Frequency Derating (CIMR-A2A0004 to 2A0138)

Figure A.2
Normal Duty
2A0169 to 2A0415
Heavy Duty
80% of HD

Figure A.3
Normal Duty
Heavy Duty 4A0002 to

4A0103
60% of HD

Figure A.4
Normal Duty
4A0139 to 4A0414
Heavy Duty
70% of HD

Figure A.5
4A0515, 4A0675
Normal Duty
Heavy Duty
83% of HD
0 2 kHz 5 kHz
Figure A.5 Carrier Frequency Derating (CIMR-A4A0515 and 4A0675)
Figure A.6
% of Drive
Nameplate
Current
YEG
4A0930, 4A1200
Heavy Duty
62.5% of HD
Drive
Carrier
0 2 kHz 5 kHz Frequency
Figure A.6 Carrier Frequency Derating (CIMR-A4A0930 and 4A1200)
Figure A.7
% of Drive
Nameplate
Current
YEG
4A1200
Normal Duty
Normal Duty
4A0930
50.8% of ND
48.3% of ND
Drive
Carrier
0 2 kHz 5 kHz Frequency
Figure A.7 Carrier Frequency Derating (Models 4A0930 and 4A1200 in Normal Duty Rating Mode)
 Temperature Derating
To ensure the maximum performance life, the drives output current must be derated like shown in Figure A.8 when the
drive is installed in areas with high ambient temperature or if drives are Side-by-Side mounted in a cabinet. In order to
Specifications
ensure reliable drive overload protection, the parameters L8-12 and L8-35 must also be set according to the installation
conditions.
 Parameter Settings
No. Name Description Range Def. A
Ambient Temperature Adjust the drive overload (oL2) protection level when the drive is installed in an environment
L8-12 -10 to 50 40°C
Setting that exceeds its ambient temperature rating.
0: IP00 Enclosure
Installation Method 1: Side-by-Side Mounting
L8-35 0 to 3 0
Selection 2: IP20/UL Type 1 Enclosure
3: Finless Drive or External Heatsink Installation
0: IP00 Enclosure
Drive operation between -10°C and 50°C allows 100% continuous current without derating.
1: Side-by-Side Mounting
Drive operation between -10°C and 30°C allows 100% continuous current without derating. Operation between 30°C
and 50°C requires output current derating.
2: IP20/UL Type 1 Enclosure
3: External Heatsink Installation, Finless Drive
Figure A.8
L8-35=0: IP00 Enclosure

Drive Rating
(%)
L8-35=2: IP20/UL Type 1 Enclosure
100 L8-35=3: External Heatsink lnstallation
85
70
55
L8-35=1: Side-by-Side Mounting
0 L8-12
-10 30 40 50 Ambient temp: °C
Figure A.8 Ambient Temperature and Installation Method Derating
 Altitude Derating
The drive standard ratings are valid for an installation altitude up to 1000 m. If the altitude exceeds 1000 m both the drive
rated voltage and the rated output current must be derated for 1% per 100 m. The maximum altitude is 3000 m.
Appendix: B
Parameter List
This appendix contains a full listing of all parameters and settings available in the drive.
B.1 UNDERSTANDING THE PARAMETER TABLE . . . . . . . . . . . . . . . . . . . . . . . . . 456

B.2 PARAMETER GROUPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
B.3 PARAMETER TABLE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
B.4 CONTROL MODE DEPENDENT PARAMETER DEFAULT VALUES. . . . . . . . . 525
B.5 V/F PATTERN DEFAULT VALUES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
B.6 DEFAULTS BY DRIVE MODEL SELECTION (O2-04) AND ND/HD (C6-01) . . . 529
B.7 PARAMETERS THAT CHANGE WITH THE MOTOR CODE SELECTION
(FOR PM MOTORS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536
B.1 Understanding the Parameter Table
B.1 Understanding the Parameter Table

 Control Modes, Symbols, and Terms
The table below lists terms and symbols used in this section to indicate which parameters are available in which control
modes.
Note: For detailed instructions on each control mode, Refer to Control Mode Selection on page 30.
Table B.1 Symbols and Icons Used in the Parameter Table
Symbol Description
All Modes Indicates the parameter is accessible in all control modes.
V/f Parameter is available when operating the drive with V/f Control.
V/f w/PG Parameter is available when operating the drive with V/f with PG Control.
OLV Parameter is available when operating the drive with Open Loop Vector.
CLV Parameter is available when operating the drive with Closed Loop Vector.
OLV/PM Parameter is available when operating the drive with Open Loop Vector for PM motors.
AOLV/PM Parameter is available when operating the drive with Advanced Open Loop Vector for PM motors.
CLV/PM Parameter is available when operating the drive with Closed Loop Vector for PM motors.
Indicates this parameter can be changed during run.
Motor 2 Refers to a second motor when the drive is operating two motors. Switch between these motors using the multi-function input terminals.
Note: If a parameter is not available in a certain control mode, the symbol for that control mode is grayed out.
B.2 Parameter Groups

Parameter Group Name Page Parameter Group Name Page
A1 <1> Initialization Parameters 459 H2 <1> Multi-Function Digital Outputs 492
A2 User Parameters 460 H3 <1> Multi-Function Analog Inputs 495
b1 <1> Operation Mode Selection 460 H4 Multi-Function Analog Outputs 498
b2 <1> DC Injection Braking and Short Circuit Braking 461 H5 <1> MEMOBUS/Modbus Serial Communication 498
b3 <1> Speed Search 462 H6 Pulse Train Input/Output 499
b4 <1> Timer Function 463 L1 <1> Motor Protection 500
b5 <1> PID Control 464 L2 Momentary Power Loss Ride-Thru 501
b6 Dwell Function 465 L3 <1> Stall Prevention 502
b7 Droop Control 466 L4 Speed Detection 503
b8 <1> Energy Saving 466 L5 Fault Restart 504
b9 Zero Servo 467 L6 Torque Detection 504
C1 Acceleration and Deceleration Times 467 L7 Torque Limit 505
C2 S-Curve Characteristics 468 L8 <1> Drive Protection 505
C3 <1> Slip Compensation 468 L9 <1> Drive Protection 2 507
C4 Torque Compensation 469 n1 Hunting Prevention 507
C5 <1> Automatic Speed Regulator (ASR) 469 n2 Speed Feedback Detection Control (AFR) Tuning 507
C6 <1> Carrier Frequency 471 n3 High Slip Braking (HSB) and Overexcitation Braking 508
d1 Frequency Reference 472 n5 Feed Forward Control 508
d2 Frequency Upper/Lower Limits 473 n6 Online Tuning 509
d3 Jump Frequency 473 n8 <1> PM Motor Control Tuning 509
d4 Frequency Reference Hold and Up/Down 2 Function 473 o1 Digital Operator Display Selection 511
d5 Torque Control 474 o2 Digital Operator Keypad Functions 512
d6 Field Weakening and Field Forcing 475 o3 Copy Function 512
d7 Offset Frequency 475 o4 Maintenance Monitor Settings 512
E1 V/f Pattern for Motor 1 475 q DriveWorksEZ Parameters 513
E2 <1> Motor 1 Parameters 476 r DriveWorksEZ Connection Parameters 513
E3 V/f Pattern for Motor 2 477 T1 <1> Induction Motor Auto-Tuning 513
E4 <1> Motor 2 Parameters 478 T2 <1> PM Motor Auto-Tuning 514
E5 <1> PM Motor Settings 479 T3 ASR and Inertia Tuning 516
F1 <1> PG Speed Control Card (PG-B3/PG-F3/PG-RT3/PG-X3) 480 U1 <1> Operation Status Monitors 516
F2 Analog Input Card (AI-A3) 482 U2 <1> Fault Trace 518
F3 Digital Input Card (DI-A3) 482 U3 Fault History 520
F4 Analog Monitor Card (AO-A3) 482 U4 <1> Maintenance Monitors 520
F5 Digital Output Card (DO-A3) 483 U5 PID Monitors 522
Communication Option Card (SI-C3, SI-EM3, SI-EN3,
F6 483 U6 Operation Status Monitors 522
SI-ET3, SI-N3, SI-P3, SI-S3, SI-T3, and SI-W3)
F7 Communication Option Card (SI-EM3/SI-EN3) 486 U8 Control Monitors 524
H1 Multi-Function Digital Inputs 488
<1> Specifications differ for models CIMR-A4A0930 and 4A1200. Refer to Parameter Differences for models CIMR-A4A0930 and 4A1200
Parameter List
 Parameter Differences for models CIMR-A4A0930 and 4A1200

Parameter Group Name Difference
A1 Initialization Parameters The setting range of A1-00 is 0 to 7. Refer to A1: Initialization Parameters on page 459.
b1 Operation Mode Selection b1-21 is not available in models CIMR-A4A0930 and 4A1200.
b2 DC Injection Braking and Short Circuit Braking b2-02, b2-03, and b2-04 are not available for OLV/PM in models CIMR-A4A0930 and 4A1200.
• b3-04 is available in V/f and OLV. Refer to b3: Speed Search on page 462 for details.
b3 Speed Search • b3-07, b3-12, and b3-26 are available in models CIMR-A4A0930 and 4A1200.
• b3-29 and b3-33 are not available in models CIMR-A4A0930 and 4A1200.
b4 Timer Function b4-03 to b4-08 are not available in models CIMR-A4A0930 and 4A1200.
b5 PID Control The setting range of b5-01 is 0 to 4.
• The setting range of b8-16 and b8-17 is 0.00 to 2.00.
b8 Energy Saving
• b8-27 is not available in models CIMR-A4A0930 and 4A1200.
• C3-05 is available in OLV, CLV, AOLV/PM, or CLV/PM (A1-02 = 2, 3, 6, 7). Refer to C3: Slip
C3 Slip Compensation Compensation on page 468 for details.
• C3-16 to C3-18 are available in models CIMR-A4A0930 and 4A1200.
C5 Automatic Speed Regulator (ASR) C5-39 is not available in models CIMR-A4A0930 and 4A1200.
• The setting range of C6-02 is 1, 2, or F.
• The setting range of C6-03 and C6-04 is 1.0 to 5.0 Hz. Refer to C6: Carrier Frequency on page 471 for
C6 Carrier Frequency
details.
• C6-09 is not available in models CIMR-A4A0930 and 4A1200.
For E2-05, the setting unit is mΩ and the setting range is 0.000 mΩ to 65.000 mΩ. Refer to E2: Motor 1
E2 Motor 1 Parameters
Parameters on page 476 for details.
For E4-05, the setting unit is mΩ and the setting range is 0.000 mΩ to 65.000 mΩ. Refer to E4: Motor 2
E4 Motor 2 Parameters
Parameters on page 478 for details.
E5-25 is available in OLV/PM, AOLV/PM, or CLV/PM (A1-02 = 5, 6, 7). Refer to E5: PM Motor
E5 PM Motor Settings
Settings on page 479.
F1 PG Speed Control Card (PG-B3/PG-X3/PG-RT3/PG-F3) F1-50 to F1-53 are not available in models CIMR-A4A0930 and 4A1200.
• H2-07 to H2-10 are not available in models CIMR-A4A0930 and 4A1200.
H2 Multi-Function Digital Outputs
• H2- cannot be set to D, 4E, 4F, 62, or 63.
H3 Multi-Function Analog Inputs H3- = 17 is available in models CIMR-A4A0930 and 4A1200.
H5 MEMOBUS/Modbus Serial Communication H5-18 are not available in models CIMR-A4A0930 and 4A1200.
• L1-08 and L1-09 are not available in models CIMR-A4A0930 and 4A1200.
L1 Motor Protection
• L1-15 to L1-20 are available in models CIMR-A4A0930 and 4A1200.
• L3-04 cannot be set to 3.
L3 Stall Prevention
• L3-34 and L3-35 are not available in models CIMR-A4A0930 and 4A1200.
• L8-01 and L8-55 are not available.
• The Overcurrent Protection for PM motor is not disabled when L8-27 = 0.0%.
L8 Drive Protection
• The setting range of L8-29 is 0 or 1.
• L8-78 is available.
L9 Drive Protection 2 L9-03 is not available in models CIMR-A4A0930 and 4A1200.
• n8-03, n8-04, n8-11 to n8-21, n8-36 to n8-39, and n8-72 are not available in models CIMR-A4A0930
n8 PM Motor Control Tuning and 4A1200.
• n8-02 is not available in CLV/PM control mode in models CIMR-A4A0930 and 4A1200.
T1 Induction Motor Auto-Tuning The setting range of T1-01 is 0 to 4, 8, or 9.
T2 PM Motor Auto-Tuning The setting range of T2-01 is 0 to 11.
• The setting units of U1-03 is 1 A. Refer to U1: Operation Status Monitors on page 516 for details.
U1 Operation Status Monitors
• U1-29 is available in models CIMR-A4A0930 and 4A1200.
• The setting units of U2-05 is 1 A. Refer to U2: Fault Trace on page 518 for details.
U2 Fault Trace
• U2-27 and U2-28 are available in models CIMR-A4A0930 and 4A1200.
• The setting units of U4-13 is 1 A. Refer to U4: Maintenance Monitors on page 520 for details.
U4 Maintenance Monitors
• U4-32, U4-37, U4-38, and U4-39 are available in models CIMR-A4A0930 and 4A1200.
B.3 Parameter Table
B.3 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.
 A1: Initialization Parameters
No.(Addr.) Name Description Setting Page
All Modes
0: English
1: Japanese
2: German
3: French
A1-00 4: Italian
(100H) 5: Spanish
Default: 0
6: Portuguese
Language Selection Min: 0 142
7: Chinese
Max: 12
8: Czech
<3>
9: Russian
10: Turkish
11: Polish
12: Greek
Note: 1. Settings 8 to 12 can be selected from an LCD operator with version (REV) F or later.
The version is listed on the back of the LCD operator.
2. The setting range is 0 to 7 in models CIMR-A4A0930 and 4A1200.
A1-01
(101H) All Modes Default: 2
Access Level Selection 0: View and set A1-01 and A1-04. U- parameters can also be viewed. Min: 0 142
1: User Parameters (access to a set of parameters selected by the user, A2-01 to A2-32) Max: 2
<1> 2: Advanced Access (access to view and set all parameters)
All Modes
0: V/f Control
A1-02 1: V/f Control with PG Default: 0
(102H) Control Method Selection 2: Open Loop Vector Control Min: 0 143
<3> 3: Closed Loop Vector Control Max: 7
5: Open Loop Vector Control for PM
6: Advanced Open Loop Vector Control for PM
7: Closed Loop Vector Control for PM
All Modes
0: No initialization Default: 0
A1-03
Initialize Parameters 1110: User Initialize (parameter values must be stored using parameter o2-03) Min: 0 143
(103H)
2220: 2-wire initialization Max: 5550
3330: 3-wire initialization
5550: oPE04 error reset
A1-04
Password Default: 0000
(104H) All Modes
Min: 0000 144
A1-05 When the value set into A1-04 does not match the value set into A1-05, parameters A1-01
Password Setting Max: 9999
(105H) through A1-03, A1-06, A1-07, and A2-01 through A2-32 cannot be changed.
All Modes
0: General-purpose
1: Water supply pump
Default: 0
A1-06 2: Conveyor
Application Preset Min: 0 146
(127H) 3: Exhaust fan
Max: 7
4: HVAC fan
5: Air compressor
6: Elevator
7: Hoist
All Modes
Default: 0
A1-07
DriveWorksEZ Function Selection 0: DWEZ disabled Min: 0 147
(128H)
1: DWEZ enabled Max: 2
2: Digital input (enabled when H1- = 9F)
<2> Default setting value is dependent on the Application Preset selected with parameter A1-06.
Parameter List
<3> The parameter setting is not reset to the default value when A1-03 is used to initialize the drive.
B.3 Parameter Table
 A2: User Parameters

A2-01 to All Modes Default: <2>

A2-32 User Parameters 1 to 32 Min: A1-00 147
Parameters that were recently edited are listed here. The user can also select parameters to
(106 to 125H) Max: o4-13
appear here for quick access.
All Modes
Default: 1 <1>
A2-33 User Parameter Automatic
0: Parameters A2-01 through A2-32 are reserved for the user to create a list of User Parameters. Min: 0 147
(126H) Selection
1: Save history of recently viewed parameters. Recently edited parameters will be saved to Max: 1
A2-17 through A2-32 for quick access.
<1> 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.
<2> Default setting value is determined by the Application Preset selected with parameter A1-06.
 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
All Modes
0: Digital operator Default: 1
b1-01
Frequency Reference Selection 1 1: Analog input terminals Min: 0 148
(180H)
2: MEMOBUS/Modbus communications Max: 4
3: Option Card
4: Pulse input (terminal RP)
All Modes
Default: 1
b1-02 0: Digital operator
Run Command Selection 1 Min: 0 150
(181H) 1: Digital input terminals
Max: 3
3: Option Card
All Modes
0: Ramp to stop Default: 0
b1-03
Stopping Method Selection 1: Coast to stop Min: 0 150
(182H)
2: DC Injection Braking to stop Max: 9 <11>
3: Coast with timer
9: Simple Positioning
All Modes Default: 0

b1-04
Reverse Operation Selection Min: 0 154
(183H) 0: Reverse enabled.
Max: 1
1: Reverse disabled.

OLV/PM AOLV/PM CLV/PM Default: 0
b1-05 Action Selection below Minimum
0: Operates according to frequency reference (E1-09 is disabled). Min: 0 154
(184H) Output Frequency
1: Output shuts off (coast to stop if less than E1-09). Max: 3
2: Operates according to E1-09 (frequency reference set to E1-09).
3: Zero speed (frequency reference becomes zero when less than E1-09).

b1-06
Digital Input Reading 0: Input status is read once and processed immediately (for quick response) Min: 0 155
(185H)
1: Input is read twice and processed only if the status is the same in both readings (robust Max: 1
against noisy signals)

b1-07
LOCAL/REMOTE Run Selection Min: 0 156
(186H) 0: An external Run command has to be cycled at the new source to be activated.
Max: 1
1: An external Run command at new source is accepted immediately.
All Modes
Default: 0
b1-08 Run Command Selection while in
0: Run command is not accepted while in the Programming Mode. Min: 0 156
(187H) Programming Mode
1: Run command is accepted while in the Programming Mode. Max: 2
2: Prohibit entering Programming Mode during run.

Default: 0
b1-14 OLV/PM AOLV/PM CLV/PM
Phase Order Selection Min: 0 156
(1C3H)
0: Standard Max: 1
1: Switch phase order (reverses the direction of the motor)
B.3 Parameter Table
All Modes
Enabled when an input terminal set for “External reference” (H1- = 2) closes.
Default: 0
b1-15 0: Digital operator
Frequency Reference Selection 2 Min: 0 157
(1C4H) 1: Terminals (analog input terminals)
Max: 4
3: Option card
4: Pulse train input
All Modes
Enabled when a terminal set for “External reference” (H1- = 2) closes. Default: 0
b1-16
Run Command Selection 2 0: Digital operator Min: 0 157
(1C5H)
1: Digital input terminals Max: 3
3: Option card

b1-17
Run Command at Power Up Min: 0 157
(1C6H) 0: Disregarded. A new Run command needs to be issued after power up.
Max: 1
1: Allowed. Motor will start immediately after power up if a Run command is already enabled.

Default: 0
b1-21 Start Condition Selection at Closed There is normally no need to change this parameter from the default value.
Min: 0 157
(748H) Loop Vector Control Selects a condition to start Closed Loop Vector Control. Max: 1
0: Run command is not accepted when b2-01 ≤ Motor speed < E1-09.
1: Run command is accepted when b2-01 ≤ Motor speed < E1-09.
Note: This parameter is not available with models CIMR-A4A0930 and 4A1200.
<11> Setting range is 0, 1, or 3 when the control mode is CLV, OLV/PM, AOLV/PM, or CLV/PM.
 b2: DC Injection Braking and Short Circuit Braking

All Modes Default: <10>

b2-01 DC Injection Braking Start
Min: 0.0 Hz 158
(189H) Frequency Sets the frequency at which DC Injection Braking starts when “Ramp to stop” (b1-03 = 0) is
Max: 10.0 Hz
selected.

OLV/PM AOLV/PM CLV/PM Default: 50%
b2-02
DC Injection Braking Current Min: 0% 159
(18AH) Sets the DC Injection Braking current as a percentage of the drive rated current. Max: 100%
Note: This parameter is not available for AOLV/PM with models CIMR-A4A0930 and
4A1200.
All Modes
Default: 0.00 s
b2-03 Sets the time of DC Injection Braking (Zero Speed Control when in CLV and CLV/PM) time at
DC Injection Braking Time at Start Min: 0.00 s 159
(18BH) start. Disabled when set to 0.00 s.
Max: 10.00 s
Note: This parameter is not available for AOLV/PM with models CIMR-A4A0930 and
4A1200.
All Modes
Default: <10>
b2-04
DC Injection Braking Time at Stop Sets the time of DC Injection Braking (Zero Speed Control when in CLV and CLV/PM) at stop. Min: 0.00 s 159
(18CH)
Note: This parameter is not available for AOLV/PM with models CIMR-A4A0930 and Max: 10.00 s
4A1200.
V/f V/f w/PG OLV CLV Default: 0%

b2-08 Magnetic Flux Compensation
OLV/PM AOLV/PM CLV/PM Min: 0% 159
(190H) Value
Max: 1000%
Sets the magnetic flux compensation as a percentage of the no-load current value (E2-03).
V/f V/f w/PG OLV CLV Default: 0.00 s

b2-12
Short Circuit Brake Time at Start OLV/PM AOLV/PM CLV/PM Min: 0.00 s 160
(1BAH)
Max: 25.50 s
Sets the time for Short Circuit Braking operation at start. <7>

b2-13
Short Circuit Brake Time at Stop OLV/PM AOLV/PM CLV/PM Min: 0.00 s 160
(1BBH)
Max: 25.50 s
Sets the Short Circuit Braking operation time at stop. <7>

Default: 100.0%
b2-18
Parameter List
Short Circuit Braking Current OLV/PM AOLV/PM CLV/PM Min: 0.0% 160
(177H)
Determines the current level for Short Circuit Braking. Set as a percentage of the motor rated Max: 200.0%
current.
<7> A coasting motor may require a braking resistor circuit to bring the motor to a stop in the required time.
<10> Default setting is determined by the control mode (A1-02).
B.3 Parameter Table
 b3: Speed Search


Default: <10>
Speed Search Selection at Start Min: 0 163
(191H)
0: Disabled Max: 1
1: Enabled

Default: <10>
Speed Search Deactivation Current Min: 0% 163
(192H)
Sets the current level at which the speed is assumed to be detected and Speed Search is ended. Max: 200%
Set as a percentage of the drive rated current.

b3-03
Speed Search Deceleration Time OLV/PM AOLV/PM CLV/PM Min: 0.1 s 163
(193H)
Max: 10.0 s
Sets output frequency reduction time during Speed Search.

Default: <9>
b3-04 Determines how much to lower the V/f ratio during Speed Search.
V/f Gain during Speed Search Min: 10% 164
(194H) Output voltage during Speed Search equals the V/f setting multiplied by b3-04. Max: 100%
Note: Available control mode for parameter b3-04 varies by drive model:
CIMR-A2A0004 to 2A0415 and 4A0002 to 4A0675: Available when A1-02 = 0
CIMR-A4A0930 and 4A1200: Available when A1-02 = 0, 2
All Modes Default: 0.2 s

b3-05
Speed Search Delay Time Min: 0.0 s 164
(195H) When using an external contactor on the output side, b3-05 delays executing Speed Search after
Max: 100.0 s
a momentary power loss to allow time for the contactor to close.

Default: <9>
b3-06 Output Current 1 during Speed OLV/PM AOLV/PM CLV/PM Min: 0.0 164
(196H) Search
Sets the current injected to the motor at the beginning of Speed Estimation Speed Search. Set as Max: 2.0
a coefficient for the motor rated current.

OLV/PM AOLV/PM CLV/PM Default: <9>
b3-07 Output Current 2 during Speed
Min: 0.0 164
(197H) Search (Speed Estimation Type) Sets the amount of output current during Speed Estimation Speed Search as a coefficient for the Max: 5.0
no-load current.

b3-08 Current Control Gain during Speed
Min: 0.00 164
(198H) Search (Speed Estimation Type) Sets the proportional gain for the current controller to adjust responsiveness during Speed Max: 6.00
Estimate Speed Search.

Current Control Integral Time OLV/PM AOLV/PM CLV/PM Default: <10>
b3-09
during Speed Search (Speed Min: 0.0 ms 164
(199H) There is normally no need to change this parameter from the default value.
Estimation Type) Max: 1000.0 ms
Sets the integral time for the current controller during to adjust responsiveness during Speed
Estimation Speed Search.

OLV/PM AOLV/PM CLV/PM Default: 1.05
b3-10 Speed Search Detection
Min: 1.00 165
(19AH) Compensation Gain Sets the gain which is applied to the speed detected by Speed Estimation Speed Search before Max: 1.20
the motor is reaccelerated. Increase this setting if ov occurs when performing Speed Search
after a relatively long period of baseblock.

Default: 6.0
b3-12 Minimum Current Detection Level OLV/PM AOLV/PM CLV/PM Min: 2.0 165
(19CH) during Speed Search
Sets the minimum current detection level during Speed Search. Max: 10.0

Default: <10>
b3-14 Bi-Directional Speed Search OLV/PM AOLV/PM CLV/PM Min: 0 165
(19EH) Selection
0: Disabled (uses the direction of the frequency reference) Max: 1
1: Enabled (drive detects which way the motor is rotating)

b3-17 Speed Search Restart Current
(1F0H) Level
Max: 200%
Sets the Speed Search restart current level as a percentage of the drive rated current.

b3-18 Speed Search Restart Detection
OLV/PM AOLV/PM CLV/PM Min: 0.00 s 165
(1F1H) Time
Max: 1.00 s
Sets the time to detect Speed Search restart.
B.3 Parameter Table
V/f V/f w/PG OLV CLV Default: 3

b3-19
Number of Speed Search Restarts OLV/PM AOLV/PM CLV/PM Min: 0 165
(1F2H)
Max: 10
Sets the number of times the drive can attempt to restart when performing Speed Search.

Default: 0
Speed Search Method Selection Min: 0 165
(1C0H)
0: Current Detection Max: 1
1: Speed Estimation

b3-25
Speed Search Wait Time OLV/PM AOLV/PM CLV/PM Min: 0.0 s 166
(1C8H)
Max: 30.0 s
Sets the time the must wait between each Speed Search restart attempt.

Default: <9>
Direction Determining Level Min: 40 166
(1C7H)
Sets the level that determines the direction of motor rotation. Max: 60000

b3-27
Start Speed Search Select Selects a condition to activate Speed Search Selection at Start (b3-01) or External Speed Search Min: 0 166
(1C9H)
Command 1 or 2 from the multi-function input. Max: 1
0: Triggered when a Run command is issued (normal).
1: Triggered when an external baseblock is released.

Default: 10%
b3-29 Speed Search Induced Voltage There is normally no need to change this parameter from the default value. Min: 0% 166
(77CH) Level Performs Speed Search when the motor induced voltage exceeds the set level. If changes are Max: 10%
necessary, try lowering this value in small increments. If set too low, then the drive will not
perform Speed Search.
All Modes
Activates or deactivates the speed search at start in accordance with whether or not a Run
command was issued during an undervoltage (Uv) if operation during a momentary power loss Default: 0
b3-33 Speed Search Selection when (L2-01 = 1 or 2), the speed search at start (b3-01 = 1), and coasting to a stop (b1-03 = 1) are Min: 0 166
(B3FH) Driving Instruction is Input in Uv enabled. Max: 1
0: Speed Search disabled
1: Speed Search enabled
<9> Default setting value is dependent on the drive model (o2-04) and the Drive Duty Mode Selection (C6-01).
<16> Default setting is determined by the control mode (A1-02) and the drive model (o2-04).
 b4: Timer Function

Default: 0.0 s
b4-01
Timer Function On-Delay Time Min: 0.0 s 167
(1A3H) All Modes Max: 3000.0 s
Used to set the on-delay and off-delay times for a digital timer output (H2-=12). The output Default: 0.0 s
b4-02 is triggered by a digital input programmed to H1-=18)
Timer Function Off-Delay Time Min: 0.0 s 167
(1A4H)
Max: 3000.0 s
b4-03
H2-01 ON Delay Time
(B30H)
b4-04
H2-01 OFF Delay Time
(B31H)
b4-05
H2-02 ON Delay Time All Modes Default: 0 ms
(B32H)
Sets the length of the delay time for contact outputs to open or close for the related functions set Min: 0 ms 167
b4-06 in H2-. Max: 65535 ms
(B33H) Note: This parameter is not available with models CIMR-A4A0930 and 4A1200.
b4-07
H2-03 ON Delay Time
(B34H)
b4-08
Parameter List

(B35H)
B.3 Parameter Table
 b5: PID Control

All Modes
0: Disabled
1: Enabled (PID output becomes output frequency reference, deviation D controlled)
2: Enabled (PID output becomes output frequency reference, feedback D controlled)
3: Enabled (PID output added to frequency reference, deviation D controlled)
Default: 0
b5-01 4: Enabled (PID output added to frequency reference, feedback D controlled)
PID Function Setting Min: 0 171
(1A5H) 5: Mode that is compatible with setting 1 of similar product from a past line
Max: 8 <6>
6: Mode that is compatible with setting 2 of similar product from a past line
Note 1. If the used drive is replaced with Varispeed F7 inverter or a similar product from a past
line, use settings 5 to 8 instead of settings 1 to 4.
2. The setting range is 0 to 4 for models CIMR-A4A0930 to 4A1200.
b5-02
Default: 1.00
(1A6H) All Modes
Proportional Gain Setting (P) Min: 0.00 171
Sets the proportional gain of the PID controller. Max: 25.00
b5-03
Default: 1.0 s
(1A7H) All Modes
Integral Time Setting (I) Min: 0.0 s 171
Sets the integral time for the PID controller. Max: 360.0 s
b5-04
All Modes Default: 100.0%
(1A8H)
Integral Limit Setting Min: 0.0% 171
Sets the maximum output possible from the integrator as a percentage of the maximum output
Max: 100.0%
frequency.
b5-05
Default: 0.00 s
(1A9H) All Modes
Derivative Time (D) Min: 0.00 s 171
Sets D control derivative time. Max: 10.00 s
b5-06
(1AAH)
PID Output Limit Min: 0.0% 172
Sets the maximum output possible from the entire PID controller as a percentage of the
Max: 100.0%
maximum output frequency.
b5-07
(1ABH)
PID Offset Adjustment Min: -100.0% 172
Applies an offset to the PID controller output. Set as a percentage of the maximum output
Max: 100.0%
frequency.
b5-08
Default: 0.00 s
(1ACH) All Modes
PID Primary Delay Time Constant Min: 0.00 s 172
Sets a low pass filter time constant on the output of the PID controller. Max: 10.00 s

b5-09
PID Output Level Selection Min: 0 172
(1ADH) 0: Normal output (direct acting)
Max: 1
1: Reverse output (reverse acting)
b5-10
Default: 1.00
(1AEH) All Modes
PID Output Gain Setting Min: 0.00 172
Sets the gain applied to the PID output. Max: 25.00
All Modes
Default: 0
b5-11
PID Output Reverse Selection 0: Negative PID output triggers zero limit. Min: 0 172
(1AFH)
1: Rotation direction reverses with negative PID output. Max: 1
When using setting 1, make sure reverse operation is permitted by parameter b1-04.
All Modes
0: No fault. Digital output only.
1: Fault detection. Alarm output, drive continues operation. Default: 0
b5-12 PID Feedback Loss Detection
2: Fault detection. Fault output, drive output is shut off. Min: 0 173
(1B0H) Selection
3: No fault. Digital output only. No fault detection when PID control is disabled. Max: 5
4: Fault detection. Alarm is triggered and drive continues to run. Fault detection even when PID
is disabled.
5: Fault detection. Drive output shuts off. No fault detection when PID control is disabled.
Default: 0%
b5-13 PID Feedback Loss Detection All Modes
Min: 0% 174
(1B1H) Level
Sets the PID feedback loss detection level as a percentage of the maximum output frequency. Max: 100%
Default: 1.0 s
b5-14 PID Feedback Loss Detection All Modes
Min: 0.0 s 174
(1B2H) Time
Sets a delay time for PID feedback loss. Max: 25.5 s
Default: <10>
b5-15 All Modes
PID Sleep Function Start Level Min: 0.0 Hz 175
(1B3H)
Sets the frequency level that triggers the sleep function. Max: 400.0 Hz
Default: 0.0 s
b5-16 All Modes
PID Sleep Delay Time Min: 0.0 s 175
(1B4H)
Sets a delay time before the sleep function is triggered. Max: 25.5 s
Default: 0.0 s
b5-17 All Modes
PID Accel/Decel Time Min: 0.0 s 175
(1B5H)
Sets the acceleration and deceleration time to PID setpoint. Max: 6000.0 s
B.3 Parameter Table

b5-18
PID Setpoint Selection Min: 0 175
(1DCH) 0: Disabled
Max: 1
1: Enabled
b5-19
(1DDH)
PID Setpoint Value Min: 0.00% 175
Sets the PID target value when b5-18 = 1. Set as a percentage of the maximum output
Max: 100.00%
frequency.
All Modes
Sets the units for setting/display b5-19. Default: 1
b5-20
PID Setpoint Scaling 0: 0.01Hz units Min: 0 176
(1E2H)
1: 0.01% units (100% = max output frequency) Max: 3
2: min-1 (number of motor poles must entered)
3: User-set (set scaling to b5-38 and b5-39)
b5-34
(19FH)
PID Output Lower Limit Min: -100.0% 176
Sets the minimum output possible from the PID controller as a percentage of the maximum
Max: 100.0%
output frequency.
b5-35
(1A0H)
PID Input Limit Min: 0.0% 176
Limits the PID control input (deviation signal) as a percentage of the maximum output
Max: 1000.0%
frequency. Acts as a bipolar limit.
Default: 100%
b5-36 PID Feedback High Detection All Modes
Min: 0% 174
(1A1H) Level
Sets the PID feedback high detection level as a percentage of the maximum output frequency. Max: 100%
Default: 1.0 s
b5-37 PID Feedback High Detection All Modes Min: 0.0 s 174
(1A2H) Time
Sets the PID feedback high level detection delay time. Max: 25.5 s
Default: <5>
b5-38 All Modes
PID Setpoint User Display Min: 1 176
(1FEH)
Sets the display value of U5-01 and U5-04 when the maximum frequency is output. Max: 60000
All Modes
Default: <5>
b5-39 0: No decimal places
PID Setpoint Display Digits Min: 0 176
(1FFH) 1: One decimal places
Max: 3
2: Two decimal places
3: Three decimal places

b5-40 Frequency Reference Monitor
Min: 0 176
(17FH) Content during PID 0: Display the frequency reference (U1-01) after PID compensation has been added.
Max: 1
1: Display the frequency reference (U1-01) before PID compensation has been added.
All Modes
Default: 1
b5-47 Reverse Operation Selection 2 by Reverses operation selection when b5-01 =3 or 4
Min: 0 177
(17DH) PID Output 0: Zero limit when PID output is a negative value
Max: 1
1: Reverse operation when PID output is a negative value (Zero limit if the reverse operation is
prohibited by b1-04)
<5> Default setting is dependent on PID setpoint scaling (b5-20).
<6> Default setting value varies by the drive model (o2-04).
 b6: Dwell Function

Default: 0.0 Hz
b6-01
Dwell Reference at Start Min: 0.0 Hz 178
(1B6H)
Max: 400.0 Hz
Default: 0.0 s
b6-02 All Modes
Dwell Time at Start Min: 0.0 s 178
(1B7H)
Parameters b6-01 and b6-02 set the frequency to hold and the time to maintain that frequency at Max: 10.0 s
start. Default: 0.0 Hz
b6-03 Parameters b6-03 and b6-04 set the frequency to hold and the time to maintain that frequency at Min: 0.0 Hz
Dwell Reference at Stop 178
(1B8H) stop. Max: 400.0 Hz
Default: 0.0 s
b6-04
Dwell Time at Stop Min: 0.0 s 178
(1B9H)
Max: 10.0 s
Parameter List
B.3 Parameter Table
 b7: Droop Control

b7-01 V/f V/f w/PG OLV CLV

Default: 0.0%
(1CAH) OLV/PM AOLV/PM CLV/PM
Droop Control Gain Min: 0.0% 179
Sets the speed reduction gain applied at a torque reference of 100%. Set as a percentage of Max: 100.0%
motor base speed.
b7-02 V/f V/f w/PG OLV CLV Default: 0.05 s
(1CBH)
Droop Control Delay Time. OLV/PM AOLV/PM CLV/PM Min: 0.03 s 179
Max: 2.00 s
Used to adjust the responsiveness of Droop Control.
Default: 1
Droop Control Limit Selection Min: 0 179
(17EH)
0: Disabled Max: 1
1: Enabled
 b8: Energy Saving


Default: <10>
Energy Saving Control Selection Min: 0 179
(1CCH)
0: Disabled Max: 1
1: Enabled
b8-02 V/f V/f w/PG OLV CLV Default: <10>
(1CDH)
Energy Saving Gain OLV/PM AOLV/PM CLV/PM Min: 0.0 179
Max: 10.0
Sets the gain used for Energy Saving.
b8-03 V/f V/f w/PG OLV CLV Default: <4>
(1CEH) Energy Saving Control Filter Time
Constant
Max: 10.00 s
Sets a time constant for Energy Saving.
OLV/PM AOLV/PM CLV/PM Default: <8> <9>
b8-04
Energy Saving Coefficient Value Determines the level of maximum motor efficiency. Setting range is 0.0 to 2000.0 maximum Min: 0.00 180
(1CFH)
output up to 3.7 kW. The display resolution depends on the rated output power of the drive after Max: 655.00
the Drive Duty has been set in parameter C6-01. Refer to Model Number and Nameplate
Check on page 32.
V/f V/f w/PG OLV CLV Default: 20 ms

b8-05
Power Detection Filter Time OLV/PM AOLV/PM CLV/PM Min: 0 ms 180
(1D0H)
Max: 2000 ms
Sets a time constant filter for output power detection.

b8-06
Search Operation Voltage Limit OLV/PM AOLV/PM CLV/PM Min: 0% 180
(1D1H)
Max: 100%
Sets the limit for the voltage search operation as a percentage of the motor rated voltage.
b8-16 Energy Saving Parameter (Ki) for
Coefficient to adjust torque linearity Min: 0.00 180
(1F8H) PM Motors
Set to the Ki value on the motor nameplate. Max: 3.00 <71>
When E5-01 (Motor Code Selection (for PM Motors)) is set to 1 or 2, the
automatically calculated value will be set. This set value cannot be changed.
b8-17 Energy Saving Parameter (Kt) for
Coefficient to adjust torque linearity Min: 0.00 181
(1F9H) PM Motors
Set to the Kt value on the motor nameplate. Max: 3.00 <71>
When E5-01 (Motor Code Selection (for PM Motors)) is set to 1 or 2, the
automatically calculated value will be set. This set value cannot be changed.

q-Axis Current Compensation Default: 0
b8-27 Sets a compensation method for the q-Axis current when output voltage is limited.
Method when Output Voltage is Min: 0 181
(B52H) There is normally no need to change this parameter from the default value.
Limited Max: 1
0: Output Voltage Limit Priority
1: q-Axis Current Priority
<4> Default setting is dependent on the control mode (A1-02), the drive model (o2-04), and the Drive Duty Mode Selection (C6-01).
<8> Parameter value changes automatically if E2-11 is manually changed or changed by Auto-Tuning.
<71> The coefficient is 2.00 for software versions S1018 and earlier.
B.3 Parameter Table
 b9: Zero Servo


b9-01
Zero Servo Gain OLV/PM AOLV/PM CLV/PM Min: 0 182
(1DAH)
Max: 100
Sets the position loop gain for the Zero Servo function.

Default: 10
Zero Servo Completion Width Min: 0 182
(1DBH)
Sets the range to trigger an output terminal set for “Zero Servo Complete” during Zero Servo Max: 16383
operation.
 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
C1-01
(200H) All Modes
Acceleration Time 1 183
Sets the time to accelerate from 0 to maximum frequency.
C1-02
(201H) All Modes
Deceleration Time 1 183
Sets the time to decelerate from maximum frequency to 0.
C1-03
(202H) All Modes
Acceleration Time 2 183
C1-04
(203H) All Modes
Deceleration Time 2 183
C1-05
Default: 10.0 s
(204H) Acceleration Time 3 (Motor 2 All Modes
Min: 0.0 s 183
Accel Time 1)
Sets the time to accelerate from 0 to maximum frequency. Max: 6000.0 s <12>
C1-06
(205H) Deceleration Time 3 (Motor 2 All Modes
183
Decel Time 1)
C1-07
(206H) Acceleration Time 4 (Motor 2 All Modes 183
Accel Time 2)
C1-08
(207H) Deceleration Time 4 (Motor 2 All Modes
183
Decel Time 2)
C1-09
(208H) All Modes
Fast Stop Time 184
Sets the time for the Fast Stop function.

C1-10
Accel/Decel Time Setting Units Min: 0 185
(209H) 0: 0.01 s (0.00 to 600.00 s)
Max: 1
1: 0.1 s (0.0 to 6000.0 s)
Default: 0.0 Hz
C1-11 Accel/Decel Time Switching All Modes
Min: 0.0 Hz 185
(20AH) Frequency
Sets the frequency to switch between accel/decel time settings Max: 400.0 Hz
<12> 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.
Parameter List
B.3 Parameter Table
 C2: S-Curve Characteristics

Default: 0.20 s <10>
C2-01 S-Curve Characteristic at Accel
Min: 0.00 s 185
(20BH) Start All Modes 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
Min: 0.00 s 185
(20CH) End
ON OFF Max: 10.00 s
Run Command
Output Frequency Default: 0.20 s
C2-03 S-Curve Characteristic at Decel C2-02 C2-03
Min: 0.00 s 185
(20DH) Start
C2-01 C2-04 Max: 10.00 s
Default: 0.00 s
C2-04 S-Curve Characteristic at Decel Time
Min: 0.00 s 185
(20EH) End
Max: 10.00 s
 C3: Slip Compensation

C3-01 V/f V/f w/PG OLV CLV Default: <10>
(20FH)
Slip Compensation Gain OLV/PM AOLV/PM CLV/PM Min: 0.0 186
Max: 2.5
Sets the gain for the motor slip compensation function used for motor 1.
(210H) Slip Compensation Primary Delay
OLV/PM AOLV/PM CLV/PM Min: 0 ms 186
Time
Max: 10000 ms
Adjusts the slip compensation function delay time used for motor 1.

Default: 200%
C3-03 OLV/PM AOLV/PM CLV/PM
Slip Compensation Limit Min: 0% 186
(211H)
Sets an upper limit for the slip compensation function as a percentage of motor rated slip for Max: 250%
motor 1 (E2-02).

C3-04 Slip Compensation Selection
Min: 0 187
(212H) during Regeneration 0: Disabled. Max: 2
1: Enabled above 6 Hz.
2: Enabled whenever slip compensation is possible.

Default: 0
C3-05 Output Voltage Limit Operation 0: Disabled. Min: 0 187
(213H) Selection 1: Enabled. Automatically decreases motor flux when output voltage saturation is reached. Max: 1
Note: Available control mode for parameter C3-05 varies by drive model:
CIMR-A4A0930 and 4A1200: Available when A1-02 = 2, 3, 6, 7

Output Voltage Limit Operation OLV/PM AOLV/PM CLV/PM Default: 85.0%
C3-16
Start Level (Percentage Min: 70.0% 187
(261H) Sets the output voltage limit operation start level (percentage modulation) when C3-05 is
Modulation) Max: 90.0%
enabled.

OLV/PM AOLV/PM CLV/PM Default: 90.0%
C3-17 Maximum Output Voltage Limit
Min: 85.0% 187
(262H) Level (Percentage Modulation) Sets the output voltage limit operation determined by C3-18 (percentage modulation) when Max: 100.0%
C3-05 is enabled.

Default: 90.0%
Output Voltage Limit Level Min: 30.0% 187
(263H)
Sets the maximum percentage of output voltage reduction when parameter C3-05 is enabled. Max: 100.0%
(33EH)
Motor 2 Slip Compensation Gain OLV/PM AOLV/PM CLV/PM Min: 0.0 188
Max: 2.5
Sets the slip compensation gain used for motor 2.
(241H) Motor 2 Slip Compensation
Primary Delay Time
Max: 10000 ms
Sets the slip compensation delay time used for motor 2.

Default: 200%
Motor 2 Slip Compensation Limit Min: 0% 188
(242H)
Sets the upper limit for the slip compensation function for motor 2. Set as a percentage of the Max: 250%
motor rated slip (E4-02).
B.3 Parameter Table

C3-24 Motor 2 Slip Compensation
Min: 0 188
(243H) Selection During Regeneration 0: Disabled. Max: 2
1: Enabled above 6 Hz.
2: Enabled whenever slip compensation is possible.
<15> Default setting is determined by the control mode for motor 2 (E3-01).
 C4: Torque Compensation

C4-01 V/f V/f w/PG OLV CLV

Default: <10>
(215H) OLV/PM AOLV/PM CLV/PM
Torque Compensation Gain Min: 0.00 189
Sets the gain for the automatic torque (voltage) boost function and helps to produce better Max: 2.50
starting torque. Used for motor 1.
(216H) Torque Compensation Primary
Delay Time 1
Max: 60000 ms
Sets the torque compensation filter time.
V/f V/f w/PG OLV CLV Default: 0.0%

C4-03 Torque Compensation at Forward
OLV/PM AOLV/PM CLV/PM Min: 0.0% 189
(217H) Start
Max: 200.0%
Sets torque compensation at forward start as a percentage of motor torque.

C4-04 Torque Compensation at Reverse
OLV/PM AOLV/PM CLV/PM Min: -200.0% 189
(218H) Start
Max: 0.0%
Sets torque compensation at reverse start as a percentage of motor torque.

Default: 10 ms
C4-05 Torque Compensation Time OLV/PM AOLV/PM CLV/PM Min: 0 ms 190
(219H) Constant
Sets the time constant for torque compensation at forward start and reverse start (C4-03 and Max: 200 ms
C4-04).

C4-06 Torque Compensation Primary
(21AH) Delay Time 2
Max: 10000 ms
Sets the torque compensation time 2.
C4-07 V/f V/f w/PG OLV CLV Default: 1.00
(341H) Motor 2 Torque Compensation
OLV/PM AOLV/PM CLV/PM Min: 0.00 190
Gain
Max: 2.50
Sets the torque compensation gain used for motor 2.
 C5: Automatic Speed Regulator (ASR)

(21BH)
ASR Proportional Gain 1 OLV/PM AOLV/PM CLV/PM Min: 0.00 192
Max: 300.00
Sets the proportional gain of the speed control loop (ASR).
(21CH)
ASR Integral Time 1 OLV/PM AOLV/PM CLV/PM Min: 0.000 s 192
Max: 10.000 s
Sets the integral time of the speed control loop (ASR).
(21DH)
ASR Proportional Gain 2 OLV/PM AOLV/PM CLV/PM Min: 0.00 192
Max: 300.00
Sets the speed control gain 2 of the speed control loop (ASR).
(21EH)
Parameter List
ASR Integral Time 2 OLV/PM AOLV/PM CLV/PM Min: 0.000 s 192

Max: 10.000 s
Sets the integral time 2 of the speed control loop (ASR).

Default: 5.0%
ASR Limit Min: 0.0% 193
(21FH)
Sets the upper limit for the speed control loop (ASR) as a percentage of the maximum output Max: 20.0%
frequency (E1-04). B
V/f V/f w/PG OLV CLV Default: <10>
C5-06
ASR Primary Delay Time Constant OLV/PM AOLV/PM CLV/PM Min: 0.000 s 193
(220H)
Max: 0.500 s
Sets the filter time constant for the time from the speed loop to the torque command output.
B.3 Parameter Table

C5-07
ASR Gain Switching Frequency OLV/PM AOLV/PM CLV/PM Min: 0.0 Hz 193
(221H)
Max: 400.0 Hz
Sets the frequency for switching between proportional gain 1, 2 and integral time 1, 2.

C5-08
ASR Integral Limit OLV/PM AOLV/PM CLV/PM Min: 0% 193
(222H)
Max: 400%
Sets the ASR integral upper limit as a percentage of rated load torque.

Default: 0
C5-12 Integral Operation during Accel/ OLV/PM AOLV/PM CLV/PM Min: 0 193
(386H) Decel
0: Disabled. Integral functions are enabled only during constant speed. Max: 1
1: Enabled. Integral functions are always enabled, during accel/decel and during constant speed.
V/f V/f w/PG OLV CLV Default: <9> <14>

C5-17
Motor Inertia OLV/PM AOLV/PM CLV/PM Min: 0.0001 kgm2 194
(276H)
Max: 600.00 kgm2
Sets the motor inertia. This value is automatically set during ASR or Inertia Auto-Tuning.

Default: 1.0
Load Inertia Ratio Min: 0.0 194
(277H)
Sets the ratio between the motor and load inertia. This value is automatically set during ASR or Max: 6000.0
Inertia Auto-Tuning.
(356H)
Motor 2 ASR Proportional Gain 1 OLV/PM AOLV/PM CLV/PM Min: 0.00 194
Max: 300.00
Sets the proportional gain of the speed control loop (ASR) for motor 2.
(357H)
Motor 2 ASR Integral Time 1 OLV/PM AOLV/PM CLV/PM Min: 0.000 s 194
Max: 10.000 s
Sets the integral time of the speed control loop (ASR) for motor 2.
(358H)
Motor 2 ASR Proportional Gain 2 OLV/PM AOLV/PM CLV/PM Min: 0.00 194
Max: 300.00
Sets the speed control gain 2 of the speed control loop (ASR) for motor 2.
(359H)
Motor 2 ASR Integral Time 2 OLV/PM AOLV/PM CLV/PM Min: 0.000 s 194
Max: 10.000 s
Sets the integral time 2 of the speed control loop (ASR) for motor 2.

Default: 5.0%
Motor 2 ASR Limit Min: 0.0% 194
(35AH)
Sets the upper limit for the speed control loop (ASR) for motor 2 as a percentage of the Max: 20.0%

Default: <15>
C5-26 Motor 2 ASR Primary Delay Time OLV/PM AOLV/PM CLV/PM Min: 0.000 s 194
(35BH) Constant
Sets the filter time constant for the time from the speed loop to the torque command output used Max: 0.500 s
for motor 2.

Default: 0.0 Hz
C5-27 Motor 2 ASR Gain Switching OLV/PM AOLV/PM CLV/PM Min: 0.0 Hz 194
(35CH) Frequency
Sets the frequency for motor 2 used to switch between proportional gain 1 and 2, and between Max: 400.0 Hz
the integral time 1 and 2.

C5-28
Motor 2 ASR Integral Limit OLV/PM AOLV/PM CLV/PM Min: 0% 194
(35DH)
Max: 400%
Sets the ASR integral upper limit for motor 2 as a percentage of rated load torque.

C5-32 Integral Operation during Accel/
Min: 0 195
(361H) Decel for Motor 2 0: Disabled. Integral functions for motor 2 are enabled only during constant speed. Max: 1
1: Enabled. Integral functions are always enabled for motor 2, during accel/decel and during
constant speed.

Default: <9>
Motor 2 Inertia Min: 0.0001 kgm2 195
(278H)
Sets the inertia of motor 2 alone without the load. This value is automatically set during ASR or Max: 600.00 kgm
2
Inertia Auto-Tuning.

Default: 1.0
Motor 2 Load Inertia Ratio Min: 0.0 195
(279H)
Sets the ratio between the motor 2 and machine inertia. This value is automatically set during Max: 6000.0
ASR or Inertia Auto-Tuning.
B.3 Parameter Table

OLV/PM AOLV/PM CLV/PM Default: 0.000 s
C5-39 ASR Primary Delay Time Constant
Min: 0.000 s 195
(30DH) 2 Sets the filter time constant in seconds for the time from the speed loop to the torque reference Max: 0.500 s
output when the Power KEB Ride-Thru is enabled (L2-29 = 1).
<14> Default setting value is dependent on the motor code set to E5-01.
<15> Default setting is determined by the control mode for motor 2 (E3-01).
 C6: Carrier Frequency

All Modes
0: Heavy Duty (HD)
Default: 0
C6-01 Over load capability: 150% of drive rated Heavy Duty current for 60 s
Drive Duty Mode Selection Min: 0 195
(223H) Default Carrier Frequency: 2 kHz
Max: 1
1: Normal Duty (ND)
Over load capability: 120% of drive rated Normal Duty current for 60 s
Default Carrier Frequency: 2 kHz Swing PWM
All Modes
1: 2.0 kHz
2: 5.0 kHz (4.0 kHz)
3: 8.0 kHz (6.0 kHz)
4: 10.0 kHz (8.0 kHz)
5: 12.5 kHz (10.0 kHz)
Default: <4>
C6-02 6: 15.0 kHz (12.0 kHz)
Carrier Frequency Selection Min: 1 196
(224H) 7: Swing PWM1 (Audible sound 1)
Max: F
8: Swing PWM2 (Audible sound 2)
9: Swing PWM3 (Audible sound 3)
A: Swing PWM4 (Audible sound 4)
B to E: No setting possible
F: User defined (determined by C6-03 through C6-05)
Note: 1. The available settings are 1, 2, and F for models CIMR-A4A0930 and 4A1200.
2. The value in parenthesis indicates the carrier frequency for AOLV/PM.

C6-03
Carrier Frequency Upper Limit C6-04 and C6-05 are available only in V/f and V/f w/PG control modes. Min: 1.0 kHz 197
(225H)
Determines the upper and lower limits for the carrier frequency. Max: 15.0 kHz
In OLV, C6-03 determines the upper limit of the carrier frequency.
Carrier Frequency
Default: <13>
C6-04
Carrier Frequency Lower Limit Min: 1.0 kHz 197
(226H) C6-03
Max: 15.0 kHz
C6-04 Output Frequency
× (C6-05) × K
Output
Default: <13>
C6-05 Carrier Frequency Proportional E1-04 Frequency
Min: 0 197
(227H) Gain Max Output
Frequency Max: 99
Note: The setting range is 1.0 to 5.0 kHz for models CIMR-A4A0515 to 4A1200.

C6-09 Carrier Frequency during
Min: 0 197
(22BH) Rotational Auto-Tuning 0: Carrier Frequency = 5 kHz <74> Max: 1
1: Setting value for C6-03 <75>
<13> Default setting value is dependent on the carrier frequency selection (C6-02).
<74> In PM control mode, this value is 2 kHz.
<75> In PM control mode, this value is the carrier frequency that is set in C6-02.
Parameter List
B.3 Parameter Table
 d: References
Reference parameters are used to set the various frequency reference values during operation.
 d1: Frequency Reference
d1-01
(280H)
Frequency Reference 1 198
d1-02
(281H)
d1-03
(282H)
d1-04
(283H)
d1-05
(284H)
d1-06
(285H)
d1-07
(286H)
d1-08
(287H)
All Modes Default: 0.00 Hz
Min: 0.00 Hz
Sets the frequency reference for the drive. Setting units are determined by parameter o1-03.
d1-09 Max: 400.00 Hz
Note: The value set to o1-03 is changed to 1 and the unit is changed to percentage automatically
(288H) <20> <63>
Frequency Reference 9 when A1-02 is set to 6 or 7 198
d1-10
(28BH)
d1-11
(28CH)
d1-12
(28DH)
d1-13
(28EH)
d1-14
(28FH)
d1-15
(290H)
d1-16
(291H)
d1-17 Default: 6.00 Hz

(292H) All Modes Min: 0.00 Hz
Jog Frequency Reference 198
Max: 400.00 Hz
Sets the jog frequency reference. Setting units are determined by parameter o1-03.
<20> <63>
<20> Range upper limit is determined by the maximum output frequency (E1-04) and the upper limit of the frequency reference (d2-01).
<63> The value of o1-03 is changed to 1 and the unit is also changed to a percentage (%) when the control mode is set to CLV/PM or AOLV/PM.
B.3 Parameter Table
 d2: Frequency Upper/Lower Limits

Default: 100.0%
d2-01 All Modes
Frequency Reference Upper Limit Min: 0.0% 200
(289H)
Sets the frequency reference upper limit as a percentage of the maximum output frequency. Max: 110.0%
Default: 0.0%
d2-02 All Modes
Frequency Reference Lower Limit Min: 0.0% 200
(28AH)
Sets the frequency reference lower limit as a percentage of the maximum output frequency. Max: 110.0%

d2-03 Master Speed Reference Lower
Min: 0.0% 200
(293H) Limit Sets the lower limit for frequency references from analog inputs as a percentage of the
Max: 110.0%
maximum output frequency.
 d3: Jump Frequency

d3-01
Jump Frequency 1 All Modes 200
(294H)
d3-02 Eliminates problems with resonant vibration of the motor/machine by avoiding continuous Default: <10> <67>
Jump Frequency 2 operation in predefined frequency ranges. The drive accelerates and decelerates the motor Min: 0.0 Hz <67> 200
(295H)
through the prohibited frequency ranges. Max: 400.0 Hz <67>
d3-03 Setting 0.0 disables this function.
Jump Frequency 3 200
(296H) Parameters must not be overlapped.
Default: <10>
d3-04 All Modes
Jump Frequency Width Min: 0.0 Hz 200
(297H)
Sets the dead-band width around each selected prohibited frequency reference point. Max: 20.0 Hz
<67> Default setting is 0.0% and setting range is 0.0 to 100.0% in AOLV/PM or CLV/PM.
<68> Default setting is 1.0% and setting range is 0.0 to 40.0% in AOLV/PM or CLV/PM.
 d4: Frequency Reference Hold and Up/Down 2 Function


d4-01 Frequency Reference Hold
Min: 0 201
(298H) Function Selection 0: Disabled. Drive starts from zero when the power is switched on.
Max: 1
1: Enabled. At power up, the drive starts the motor at the Hold frequency that was saved.
d4-03
(2AAH) Frequency Reference Bias Step
Min: 0.00 Hz 203
(Up/Down 2) Sets the bias added to the frequency reference when the Up 2 and Down 2 digital inputs are
Max: 99.99 Hz
enabled (H1- = 75, 76).
d4-04
(2ABH) Frequency Reference Bias Accel/
Min: 0 204
Decel (Up/Down 2) 0: Use selected accel/decel time.
Max: 1
1: Use accel/decel time 4 (C1-07 and C1-08).
d4-05 All Modes

Frequency Reference Bias Default: 0
(2ACH)
Operation Mode Selection (Up/ 0: Bias value is held if no input Up 2 or Down 2 is active. Min: 0 204
Down 2) 1: When the Up 2 reference and Down 2 reference are both on or both off, the applied bias Max: 1
becomes 0. The specified accel/decel times are used for acceleration or deceleration.

d4-06 Frequency Reference Bias (Up/
Min: -99.9% 204
(2ADH) Down 2) The Up/Down 2 bias value is saved in d4-06 when the frequency reference is not input by the
Max: 100.0%
digital operator. Set as a percentage of the maximum output frequency.
All Modes
d4-07
Default: 1.0%
(2AEH) Analog Frequency Reference Limits how much the frequency reference is allowed to change while an input terminal set for
Min: 0.1% 205
Fluctuation Limit (Up/Down 2) Up 2 or Down 2 is enabled. If the frequency reference changes for more than the set value, then
Max: 100.0%
the bias value is held and the drive accelerates or decelerates to the frequency reference. Set as a
percentage of the maximum output frequency.
Default: 100.0%
d4-08
All Modes (S1012 and before:
(2AFH) Frequency Reference Bias Upper
0.00%) 205
Limit (Up/Down 2) Sets the upper limit for the bias and the value that can be saved in d4-06. Set as a percentage of
Min: 0.0%
the maximum output frequency.
Max: 100.0%
d4-09
(2B0H) Frequency Reference Bias Lower
Min: -99.9% 205
Parameter List
Limit (Up/Down 2) Sets the lower limit for the bias and the value that can be saved in d4-06. Set as a percentage of
Max: 0.0%
the maximum output frequency.

d4-10 Up/Down Frequency Reference
Min: 0 205
(2B6H) Limit Selection 0: The lower limit is determined by d2-02 or an analog input.
Max: 1
1: The lower limit is determined by d2-02.
B.3 Parameter Table
All Modes
Enables or disables the conversion of frequency reference or PID output value into
Default: 0
d4-11 bi-directional internal frequency reference.
Bi-Directional Output Selection Min: 0 206
(2B7H) 0: Disabled - Operation in the selected direction between 0 to 100% frequency. reference or PID
Max: 1
output
1: Enabled - Operation in reverse direction when frequency reference or PID output <50%, else
operation in the selected direction.
Default: 1.00
d4-12 All Modes
Stop Position Gain Min: 0.50 206
(2B8H)
Sets the gain used by the simple positioning stop function in order to fine adjust the position. Max: 2.55
 d5: Torque Control


d5-01
Torque Control Selection Min: 0 209
(29AH) 0: Speed Control Max: 1
1: Torque Control
Set to 0 when using a digital input to switch between Speed and Torque Control (H1- = 71).

Default: 0 ms
d5-02 OLV/PM AOLV/PM CLV/PM
Torque Reference Delay Time Min: 0 ms 209
(29BH)
Sets a delay time for the torque reference signal. Used to suppress effects by noisy or fluctuating Max: 1000 ms
torque reference signals.

Default: 1
Speed Limit Selection Min: 1 209
(29CH)
1: Limit set by the frequency reference in b1-01. Max: 2
2: Limit set by d5-04.

d5-04
Speed Limit Min: -120% 210
(29DH) Sets the speed limit during Torque Control as a percentage of the maximum output frequency. Max: 120%
Enabled when d5-03 = 2. A negative setting set a limit in the opposite direction of the Run
command.

Default: 10%
Speed Limit Bias Min: 0% 210
(29EH)
Sets the speed limit bias as a percentage of the maximum output frequency. Max: 120%
The bias is applied to the specified speed limit and can adjust the margin for the speed limit.

Default: 0 ms
d5-06 Speed/Torque Control Switchover OLV/PM AOLV/PM CLV/PM Min: 0 ms 210
(29FH) Time
Sets the delay time for switching between Speed and Torque Control using an input terminal Max: 1000 ms
(H1- = 71). Reference values are held during this switch delay time.

Default: 1
Unidirectional Speed Limit Bias Min: 0 210
(2B5H)
0: Disabled Max: 1
1: Enabled
B.3 Parameter Table
 d6: Field Weakening and Field Forcing


d6-01
Field Weakening Level Min: 0% 210
(2A0H) Sets the drive output voltage for the Field Weakening function as a percentage of the maximum Max: 100%
output voltage.
Enabled when a multi-function input is set for Field Weakening (H1- = 63).

OLV/PM AOLV/PM CLV/PM Default: 0.0 Hz
d6-02
Field Weakening Frequency Limit Min: 0.0 Hz 210
(2A1H) Sets the lower limit of the frequency range where Field Weakening control is valid. Max: 400.0 Hz
The Field Weakening command is valid only at frequencies above this setting and only when
the output frequency matches the frequency reference (speed agree).

Default: 0
Field Forcing Selection Min: 0 211
(2A2H)
0: Disabled Max: 1
1: Enabled

Default: 400%
Field Forcing Limit Min: 100% 211
(2A5H)
Sets the upper limit of the excitation current command during magnetic field forcing. A setting Max: 400%
of 100% is equal to motor no-load current. Disabled only during DC Injection Braking.
 d7: Offset Frequency

d7-01
(2B2H)
Offset Frequency 1 Min: -100.0% 211
Added to the frequency reference when the digital input “Frequency offset 1” (H1- = 44) is
Max: 100.0%
switched on. A setting of 100% is equal to the drive maximum output current.
d7-02
(2B3H)
Max: 100.0%
d7-03
(2B4H)
Max: 100.0%
 E: Motor Parameters
 E1: V/f Pattern for Motor 1
All Modes
E1-01 Default: 200 V <18>
This parameter must be set to the power supply voltage.
Input Voltage Setting Min: 155 V 212
(300H) WARNING! Drive input voltage (not motor voltage) must be set in E1-01 for the
Max: 255 V
protective features of the drive to function properly. Failure to do so may result in
equipment damage and/or death or 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
5: 50 Hz, Variable torque 2 Default: F <3>
E1-03 6: 60 Hz, Variable torque 3
V/f Pattern Selection Min: 0 212
(302H) 7: 60 Hz, Variable torque 4 Max: F
8: 50 Hz, High starting torque 1
9: 50 Hz, High starting torque 2
Parameter List
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
Note: Setting F is only available in vector control modes.
B
B.3 Parameter Table

Default: <4> <14>
E1-04
Maximum Output Frequency Min: 40.0 Hz 216
(303H)
Max: 400.0 Hz <29>
All Modes Default: <4> <14> <18>
E1-05
Maximum Voltage E1-04, E1-06 to E1-13 can only be changed when E1-03 is set to F. Min: 0.0 V 216
(304H)
To set linear V/f characteristics, set the same values for E1-07 and E1-09. In this case, the Max: 255.0 V <18>
setting for E1-08 will be disregarded. Ensure that the four frequencies are set according to these Default: <4> <14>
E1-06
Base Frequency rules or an oPE10 fault will occur: Min: 0.0 216
(305H)
E1-09 ≤ E1-07 < E1-06 ≤ E1-11 ≤ E1-04 Max: E1-04 <29>
Note that if E1-11 = 0, then both E1-11 and E1-12 are disabled, and the above conditions do not Default: <4>
E1-07 apply.
Middle Output Frequency Min: 0.0 216
(306H)
Output Voltage (V) Max: E1-04
E1-05 Default: <4> <18>
E1-08
Middle Output Frequency Voltage E1-12 Min: 0.0 V 216
(307H)
Max: 255.0 V <18>
E1-13
Default: <4> <14>
E1-09
Minimum Output Frequency Min: 0.0 216
(308H)
Max: E1-04 <29>
E1-08
Default: <4> <18>
E1-10 Minimum Output Frequency
Min: 0.0 V 216
(309H) Voltage E1-10 Max: 255.0 V <18>
E1-11 E1-09 E1-07 E1-06 E1-11 E1-04 Default: 0.0 Hz
(30AH) Middle Output Frequency 2 Frequency (Hz) Min: 0.0 Hz 216
<21> Note: Some parameters may not be available depending on the control mode. Max: E1-04
E1-12 • E1-07, E1-08 and E1-10 are available only in the following control modes: V/f Control, V/f Default: 0.0 V
Middle Output Frequency Voltage with PG, Open Loop Vector.
(30BH) Min: 0.0 V 216
2 • E1-11, E1-12 and E1-13 are available only in the following control modes: V/f Control, V/f
<21> Max: 255.0 V <18>
with PG, Open Loop Vector, Closed Loop Vector.
E1-13 Default: 0.0 V <18>
(30CH) Base Voltage Min: 0.0 V 216
<27> Max: 255.0 V <18>
<3> Parameter setting value is not reset to the default value when the drive is initialized.
<21> 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.
<27> When E1-13 (Base Voltage) is set to 0.0, output voltage is controlled with E1-05 (Maximum Voltage) = E1-13. When Auto-Tuning is
performed, E1-05 and E1-13 are automatically set to the same value.
<29> The setting range varies according to the motor code entered to E5-01 when using OLV/PM. The setting range is 0.0 to 400.0 Hz when E5-01
is set to FFFF.
 E2: Motor 1 Parameters

Default: <9>
V/f V/f w/PG OLV CLV Min: 10% of drive rated
E2-01
Motor Rated Current OLV/PM AOLV/PM CLV/PM current 216
(30EH)
Max: 200% of drive
Sets the motor nameplate full load current in Amps. Automatically set during Auto-Tuning. rated current <19>

E2-02
Motor Rated Slip OLV/PM AOLV/PM CLV/PM Min: 0.00 Hz 217
(30FH)
Max: 20.00 Hz
Sets the motor rated slip. Automatically set during Auto-Tuning.

E2-03
Motor No-Load Current OLV/PM AOLV/PM CLV/PM Min: 0 A 217
(310H)
Max: E2-01 <19>
Sets the no-load current for the motor. Automatically set during Auto-Tuning.

E2-04
Number of Motor Poles OLV/PM AOLV/PM CLV/PM Min: 2 217
(311H)
Max: 48
Sets the number of motor poles. Automatically set during Auto-Tuning.

Default: <9>
E2-05
Motor Line-to-Line Resistance OLV/PM AOLV/PM CLV/PM Min: 0.000 Ω 217
(312H)
Sets the phase-to-phase motor resistance. Automatically set during Auto-Tuning. Max: 65.000 Ω
Note: The units are expressed in mΩ in models CIMR-A4A0930 and 4A1200.

Default: <9>
E2-06 OLV/PM AOLV/PM CLV/PM
Motor Leakage Inductance Min: 0.0% 217
(313H)
Sets the voltage drop due to motor leakage inductance as a percentage of motor rated voltage. Max: 40.0%
Automatically set during Auto-Tuning.

Default: 0.50
E2-07 Motor Iron-Core Saturation OLV/PM AOLV/PM CLV/PM Min: 0.00 218
(314H) Coefficient 1
Sets the motor iron saturation coefficient at 50% of magnetic flux. Automatically set during Max: 0.50
Auto-Tuning.
B.3 Parameter Table

Default: 0.75
E2-08 Motor Iron-Core Saturation OLV/PM AOLV/PM CLV/PM Min: E2-07 218
(315H) Coefficient 2
Sets the motor iron saturation coefficient at 75% of magnetic flux. Automatically set during Max: 0.75
Auto-Tuning.

E2-09
Motor Mechanical Loss OLV/PM AOLV/PM CLV/PM Min: 0.0% 218
(316H)
Max: 10.0%
Sets the motor mechanical loss as a percentage of motor rated power (kW).

E2-10 Motor Iron Loss for Torque
OLV/PM AOLV/PM CLV/PM Min: 0 W 218
(317H) Compensation
Max: 65535 W
Sets the motor iron loss.

E2-11
Motor Rated Power OLV/PM AOLV/PM CLV/PM Min: 0.00 kW 218
(318H)
Max: 650.00 kW
Sets the motor rated power in kilowatts. Automatically set during Auto-Tuning.
 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).

E3-01
Motor 2 Control Mode Selection 0: V/f Control Min: 0 219
(319H)
1: V/f Control with PG Max: 3
2: Open Loop Vector Control
3: Closed Loop Vector Control
Default: <25>
E3-04 Motor 2 Maximum Output
Min: 40.0 Hz 220
(31AH) Frequency
Max: 400.0 Hz
Default: <18>
E3-05
Motor 2 Maximum Voltage V/f V/f w/PG OLV CLV Min: 0.0 V 220
(31BH)
Max: 255.0 V <18>
Default: <25>
E3-06 To set linear V/f characteristics, set the same values for E3-07 and E3-09. In this case, the
Motor 2 Base Frequency Min: 0.0 Hz 220
(31CH) setting for E3-08 will be disregarded. Ensure that the five frequencies are set according to these
Max: E3-04
rules or an oPE10 fault will occur:
E3-09 ≤ E3-07 < E3-06 ≤ Ε3−11 ≤ E3-04 Default: <25>
E3-07
Motor 2 Mid Output Frequency Note that if E3-11 = 0, then both E3-11 and E3-12 are disabled, and the above conditions do not Min: 0.0 Hz 220
(31DH)
apply. Max: E3-04
Default: <18> <25>
E3-08 Motor 2 Mid Output Frequency Output Voltage (V)
Min: 0.0 V 220
(31EH) Voltage E3-05
E3-12 Max: 255.0 V <18>
Default: <25>
E3-09 Motor 2 Minimum Output E3-13 Min: 0.0 Hz 220
(31FH) Frequency
Max: E3-04
Default: <18> <25>
E3-10 Motor 2 Minimum Output E3-08 Min: 0.0 V 220
(320H) Frequency Voltage
Max: 255.0 V <18>
E3-11 E3-10 Default: 0.0 Hz <24>
(345H) Motor 2 Mid Output Frequency 2 Min: 0.0 Hz 220
E3-09 E3-07 E3-06 E3-11 E3-04
<24> Max: E3-04
Frequency (Hz)
E3-12 Default: 0.0 V
Motor 2 Mid Output Frequency Note: E3-07 and E3-08 are only available in the following control modes:
(346H) Min: 0.0 V 220
Voltage 2 V/f, V/f w/PG and OLV.
<24> Max: 255.0 V <18>
E3-13 Default: 0.0 V
(347H) Motor 2 Base Voltage Min: 0.0 V 220
<61> Max: 255.0 V <18>
Parameter List
<24> 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.
<25> Default setting depends on the control mode for motor 2 set in parameter E3-01. The value shown here is for V/f Control.
<27> When E1-13 (Base Voltage) is set to 0.0, output voltage is controlled with E1-05 (Maximum Voltage) = E1-13. When Auto-Tuning is
performed, E1-05 and E1-13 are automatically set to the same value.
<61> When E3-13, Motor 2 Base Voltage, is set to 0.0, output voltage is controlled with E3-05, Motor 2 Maximum Voltage, = E3-13. When B
Auto-Tuning is performed, E3-05 and E3-13 are automatically set to the same value.
B.3 Parameter Table
 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: <9>
E4-01
Motor 2 Rated Current OLV/PM AOLV/PM CLV/PM current 220
(321H)
Max: 200% of drive
Sets the full load current for motor 2. Automatically set during Auto-Tuning. rated current <19>

E4-02
Motor 2 Rated Slip OLV/PM AOLV/PM CLV/PM Min: 0.00 Hz 221
(322H)
Max: 20.00 Hz
Sets the rated slip for motor 2. Automatically set during Auto-Tuning.

E4-03
Motor 2 Rated No-Load Current OLV/PM AOLV/PM CLV/PM Min: 0 A 221
(323H)
Max: E4-01 <19>
Sets the no-load current for motor 2. Automatically set during Auto-Tuning.

E4-04
Motor 2 Motor Poles OLV/PM AOLV/PM CLV/PM Min: 2 221
(324H)
Max: 48
Sets the number of poles of motor 2. Automatically set during Auto-Tuning.

Default: <9>
E4-05
Motor 2 Line-to-Line Resistance OLV/PM AOLV/PM CLV/PM Min: 0.000 Ω 221
(325H)
Sets the phase-to-phase resistance for motor 2. Automatically set during Auto-Tuning. Max: 65.000 Ω
Note: The units are expressed in mΩ in models CIMR-A4A0930 and 4A1200.

Default: <9>
Motor 2 Leakage Inductance Min: 0.0% 221
(326H)
Sets the voltage drop for motor 2 due to motor leakage inductance as a percentage of rated Max: 40.0%
voltage. Automatically set during Auto-Tuning.

Default: 0.50
E4-07 Motor 2 Motor Iron-Core OLV/PM AOLV/PM CLV/PM Min: 0.00 221
(343H) Saturation Coefficient 1
Set to the motor iron saturation coefficient at 50% of magnetic flux for motor 2. Automatically Max: 0.50
set during Auto-Tuning.

Default: 0.75
E4-08 Motor 2 Motor Iron-Core OLV/PM AOLV/PM CLV/PM Min: E4-07 222
(344H) Saturation Coefficient 2
Set to the motor iron saturation coefficient at 75% of magnetic flux for motor 2. This value is Max: 0.75
automatically set during Auto-Tuning.

Default: 0.0%
Motor 2 Mechanical Loss Min: 0.0% 222
(33FH)
There is normally no need to change this parameter from the default value. Max: 10.0%
Sets the motor mechanical loss for motor 2 as a percentage of motor rated power (kW).

E4-10
Motor 2 Iron Loss OLV/PM AOLV/PM CLV/PM Min: 0 W 222
(340H)
Max: 65535 W
Sets the motor iron loss.

E4-11
Motor 2 Rated Power OLV/PM AOLV/PM CLV/PM Min: 0.00 kW 222
(327H)
Max: 650.00 kW
Sets the motor rated capacity in kW. Automatically set during Auto-Tuning.
B.3 Parameter Table
 E5: PM Motor Settings


E5-01 Enter the Yaskawa motor code for the PM motor being used. Various motor parameters are Default: <4>
Motor Code Selection automatically set based on the value of this parameter. Setting that were changed manually will Min: 0000
(329H) 223
(for PM Motors) be overwritten by the defaults of the selected motor code.
<3> Max: FFFF <28>
Note: 1. Set to FFFF when using a non-Yaskawa PM motor or a special motor.
2. If an alarm or hunting occurs even though a motor code is used, enter the value
indicated on the nameplate. For more details, refer to Auto-Tuning for Permanent
Magnet Motors on page 119.
E5-02 V/f V/f w/PG OLV CLV Default: <14>

Motor Rated Power
(32AH) OLV/PM AOLV/PM CLV/PM Min: 0.10 kW 223
(for PM Motors)
<3> Max: 650.00 kW
Sets the rated capacity of the motor.
Default: <14>
E5-03 V/f V/f w/PG OLV CLV Min: 10% of drive rated
Motor Rated Current
(32BH) OLV/PM AOLV/PM CLV/PM current 223
(for PM Motors)
<3> Max: 200% of drive
Sets the motor rated current. rated current <19>

Number of Motor Poles
(32CH) OLV/PM AOLV/PM CLV/PM Min: 2 223
(for PM Motors)
<3> Max: 48
Sets the number of motor poles.

Motor Stator Resistance
(32DH) OLV/PM AOLV/PM CLV/PM Min: 0.000 Ω 223
(for PM Motors)
<3> Max: 65.000 Ω
Set the resistance for each motor phase.

Motor d-Axis Inductance
(32EH) OLV/PM AOLV/PM CLV/PM Min: 0.00 mH 223
(for PM Motors)
<3> Max: 300.00 mH
Sets the d-axis inductance for the PM motor.

Motor q-Axis Inductance
(32FH) OLV/PM AOLV/PM CLV/PM Min: 0.00 mH 224
(for PM Motors)
<3> Max: 600.00 mH
Sets the q-axis inductance for the PM motor.

E5-09
Motor Induction Voltage Min: 0.0 mV/(rad/s)
(331H) Set the induced phase peak voltage in units of 0.1 mV/(rad/s) [electrical angle]. Set this 224
Constant 1 (for PM Motors) Max:
<3> parameter when using a Yaskawa SSR1 Series PM motor with derated torque, or a Yaskawa 2000.0 mV/(rad/s)
SST4 Series motor with constant torque.
When setting this parameter, E5-24 should be set to 0.

Default: 0.0 deg
E5-11 Encoder Z-pulse Offset OLV/PM AOLV/PM CLV/PM Min: -180 deg 224
(333H) (for PM Motors)
Sets the offset between the rotor magnetic axis and the Z pulse of an incremental encoder. Set Max: 180 deg
during Z Pulse Offset Tuning.

E5-24 OLV/PM AOLV/PM CLV/PM Min:
Motor Induction Voltage
(353H) 0.0 mV/(min-1) 224
Constant 2 (for PM Motors) Set the induced phase-to-phase rms voltage in units of 0.1 mV/(min-1) [mechanical angle]. Set
<3> Max:
this parameter when using a Yaskawa SMRA Series SPM motor. 6500.0 mV/(min-1)
When setting this parameter, E5-09 should be set to 0.

Polarity Switch for Initial There is normally no need to change this parameter from the default value. Default: 0
E5-25 Switches polarity for initial polarity estimation.
Polarity Estimation Min: 0 224
(35EH) If "Sd=1" is listed on the nameplate or in a test report for a Yaskawa motor, E5-25 should be set Max: 1
(for PM Motors)
to 1.
Note: Available control mode for parameter E5-25 varies by drive model:
CIMR-A4A0930 and 4A1200: Available when A1-02 = 5, 6, or 7
Parameter List
<28> Selection may vary depending on the motor code entered to E5-01. B
B.3 Parameter Table
 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-F3/PG-RT3/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 connector CN5-C of the drive. They include “PG 1” in the parameter name.
Parameters F1-31 through F1-37 are used to set up a PG option card plugged into option connector 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 connector CN5-C and CN5-B.

F1-01
PG 1 Pulses Per Revolution Min: 1 ppr 225
(380H) Sets the number of PG (pulse generator or encoder) pulses. Max: 60000 ppr
Sets the number of pulses per motor revolution.
Note: Setting range is 0 to 15000 ppr when A1-02 = 5, 6, 7 (PM control mode).

0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02. Default: 1
F1-02 Operation Selection at PG Open
1: Coast to stop. Min: 0 225
(381H) Circuit (PGo)
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09. Max: 4
3: Alarm only.
4: No alarm display.
Note: Depending on the motor speed and load conditions, an error such as ov or oC may occur.

0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02. Default: 1
F1-03 Operation Selection at Overspeed
1: Coast to stop. Min: 0 225
(382H) (oS)
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09. Max: 3
3: Alarm only.
Note: In AOLV/PM, the motor will coast to a stop (F1-03 = 1). The setting for F1-03 cannot be
changed to 0, 2, or 3.

F1-04
Operation Selection at Deviation 0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02. Min: 0 226
(383H)
1: Coast to stop. Max: 3
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
3: Alarm only.

Default: <10>
F1-05 OLV/PM AOLV/PM CLV/PM
PG 1 Rotation Selection Min: 0 226
(384H)
0: Pulse A leads Max: 1
1: Pulse B leads

Default: 001
F1-06 PG 1 Division Rate for PG Pulse Sets the division ratio for the pulse monitor used of the PG option card installed to connector Min: 001 226
(385H) Monitor CN5-C. When setting for a three-digit number “xyz”, the division ratio becomes = [(1 + x) / yz]. Max: 132
If only using the A pulse for one track input, then the input ratio will be 1:1, regardless of what
F1-06 is set to.
Note: Values 033 to 101 are not available.

F1-08
Overspeed Detection Level OLV/PM AOLV/PM CLV/PM Min: 0% 225
(387H)
Max: 120%
Sets the overspeed detection level as a percentage of the maximum output frequency.

F1-09
Overspeed Detection Delay Time OLV/PM AOLV/PM CLV/PM Min: 0.0 s 225
(388H)
Max: 2.0 s
Sets the time in seconds for an overspeed situation to trigger a fault (oS).

F1-10 Excessive Speed Deviation
(389H) Detection Level
Max: 50%
Sets the speed deviation detection level as a percentage of the maximum output frequency.

F1-11 Excessive Speed Deviation
(38AH) Detection Delay Time
Max: 10.0 s
Sets the time in seconds for a speed deviation situation to trigger a fault (dEv).
B.3 Parameter Table

Default: 0
F1-12
PG 1 Gear Teeth 1 V/f V/f w/PG OLV CLV Min: 0 226
(38BH)
Max: 1000
Default: 0
F1-13 Sets the gear ratio between the motor shaft and the encoder (PG).
PG 1 Gear Teeth 2 Min: 0 226
(38CH) A gear ratio of 1 will be used if either of these parameters is set to 0. Max: 1000

F1-14
PG Open-Circuit Detection Time OLV/PM AOLV/PM CLV/PM Min: 0.0 s 225
(38DH)
Max: 10.0 s
Sets the time required to trigger a PG Open fault (PGo).

Default: 10
dv3 Detection Selection Min: 0 227
(3ADH)
0: Disabled Max: 10
1: Enabled

Default: 128
dv4 Detection Selection Min: 0 227
(3AEH)
0: Disabled Max: 5000
n: Number of pulses that the A and B pulse are reversed that triggers dv4 detection.

Default: 1
F1-20 PG Option Card Disconnect OLV/PM AOLV/PM CLV/PM Min: 0 227
(3B4H) Detection 1
0: Disabled Max: 1
1: Enabled

Default: 0
PG 1 Signal Selection Min: 0 227
(3BCH)
0: A pulse detection Max: 1
1: AB pulse detection

Default: 1
F1-30 PG Card Option Port for Motor 2 OLV/PM AOLV/PM CLV/PM
Min: 0 227
(3AAH) Selection Sets the port for the PG option card used by motor 2. Max: 1
0: CN5-C
1: CN5-B
V/f V/f w/PG OLV CLV Default: 1024 ppr

F1-31
PG 2 Pulses Per Revolution OLV/PM AOLV/PM CLV/PM Min: 1 ppr 225
(3B0H)
Max: 60000 ppr
Sets the number of pulses for a PG option card connected to port CN5-B.

Default: 0
PG 2 Rotation Selection Min: 0 226
(3B1H)
0: Pulse A leads Max: 1
1: Pulse B leads
Default: 0
F1-33
PG 2 Gear Teeth 1 V/f V/f w/PG OLV CLV Min: 0 226
(3B2H)
Max: 1000
Default: 0
F1-34 Sets the gear ratio between the motor shaft and the encoder (PG).
PG 2 Gear Teeth 2 Min: 0 226
(3B3H) A gear ratio of 1 will be used if either of these parameters is set to 0. Max: 1000

F1-35 PG 2 Division Rate for Pulse
Min: 001 226
(3BEH) Monitor Sets the division ratio for the pulse monitor used of the PG option card 2 installed to connector Max: 132
CN5-B. By setting for a three-digit number: xyz, the division ratio becomes = [(1 + x) / yz].
Note: Values 033 to 101 are not available.

Default: 1
F1-36 PG Option Card Disconnect OLV/PM AOLV/PM CLV/PM Min: 0 227
(3B5H) Detection 2
0: Disabled Max: 1
1: Enabled

Default: 0
PG 2 Signal Selection Min: 0 227
(3BDH)
Max: 1
Parameter List
0: A pulse detection
1: AB pulse detection

Selects the encoder connected the PG-F3 option.
0: EnDat 2.1/01, 2.2/01 Serial Communication + Sin/Cos Default: 0
F1-50
(3D2H)
Encoder Selection 1: EnDat 2.2/22 Serial Communication Min: 0
Max: 2
228 B
2: Hiperface
Note: 1. This parameter is not available with models CIMR-A4A0930 and 4A1200.
2. The use of EnDat2.2/22 encoders requires a PG-F3 option with software version 0102
or later. To identify the PG-F3 software version refer to the PG-F3 labeling in the field
designated “C/N” (S + four digit number).
B.3 Parameter Table

Default: 80%
PGoH Detection Level Min: 1% 228
(3D3H)
Sets the level for detecting PG Hardware Fault (PGoH). Available when F1-20 = 1 Max: 100%

Selects the communication speed between the PG-F3 option and serial encoder. Default: 0
F1-52 Communication Speed of Serial
0: 1M bps/9600 bps (EnDat 2.2/22 / Hiperface) Min: 0 228
(3D4H) Encoder Selection
1: 500k bps/19200 bps (EnDat 2.2/22 / Hiperface) Max: 3
2: 1M bps/38400 bps (EnDat 2.2/22 / Hiperface)
3: 1M bps/38400 bps (EnDat 2.2/22 / Hiperface)
 F2: Analog Input Card (AI-A3)

All Modes
Default: 0
F2-01 Analog Input Option Card
0: Option card input terminals V1, V2, and V3 replace drive input terminals A1, A2, and A3. Min: 0 228
(38FH) Operation Selection
1: Input signals to terminals V1, V2, and V3 are added together to create the frequency Max: 1
reference.
F2-02
Default: 100.0%
(368H) All Modes
Analog Input Option Card Gain Min: -999.9% 229
Sets the gain for the input signal to the analog card. Max: 999.9%
F2-03
Default: 0.0%
(369H) All Modes
Analog Input Option Card Bias Min: -999.9% 229
Sets the bias for the input signal to the analog card. Max: 999.9%
 F3: Digital Input Card (DI-A3)

All Modes
0: BCD, 1% units
1: BCD, 0.1% units
2: BCD, 0.01% units
3: BCD, 1 Hz units
4: BCD, 0.1 Hz units
Default: 0
F3-01 Digital Input Option Card Input 5: BCD, 0.01 Hz units
Min: 0 229
(390H) Selection 6: BCD customized setting (5 digit), 0.02 Hz units
Max: 7
7: Binary input
The unit and the setting range are determined by F3-03.
F3-03 = 0: 255/100% (-255 to+255)
F3-03 = 1: 40961/100% (-4095 to +4095)
F3-03 = 2: 30000/100% (-33000 to+33000)
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.
All Modes
Default: 2
F3-03 Digital Input Option DI-A3 Data
0: 8 bit Min: 0 229
(3B9H) Length Selection
1: 12 bit Max: 2
2: 16 bit
 F4: Analog Monitor Card (AO-A3)


F4-01
Terminal V1 Monitor Selection Min: 000 230
(391H) Sets the monitor signal for output from terminal V1. Set this parameter to the last three digits of
Max: 999
the desired U- monitor. Some U parameters are available only in certain control modes.
F4-02
Default: 100.0%
(392H) All Modes
Terminal V1 Monitor Gain Min: -999.9% 230
Sets the gain for voltage output via terminal V1. Max: 999.9%

F4-03
Terminal V2 Monitor Selection Min: 000 230
(393H) Sets the monitor signal for output from terminal V2. Set this parameter to the last three digits of
Max: 999
the desired U- monitor. Some U parameters are available only in certain control modes.
F4-04
Default: 50.0%
(394H) All Modes
Terminal V2 Monitor Gain Min: -999.9% 230
Sets the gain for voltage output via terminal V2. Max: 999.9%
B.3 Parameter Table

F4-05
Default: 0.0%
(395H) All Modes
Terminal V1 Monitor Bias Min: -999.9% 230
Sets the amount of bias added to the voltage output via terminal V1. Max: 999.9%
F4-06
Default: 0.0%
(396H) All Modes
Terminal V2 Monitor Bias Min: -999.9% 230
Sets the amount of bias added to the voltage output via terminal V2. Max: 999.9%
Default: 0
F4-07
Terminal V1 Signal Level Min: 0 230
(397H) All Modes Max: 1
0: 0 to 10 V Default: 0
F4-08 1: -10 to 10 V
Terminal V2 Signal Level Min: 0 230
(398H)
Max: 1
 F5: Digital Output Card (DO-A3)

Default: 0
F5-01
Terminal P1-PC Output Selection Min: 0 231
(399H)
Max: 192
Default: 1
F5-02
(39AH)
Max: 192
Default: 2
F5-03
(39BH)
Max: 192
Default: 4
F5-04
(39CH) All Modes Max: 192
Sets the function for contact output terminals M1-M2, M3-M4, and photocoupler output Default: 6
F5-05 terminals P1 through P6.
(39DH)
Max: 192
Default: 37
F5-06
(39EH)
Max: 192
Default: F
F5-07
Terminal M1-M2 Output Selection Min: 0 231
(39FH)
Max: 192
Default: F
F5-08
Terminal M3-M4 Output Selection Min: 0 231
(3A0H)
Max: 192
All Modes
Default: 0
F5-09
DO-A3 Output Mode Selection 0: Output terminals are each assigned separate output functions. Min: 0 231
(3A1H)
1: Binary code output Max: 2
2: Use output terminal functions selected by parameters F5-01 through F5-08.
 F6: Communication Option Card (SI-C3, SI-EM3, SI-EN3, SI-ET3, SI-N3, SI-P3, SI-S3, SI-T3,
and SI-W3)
F6-01 through F6-03, F6-06 through F6-08, F6-14, and F7-16 are common settings used for CC-Link, CANopen,
DeviceNet, Ethernet/IP, PROFIBUS-DP, MECHATROLINK-II, MECHATROLINK-III, Modbus TCP/IP, and
LONWORKS option cards. Other parameters in the F6 group are used for communication protocol specific settings.
For more details on a specific option card, refer to the instruction manual for the option card.
All Modes
0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
1: Coast to stop.
Default: 1
F6-01 Communications Error Operation 2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
Min: 0 232
(3A2H) Selection 3: Alarm only.
Max: 5
4: Alarm and Run at d1-04
5: Alarm and Ramp to stop (automatic recovery)
Parameter List
Note: Take proper safety measures, such as installing an emergency stop switch, when setting
F6-01 to 3 or 4.

F6-02 External Fault from Comm. Option
Min: 0 232
(3A3H) Detection Selection 0: Always detected
Max: 1
1: Detection during run only
All Modes
Default: 1
B
F6-03 External Fault from Comm. Option 0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
Min: 0 232
(3A4H) Operation Selection 1: Coast to stop.
Max: 3
3: Alarm only.
B.3 Parameter Table

Default: 2.0 s
F6-04 All Modes
bUS Error Detection Time Min: 0.0 s –
(3A5H)
Set the delay time for error detection if a bus error occurs. Max: 5.0 s

Default: 0
F6-06 Torque Reference/Torque Limit OLV/PM AOLV/PM CLV/PM Min: 0 232
(3A7H) Selection from Comm. Option
0: Disabled. Torque reference/limit from option board disabled. Max: 1
1: Enabled. Torque reference/limit from option board enabled.
Multi-Step Speed Enable/Disable All Modes Default: 0

F6-07
Selection when NefRef/ComRef is Min: 0 232
(3A8H) 0: Multi-step reference disabled (same as F7)
Selected Max: 1
1: Multi-step reference enabled (same as V7)
All Modes
F6-08 Default: 0
0: Communication-related parameters (F6-/F7-) are not reset when the drive is
(36AH) Reset Communication Parameters Min: 0 233
initialized using A1-03.
<3> Max: 1
1: Reset all communication-related parameters (F6-/F7-) when the drive is initialized
using A1-03.
Default: 0
F6-10 All Modes
CC-Link Node Address Min: 0 –
(3B6H)
Sets the node address if a CC-Link option card is installed. Max: 64
All Modes
0: 156 Kbps Default: 0
F6-11
CC-Link Communication Speed 1: 625 Kbps Min: 0 –
(3B7H)
2: 2.5 Mbps Max: 4
3: 5 Mbps
4: 10 Mbps

F6-14
bUS Error Auto Reset Min: 0 233
(3BBH) 0: Disabled
Max: 1
1: Enabled
MECHATROLINK-II
Default: 21
Min: 20
F6-20 MECHATROLINK Station All Modes Max: 3F
–
(36BH) Address MECHATROLINK-III
Sets the station address when the MECHATROLINK option has been installed.
Default: 21
Min: 03
Max: EF
All Modes
MECHATROLINK-II
Default: 0
F6-21 0: 32 byte
MECHATROLINK Frame Size Min: 0 –
(36CH) 1: 17 byte
Max: 1
MECHATROLINK-III
0: 64 byte
1: 32 byte

F6-22
MECHATROLINK Link Speed Min: 0 –
(36DH) 0: 10 Mbps
Max: 1
1: 4 Mbps
Default: 0
F6-23 MECHATROLINK Monitor All Modes
Min: 0 –
(36EH) Selection (E)
Sets the MECHATROLINK monitor (E). Max: FFFF
Default: 0
F6-24 MECHATROLINK Monitor All Modes
Min: 0 –
(36FH) Selection (F)
Sets the MECHATROLINK monitor (F). Max: FFFF
All Modes
Operation Selection at Default: 1
F6-25 0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
MECHATROLINK Watchdog Min: 0 –
(3C9H) 1: Coast to stop.
Timer Error (E5) Max: 3
3: Alarm only.
Default: 2
F6-26 MECHATROLINK bUS Errors All Modes
Min: 2 –
(3CAH) Detected
Sets the number of option communication errors (bUS). Max: 10
Default: 0
F6-30 All Modes
PROFIBUS-DP Node Address Min: 0 –
(3CBH)
Sets the node address. Max: 125

F6-31 PROFIBUS-DP Clear Mode
Min: 0 –
(3CCH) Selection 0: Resets drive operation with a Clear mode command.
Max: 1
1: Maintains the previous operation state when Clear mode command is given.
All Modes
0: PPO Type
Default: 0
F6-32 PROFIBUS-DP Data Format 1: Conventional
Min: 0 –
(3CDH) Selection 2: PPO (w/bit 0)
Max: 5
3: PPO Type (Auto Enter)
4: Conventional (Auto Enter)
5: PPO (w/bit0, Auto Enter)
B.3 Parameter Table

Default: 0
F6-35 All Modes
CANopen Node ID Selection Min: 0 –
(3D0H)
Sets the node address. Max: 126
All Modes
0: Auto-detection
1: 10 kbps
2: 20 kbps Default: 0
F6-36
CANopen Communication Speed 3: 50 kbps Min: 0 –
(3D1H)
4: 125 kbps Max: 8
5: 250 kbps
6: 500 kbps
7: 800 kbps
8: 1 Mbps
Default: 0
F6-50 All Modes
DeviceNet MAC Address Min: 0 –
(3C1H)
Selects the drives MAC address. Max: 64
All Modes
0: 125 kbps Default: 0
F6-51
DeviceNet Communication Speed 1: 250 kbps Min: 0 –
(3C2H)
2: 500 kbps Max: 4
3: Adjustable from network
4: Detect automatically
Default: 21
F6-52 All Modes
DeviceNet PCA Setting Min: 0 –
(3C3H)
Sets the format of the data set from the DeviceNet master to the drive. Max: 255
Default: 71
F6-53 All Modes
DeviceNet PPA Setting Min: 0 –
(3C4H)
Sets the format of the data set from the drive to the DeviceNet master. Max: 255
All Modes
0: Enabled Default: 0
F6-54 DeviceNet Idle Mode Fault
1: Disabled, no fault detection Min: 0 –
(3C5H) Detection
2: Vendor Specific Max: 4
3: Forward
4: Reverse
All Modes
Default: 0
F6-55 Used to verify the baud rate running on the network.
DeviceNet Baud Rate Monitor Min: 0 –
(3C6H) 0: 125 kbps
Max: 2
1: 250 kbps
2: 500 kbps
Default: 0
F6-56 All Modes
DeviceNet Speed Scaling Min: -15 –
(3D7H)
Sets the scaling factor for the speed monitor in DeviceNet. Max: 15
Default: 0
F6-57 All Modes
DeviceNet Current Scaling Min: -15 –
(3D8H)
Sets the scaling factor for the output current monitor in DeviceNet. Max: 15
Default: 0
F6-58 All Modes
DeviceNet Torque Scaling Min: -15 –
(3D9H)
Sets the scaling factor for the torque monitor in DeviceNet. Max: 15
Default: 0
F6-59 All Modes
DeviceNet Power Scaling Min: -15 –
(3DAH)
Sets the scaling factor for the power monitor in DeviceNet. Max: 15
Default: 0
F6-60 All Modes
DeviceNet Voltage Scaling Min: -15 –
(3DBH)
Sets the scaling factor for the voltage monitor in DeviceNet. Max: 15
Default: 0
F6-61 All Modes
DeviceNet Time Scaling Min: -15 –
(3DCH)
Sets the scaling factor for the time monitor in DeviceNet. Max: 15
Default: 0
F6-62 All Modes
DeviceNet Heartbeat Interval Min: 0 –
(3DDH)
Sets the heartbeat interval for DeviceNet communications. Max: 10
Default: 0
F6-63 All Modes
DeviceNet Network MAC ID Min: 0 –
(3DEH)
Saves and monitors the settings 0 to 63 of F6-50 (DeviceNet MAC Address). Max: 63
F6-64 to
F6-71 All Modes
Reserved – –
(3DFH to
Reserved for Dynamic I/O Assembly Parameters.
3C8H)
Parameter List
B.3 Parameter Table
 F7: Communication Option Card (SI-EM3 and SI-EN3)

F7-01 through F7-42 are common settings used for Modbus TCP/IP, and Ethernet/IP option cards. Other parameters in
the F7 group are used for communication protocol specific settings.
For more details on a specific option card, refer to the instruction manual for the option card.

F7-01
(3E5H)
IP Address 1 Sets the static/fixed IP address. Min: 0 –
<44> <45>
Parameter F7-01 sets the most significant octet. Max: 255
<46>
F7-02
(3E6H)
<44> <45>
Parameter F7-02 sets the second most significant octet. Max: 255
<46>
F7-03
(3E7H)
<44> <45>
Parameter F7-03 sets the third most significant octet. Max: 255
<46>
F7-04
(3E8H)
<44> <45>
Parameter F7-04 sets the fourth most significant octet. Max: 255
<46>
F7-05 All Modes Default: 255

(3E9H) Subnet Mask 1 Sets the static/fixed Subnet Mask. Min: 0 –
<46> Parameter F7-05 sets the most significant octet. Max: 255

(3EAH) Subnet Mask 2 Sets the static/fixed Subnet Mask. Min: 0 –
<46> Parameter F7-06 sets the second most significant octet. Max: 255

(3EBH) Subnet Mask 3 Min: 0 –
Sets the static/fixed Subnet Mask.
<46> Max: 255
Parameter F7-07 sets the third most significant octet.
(3ECH) Subnet Mask 4 Sets the static/fixed Subnet Mask. Min: 0 –
<46> Parameter F7-08 sets the fourth most significant octet. Max: 255

(3EDH) Gateway Address 1 Sets the static/fixed Gateway address. Min: 0 –
<46> Parameter F7-09 sets the most significant octet. Max: 255

(3EEH) Gateway Address 2 Sets the static/fixed Gateway address. Min: 0 –
<46> Parameter F7-10 sets the second most significant octet. Max: 255

(3EFH) Gateway Address 3 Sets the static/fixed Gateway address. Min: 0 –
<46> Parameter F7-11 sets the third most significant octet. Max: 255

(3F0H) Gateway Address 4 Sets the static/fixed Gateway address. Min: 0 –
<46> Parameter F7-12 sets the fourth most significant octet. Max: 255
All Modes
Selects how the option address is set. Default: 2
F7-13
Address Mode at Startup 0: Static <45> Min: 0 –
(3F1H)
1: BOOTP Max: 2
2: DHCP
All Modes
Selects duplex mode setting.
0: Half duplex forced
1: Auto-negotiate duplex mode and communication speed
2: Full duplex forced Default: 1
F7-14
Duplex Mode Selection 3: Half duplex forced (port 1)/Auto-negotiate duplex mode and communication speed (port 2) Min: 0 –
(3F2H)
4: Half duplex forced (port 1)/Full duplex forced (port 2) Max: 8
5: Auto-negotiate duplex mode and communication speed (port 1)/Half duplex forced (port 2)
6: Auto-negotiate duplex mode and communication speed (port 1)/Full duplex forced (port 2)
7: Full duplex forced (port 1)/Half duplex forced (port 2)
8: Full duplex forced (port 1)/Auto-negotiate duplex mode and communication speed (port 2)
All Modes
F7-15 Sets the communication speed. Default: 10
(3F3H) Communication Speed Selection 10: 10 Mbps Min: 10 –
<47> 100: 100 Mbps Max: 102
101: 10 Mbps (port 1)/100 Mbps (port 2)
102: 100 Mbps (port 1)/10 Mbps (port 2)

F7-16 Sets the time-out value for communication loss detection in tenths of a second. A value of 0
Communication Loss Time Out Min: 0.0 s 233
(3F4H) disables the connection time-out. Max: 30.0 s
Example: An entered value of 100 represents 10.0 seconds.
B.3 Parameter Table

Default: 0
F7-17 All Modes
EtherNet/IP Speed Scaling Factor Min: -15 –
(3F5H) Sets the scaling factor for the speed monitor in EtherNet/IP Class ID 2AH Object. Max: 15
Default: 0
F7-18 All Modes
EtherNet/IP Current Scaling Factor Min: -15 –
(3F6H) Sets the scaling factor for the output current monitor in EtherNet/IP Class ID 2AH Object. Max: 15
Default: 0
F7-19 All Modes
EtherNet/IP Torque Scaling Factor Min: -15 –
(3F7H) Sets the scaling factor for the torque monitor in EtherNet/IP Class ID 2AH Object. Max: 15
Default: 0
F7-20 All Modes
EtherNet/IP Power Scaling Factor Min: -15 –
(3F8H) Sets the scaling factor for the power monitor in EtherNet/IP Class ID 2AH Object. Max: 15
Default: 0
F7-21 All Modes
EtherNet/IP Voltage Scaling Factor Min: -15 –
(3F9H) Sets the scaling factor for the voltage monitor in EtherNet/IP Class ID 2AH Object. Max: 15
Default: 0
F7-22 All Modes
EtherNet/IP Time Scaling Min: -15 –
(3FAH) Sets the scaling factor for the time monitor in EtherNet/IP Class ID 2AH Object. Max: 15
F7-23 to
F7-27
(3FBH to All Modes
3FFH) Dynamic Output Assembly Parameters used in Output Assembly 116. Each parameter contains a MEMOBUS/Modbus
address. The value received for Output Assembly 116 will be written to this corresponding Default: 0 –
F7-28 to Parameters
F7-32 MEMOBUS/Modbus address. A MEMOBUS/Modbus address value of 0 means that the value
(370H to received for Output Assembly 116 will not be written to any MEMOBUS/Modbus register.
374H)
All Modes
Parameters used in Input Assembly 166. Each parameter contains a MEMOBUS/Modbus
F7-33 to address. The value sent for Input Assembly 166 will be read from this corresponding
F7-42 Dynamic Input Assembly MEMOBUS/Modbus address. A MEMOBUS/Modbus address value of 0 means that the value Default: 0 –
(375H to Parameters sent for Input Assembly 166 is not defined by the user, therefore the option default register
37EH) value will be returned.
Refer to Ethernet/IP Technical Manual for definitions of the default MEMOBUS/Modbus
registers.

F7-60
PZD1 Write Sets MEMOBUS/Modbus address for PZD1 Write (PPO Write). Min: 0 –
(780H)
Values 0 to 2 enable the PZD1 Write as STW. Max: FFFF

F7-61
(781H)
Values 0 to 2 enable the PZD2 Write as HSW. Max: FFFF

F7-62
(782H)
Values 0 to 2 disable the PZD3 Write. Max: FFFF

F7-63
(783H)

F7-64
(784H)

F7-65
(785H)

F7-66
(786H)

F7-67
(787H)

F7-68
(788H)

F7-69
(789H)
Parameter List

F7-70
PZD1 Read Sets MEMOBUS/Modbus address for PZD1 Read (PPO Read). Min: 0 –
(78AH)
Values 0 enable the PZD1 Read as ZSW. Max: FFFF

F7-71
PZD2 Read Min: 0 –
(78BH) Sets MEMOBUS/Modbus address for PZD2 Read (PPO Read).
Values 0 enable the PZD2 Read as HIW. Max: FFFF B
F7-72
(78CH)
Values 0 disable the PZD3 Read. Max: FFFF
B.3 Parameter Table

F7-73
(78DH)

F7-74
(78EH)

F7-75
(78FH)

F7-76
(790H)

F7-77
(791H)

F7-78
(792H)

F7-79
(793H)
<44> Cycle power for setting changes to take effect.

<45> If F7-13 is set to 0, then all IP Addresses (as defined with parameters F7-01 to F7-04) must be unique.
<46> Set F7-01 to F7-12 when F7-13 is set to 0.
<47> Set F7-15 when F7-14 is set to 0 or 2.
 H: Multi-Function Terminals
H parameters assign functions to the multi-function input and output terminals.
 H1: Multi-Function Digital Inputs
Default: 40 (F) <31>
H1-01 Multi-Function Digital Input
Min: 1 235
(438H) Terminal S1 Function Selection
Max: 9F
Default: 41 (F) <31>
Min: 1 235
Max: 9F
Default: 24
Min: 0 235
Max: 9F
Default: 14
H1-04 Multi-Function Digital Input All Modes Min: 0 235
Assigns a function to the multi-function digital inputs. Max: 9F
Refer to H1 Multi-Function Digital Input Selections on page 489 for a description of setting Default: 3 (0) <31>
H1-05 Multi-Function Digital Input values. Min: 0 235
(402H) Terminal S5 Function Selection Note: Unused terminals should be set to F. Max: 9F
Default: 4 (3) <31>
Min: 0 235
Max: 9F
Default: 6 (4) <31>
Min: 0 235
Max: 9F
Default: 8
Min: 0 235
Max: 9F
<31> Value in parenthesis is the default setting when a 3-wire initialization is performed (A1-03 = 3330).
B.3 Parameter Table
H1 Multi-Function Digital Input Selections

H1-
Function Description Page
Setting
All Modes
0 3-wire Sequence 236
Closed: Reverse rotation (only if the drive is set up for 3-wire sequence)
Terminals S1 and S2 are automatically set up for the Run command and Stop command.
All Modes
1 LOCAL/REMOTE Selection Open: REMOTE (parameter settings determine the source of the frequency Reference 1 or 2 (b1-01, b1-02 or 236
b1-15, b1-16)
Closed: LOCAL, Frequency reference and Run command are input from the digital operator.
All Modes
2 External Reference 1/2 Selection 237
Open: Run command and frequency reference source 1 (determined by b1-01 and b1-02)
Closed: Run command and frequency reference source 2 (determined by b1-15 and b1-16)
3 Multi-Step Speed Reference 1 All Modes
4 Multi-Step Speed Reference 2 The values set for d1-01 to d1-16 (Frequency Reference) can be selected by combining the four contacts of
Multi-Step Speed Reference 1 to 4. 237
If H3-02 (Terminal A1 Function Selection), H3-06 (Terminal A3 Function Selection), and H3-10 (Terminal A2
5 Multi-Step Speed Reference 3 Function Selection) are set to 2 (Auxiliary Frequency Reference 1), Multi-Step Speed Reference 1 will be
combined with master speed/auxiliary speed switching.
All Modes
6 Jog Reference Selection 237
Closed: Jog frequency reference (d1-17) selected. Jog has priority over all other reference sources.
All Modes
7 Accel/Decel Time Selection 1 237
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).
All Modes
8 Baseblock Command (N.O.) 237
Closed: No drive output
All Modes
9 Baseblock Command (N.C.) 237
Open: No drive output
All Modes
A Accel/Decel Ramp Hold 237
Open: Accel/decel is not held
Closed: The drive pauses during acceleration or deceleration and maintains the output frequency.
All Modes
B Drive Overheat Alarm (oH2) 238
Closed: Closes when an oH2 alarm occurs
All Modes
C Analog Terminal Input Selection 238
Open: Function assigned by H3-14 is disabled.
Closed: Function assigned by H3-14 is enabled.
D PG Encoder Disable OLV/PM AOLV/PM CLV/PM 238

Open: Speed feedback for V/f Control with PG is enabled.
Closed: Speed feedback disabled.
E ASR Integral Reset OLV/PM AOLV/PM CLV/PM 238

Open: PI control
Closed: Integral reset
All Modes
F Through Mode 238
Select this setting when the terminal is not used or when using the terminal in the pass-through mode. The terminal
does not trigger a drive function but can be used as digital input for the controller the drive is connected to.
10 Up Command 238
All Modes
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
11 Down Command commands must always be used in conjunction with one another. 238
Parameter List
All Modes
12 Forward Jog 239
Closed: Runs forward at the Jog frequency d1-17.
All Modes
13 Reverse Jog 239
Closed: Runs reverse at the Jog frequency d1-17.
All Modes
14 Fault Reset 239
Closed: Resets faults if the cause is cleared and the Run command is removed. B
All Modes
15 Fast Stop (N.O.) 239
Closed: Decelerates at the Fast Stop time set to C1-09.
B.3 Parameter Table

H1-
Setting
16 Motor 2 Selection OLV/PM AOLV/PM CLV/PM 240

Open: Motor 1 (E1-, E2-)
Closed: Motor 2 (E3-, E4-)
All Modes
17 Fast Stop (N.C.) 239
Open: Decelerates to stop at the Fast Stop time set to C1-09.
All Modes
18 Timer Function Input 240
Triggers the timer set up by parameters b4-01 and b4-02. Must be set in conjunction with the timer function output
(H2- = 12).
All Modes
19 PID Disable 240
Open: PID control enabled
Closed: PID control disabled
All Modes
1A Accel/Decel Time Selection 2 241
Used in conjunction with an input terminal set for “Accel/decel time selection 1” (H1- = 7), and allows the
drive to switch between accel/decel times 3 and 4.
All Modes
1B Program Lockout 241
Open: Parameters cannot be edited.
Closed: Parameters can be edited and saved.
All Modes
1E Reference Sample Hold 241
Closed: Samples the analog frequency reference and operates the drive at that speed.
All Modes
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
20 to 2F External Fault 241
27: N.C., During run, coast to stop
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)
All Modes
30 PID Integral Reset 242
Closed: Resets the PID control integral value.
All Modes
31 PID Integral Hold 242
Open: Performs integral operation.
Closed: Maintains the current PID control integral value.
All Modes
32 Multi-Step Speed Reference 4 242
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.
All Modes
34 PID Soft Starter Cancel 242
Open: PID soft starter is enabled.
Closed: Disables the PID soft starter b5-17.
All Modes
35 PID Input Level Selection 242
Closed: Inverts the PID input signal
All Modes
Forward Run Command (2-wire
40 Open: Stop 242
Sequence)
Closed: Forward run
Note: Cannot be set together with settings 42 or 43.
All Modes
Reverse Run Command (2-wire
41 Open: Stop 242
Sequence)
Closed: Reverse run
All Modes
42 Run Command (2-wire Sequence 2) Open: Stop 242
Closed: Run
B.3 Parameter Table

H1-
Setting
All Modes
FWD/REV Command (2-wire Sequence Open: Forward
43 242
2) Closed: Reverse
Note: Determines motor direction, but does not issue a Run command. Cannot be set together with settings 40 or
41.
All Modes
44 Offset Frequency 1 242
Closed: Adds d7-01 to the frequency reference.
All Modes
All Modes
All Modes
47 Node Setup 243
Closed: Node setup for SI-S3 enabled.

60 DC Injection Braking Command OLV/PM AOLV/PM CLV/PM 243
Closed: Triggers DC Injection Braking.
61 External Speed Search Command 1 OLV/PM AOLV/PM CLV/PM 243

Closed: If the Run command is given when the Speed Search command is input (closed), the drive will start Speed
Search from the frequency set for E1-04 (Maximum Output Frequency).
62 External Speed Search Command 2 OLV/PM AOLV/PM CLV/PM 243

Closed: If the Run command is given when the Speed Search command is input (closed), the drive will start Speed
Search from the commanded frequency.

63 Field Weakening OLV/PM AOLV/PM CLV/PM 243
Closed: The drive performs Field Weakening control as set for d6-01 and d6-02.
All Modes
65 KEB Ride-Thru 1 (N.C.) 243
Open: KEB Ride-Thru 1 enabled
All Modes
66 KEB Ride-Thru 1 (N.O.) 243
Closed: KEB Ride-Thru 1 enabled
All Modes
67 Communications Test Mode 243
Tests the MEMOBUS/Modbus RS-485/422 interface. Displays “PASS” if the test completes successfully.

68 High Slip Braking (HSB) OLV/PM AOLV/PM CLV/PM 243
Closed: Activates High Slip Braking to stop the drive during any Run command.
All Modes
6A Drive Enable 243
Open: Drive disabled. If this input is opened during run, then the drive will stop as specified by b1-03.
Closed: Ready for operation.
71 Speed/Torque Control Switch OLV/PM AOLV/PM CLV/PM 244

Open: Speed Control
Closed: Torque Control

72 Zero Servo OLV/PM AOLV/PM CLV/PM 244
Closed: Zero Servo enabled
75 Up 2 Command All Modes 244

Parameter List
Used to control the bias added to the frequency reference by the Up/Down 2 function. The Up 2 and Down 2
76 Down 2 Command 244
commands must always be used in conjunction with one another.
77 ASR Gain Switch OLV/PM AOLV/PM CLV/PM 244

Open: ASR proportional gain 1 (C5-01)
Closed: ASR proportional gain 2 (C5-03)
B
External Torque Reference Polarity OLV/PM AOLV/PM CLV/PM
78 244
Inversion
Open: Forward torque reference
Closed: Reverse polarity
B.3 Parameter Table

H1-
Setting
All Modes
7A KEB Ride-Thru 2 (N.C.) 245
Open: KEB Ride-Thru 2 enabled. Drive disregards L2-29 and performs Single Drive KEB Ride-Thru 2.
All Modes
7B KEB Ride-Thru 2 (N.O.) 245
Closed: KEB Ride-Thru 2 enabled. Drive disregards L2-29 and performs Single Drive KEB Ride-Thru 2.

7C Short Circuit Braking (N.O.) OLV/PM AOLV/PM CLV/PM 245
Closed: Short Circuit Braking enabled

7D Short Circuit Braking (N.C.) OLV/PM AOLV/PM CLV/PM 245
Open: Short Circuit Braking enabled
7E Forward/Reverse Detection OLV/PM AOLV/PM CLV/PM 245

Open: Forward motor operation is detected.
Closed: Reverse motor operation is detected.
All Modes
7F Bi-Directional PID Output Selection 245
Open: Bi-directional output is disabled.
Closed: Bi-directional output is enabled.
All Modes
90 to 97 DriveWorksEZ Digital Inputs 1 to 8 245
Reserved for DWEZ input functions
All Modes
9F DriveWorksEZ Disable 245
Open: DWEZ enabled
Closed: DWEZ disabled
 H2: Multi-Function Digital Outputs

Default: 0
H2-01 Terminal M1-M2 Function
Min: 0 246
(40BH) Selection (Relay)
Max: 192
Min: 0 246
(40CH) Selection (Relay) Refer to H2 Multi-Function Digital Output Settings on page 493 for a description of setting
Max: 192
values.
Default: 2
Min: 0 246
(40DH) Selection (Relay)
Max: 192
All Modes
Sets the output units for the watt hours when Watt Hour Pulse Output is selected as the digital
output (H2-01, H2-02, or H2-03 = 39). Outputs a 200 ms pulse signal when the watt-hour
Default: 0
H2-06 counter increases by the units selected.
Watt Hour Output Unit Selection Min: 0 256
(437H) 0: 0.1 kWh units
Max: 4
1: 1 kWh units
2: 10 kWh units
3: 100 kWh units
4: 1000 kWh units
All Modes
Default: 1
H2-07
Memobus Regs1 Address Select Sets the addresses of the MEMOBUS/Modbus registers from which data will be sent to contact Min: 1 256
(B3AH)
outputs 62 and 162. Max: 1FFF
All Modes
Default: 0
H2-08
Memobus Regs1 Bit Select Sets the bits for the MEMOBUS/Modbus registers from which data will be sent to contact Min: 0 256
(B3BH)
outputs 62 and 162. Max: FFFF
All Modes
Default: 1
H2-09
Memobus Regs2 Address Select Sets the addresses of the MEMOBUS/Modbus registers from which data will be sent to contact Min: 1 256
(B3CH)
outputs 63 and 163. Max: 1FFF
All Modes
Default: 0
H2-10
Memobus Regs2 Bit Select Sets the bits for the MEMOBUS/Modbus registers from which data will be sent to contact Min: 0 256
(B3DH)
outputs 63 and 163. Max: FFFF
B.3 Parameter Table
H2 Multi-Function Digital Output Settings

H2-
Setting
All Modes
0 During Run 246
Closed: A Run command is active or voltage is output.
All Modes
Open: Output speed is greater than or equal to the value of E1-09 (Minimum Output Frequency) or b2-01 (DC Injection
1 Zero Speed 247
Braking Start Frequency).
Closed: Output frequency is less than the value of E1-09 (Minimum Output Frequency) or b2-01 (DC Injection Braking
Start Frequency).
All Modes
2 Speed Agree 1 247
Closed: Output frequency equals the speed reference (plus or minus the hysteresis set to L4-02).
All Modes
3 User-set Speed Agree 1 248
Closed: Output frequency and speed reference equal L4-01 (plus or minus the hysteresis set to L4-02).
All Modes
4 Frequency Detection 1 248
Closed: Output frequency is less than or equal to the value in L4-01 with hysteresis determined by L4-02.
All Modes
Closed: Output frequency is greater than or equal to the value in L4-01 with hysteresis determined by L4-02.
All Modes
6 Drive Ready 249
Closed: Power up is complete and the drive is ready to accept a Run command.
All Modes
7 DC bus Undervoltage 249
Closed: DC bus voltage is below the Uv trip level set in L2-05.
All Modes
8 During Baseblock (N.O.) 249
Closed: Drive has entered the baseblock state (no output voltage).
All Modes
9 Frequency Reference Source 249
Open: External Reference 1 or 2 supplies the frequency reference (set in b1-01 or b1-15).
Closed: Digital operator supplies the frequency reference.
All Modes
A Run Command Source 250
Open: External Reference 1 or 2 supplies the Run command (set in b1-02 or b1-16).
Closed: Digital operator supplies the Run command.
B Torque Detection 1 (N.O.) All Modes 250

Closed: An overtorque or undertorque situation has been detected.
All Modes
C Frequency Reference Loss 250
Closed: Analog frequency reference has been lost.
Frequency reference loss is detected when the frequency reference drops below 10% of the reference within 400 ms.
All Modes
D Braking Resistor Fault 250
Closed: Braking resistor or transistor is overheated or faulted out.
Note: This set value is not available in models CIMR-A4A0930 and 4A1200.
All Modes
E Fault 250
Closed: Fault occurred (this excludes faults CPF00 and CPF01).
All Modes
F Through Mode 250
Select this setting when the terminal is not used or when using the terminal in the pass-through mode.
All Modes
10 Minor Fault 250
Closed: An alarm has been triggered, or the IGBTs have reached 90% of their expected life span.
All Modes
11 Fault Reset Command Active 250
Closed: The drive has received a reset command from the multi-function input terminals or from serial network, or the
digital operator’s RESET key has been pressed.
All Modes
12 Timer Output 250
Closed: Timer output.
Parameter List
All Modes
13 Speed Agree 2 251
Closed: When drive output frequency equals the frequency reference ±L4-04.
All Modes
14 User-set Speed Agree 2 251
Closed: When the drive output frequency is equal to the value in L4-03 ±L4-04.
All Modes
Closed: When the drive output frequency is less than or equal to the value in L4-03 ±L4-04. B
All Modes
Closed: When the output frequency is greater than or equal to the value in L4-03 ±L4-04.
B.3 Parameter Table

H2-
Setting
All Modes
17 Torque Detection 1 (N.C.) 250
Open: Overtorque or undertorque has been detected.
All Modes
18 Torque Detection 2 (N.O.) 250
Closed: Overtorque or undertorque has been detected.
All Modes
19 Torque Detection 2 (N.C.) 250
Open: Overtorque or undertorque has been detected.
All Modes
1A During Reverse 253
Closed: Drive is running in the reverse direction.
All Modes
1B During Baseblock (N.C.) 253
Open: Drive has entered the baseblock state (no output voltage).

1C Motor 2 Selection OLV/PM AOLV/PM CLV/PM 253
Closed: Motor 2 is selected by a digital input (H1- = 16)

1D During Regeneration OLV/PM AOLV/PM CLV/PM 253
Closed: Motor is regenerating energy into the drive.
All Modes
1E Restart Enabled 253
Closed: An automatic restart is performed
All Modes
1F Motor Overload Alarm (oL1) 253
Closed: oL1 is at 90% of its trip point or greater. An oH3 situation also triggers this alarm.
All Modes
20 Drive Overheat Pre-alarm (oH) 253
Closed: The heatsink temperature exceeds the L8-02 level (while L8-03 = 3, 4), or an external device has triggered an
oH2 alarm via multi-function input H1- = Bh.
All Modes
22 Mechanical Weakening Detection 253
Closed: Mechanical weakening detected.
All Modes
2F Maintenance Period 254
Closed: Cooling fan, electrolytic capacitors, IGBTs, or the soft charge bypass relay may require maintenance.

30 During Torque Limit OLV/PM AOLV/PM CLV/PM 254
Closed: When the torque limit has been reached.

31 During Speed Limit OLV/PM AOLV/PM CLV/PM 254
Closed: Speed limit has been reached.

During Speed Limit in Torque
32 OLV/PM AOLV/PM CLV/PM 254
Control
Closed: Speed limit has been reached while using Torque Control.

33 Zero Servo Complete OLV/PM AOLV/PM CLV/PM 254
Closed: Zero Servo operation has finished.
All Modes
37 During Frequency Output Open: No frequency output from drive if stopped, with baseblock, with DC injection braking during initial excitation, 254
or with short-circuit braking.
Closed: Drive is outputting a frequency.
All Modes
38 Drive Enabled 254
Closed: Multi-function input set for “Drive enable” is closed (H1- = 6A)
All Modes
39 Watt Hour Pulse Output 254
Output units are determined by H2-06. Outputs a pulse every 200 ms to indicate the kWh count.
All Modes
3C LOCAL/REMOTE Status 255
Open: REMOTE
Closed: LOCAL
All Modes
3D During Speed Search 255
Closed: Speed Search is being executed.
All Modes
3E PID Feedback Low 255
Closed: PID feedback level is too low.
B.3 Parameter Table

H2-
Setting
All Modes
3F PID Feedback High 255
Closed: The PID feedback level is too high.
All Modes
4A During KEB Ride-Thru 255
Closed: KEB Ride-Thru is being performed.

4B During Short-Circuit Braking OLV/PM AOLV/PM CLV/PM 255
Closed: Short Circuit Braking is active.
All Modes
4C During Fast Stop 255
Closed: A Fast Stop command has been entered from the operator or input terminals.
All Modes
4D oH Pre-alarm Time Limit 255
Closed: An oH pre-alarm is present after 10 output frequency reduction cycles have passed (L8-03 = 4).
All Modes
4E Braking Transistor Fault (rr) 255
Closed: The built-in dynamic braking transistor failed.
Note: This set value is not available in models CIMR-A2A0169 to 2A0415, 4A0088 to 4A1200.
All Modes
4F Braking Resistor Overheat (oH) 255
Closed: The dynamic braking resistor has overheated.
Note: This set value is not available in models CIMR-A2A0169 to 2A0415, 4A0088 to 4A1200.
All Modes
60 Internal Cooling Fan Alarm 255
Closed: Internal cooling fan alarm

61 Rotor Position Detection Complete OLV/PM AOLV/PM CLV/PM 255
Closed: Drive has successfully detected the rotor position of the PM motor.
All Modes
Memobus Regs1 (It selects it with
62 The contact output is closed if any of the bits that are specified by H2-08 for the MEMOBUS/Modbus register address 255
H2-07 and H2-08.)
All Modes
Memobus Regs2 (It selects it with
63 The contact output is closed if any of the bits that are specified by H2-10 for the MEMOBUS/Modbus register address 255
H2-09 and H2-10.)
All Modes
90 to 92 DriveWorksEZ Digital Outputs 1 to 3 255
Reserved for DWEZ digital output functions.
All Modes
100 to 192 Function 0 to 92 with Inverse Output 256
Inverts the output switching of the multi-function output functions.
Set the last two digits of 1 to reverse the output signal of that specific function.
 H3: Multi-Function Analog Inputs


H3-01 Terminal A1 Signal Level
Min: 0 257
(410H) Selection 0: 0 to 10 V
Max: 1
1: -10 to 10 V
Default: 0
H3-02 All Modes
Terminal A1 Function Selection Min: 0 257
(434H)
Sets the function of terminal A1. Max: 32
H3-03
Default: 100.0%
(411H) All Modes
Terminal A1 Gain Setting Min: -999.9% 257
Sets the level of the input value selected in H3-02 when 10 V is input at terminal A1. Max: 999.9%
H3-04
Default: 0.0%
(412H) All Modes
Terminal A1 Bias Setting Min: -999.9% 257
Parameter List

Min: 0 258
(413H) Selection 0: 0 to 10 V
Max: 1
1: -10 to 10 V
Default: 2
H3-06
(414H)
Terminal A3 Function Selection
All Modes
Sets the function of terminal A3.
Min: 0
Max: 32
258 B
H3-07
Default: 100.0%
(415H) All Modes
B.3 Parameter Table

H3-08
Default: 0.0%
(416H) All Modes
All Modes
0: 0 to 10 V Default: 2
1: -10 to 10 V Min: 0 258
(417H) Selection
2: 4 to 20 mA Max: 3
3: 0 to 20 mA
Note: Use DIP switch S1 to set input terminal A2 for a current or a voltage input signal.
Default: 0
H3-10 All Modes
Terminal A2 Function Selection Min: 0 259
(418H)
Sets the function of terminal A2. Max: 32
H3-11
Default: 100.0%
(419H) All Modes
Sets the level of the input value selected in H3-10 when 10 V (20 mA) is input at terminal A2. Max: 999.9%
H3-12
Default: 0.0%
(41AH) All Modes
Sets the level of the input value selected in H3-10 when 0 V (0 or 4 mA) is input at terminal A2. Max: 999.9%
Default: 0.03 s
H3-13 All Modes
Analog Input Filter Time Constant Min: 0.00 s 259
(41BH)
Sets a primary delay filter time constant for terminals A1, A2, and A3. Used for noise filtering. Max: 2.00 s
All Modes
Determines which of the analog input terminals will be enabled or disabled when a digital input
programmed for “Analog input enable” (H1- = C) is activated. The terminals other than the
one set as the target are not influenced by input signals.
Default: 7
H3-14 Analog Input Terminal Enable 1: Terminal A1 only
Min: 1 259
(41CH) Selection 2: Terminal A2 only
Max: 7
3: Terminals A1 and A2 only
4: Terminal A3 only
7: All terminals enabled
Default: 0
H3-16 All Modes
Terminal A1 Offset Min: -500 260
(2F0H)
Adds an offset when the analog signal to terminal A1 is at 0 V. Max: 500
Default: 0
H3-17 All Modes
(2F1H)
Default: 0
H3-18 All Modes
(2F2H)
H3 Multi-Function Analog Input Settings

Setting Function Description (For when output is 100%) Page
All Modes
0 Frequency Bias 260
10 V = E1-04 (maximum output frequency)
All Modes
1 Frequency Gain 260
0 to 10 V signal allows a setting of 0 to 100%. -10 to 0 V signal allows a setting of -100 to 0%.
All Modes
2 Auxiliary Frequency Reference 1 260
All Modes
3 Auxiliary Frequency Reference 2 260

4 Output Voltage Bias OLV/PM AOLV/PM CLV/PM 260
10 V = E1-05 (motor rated voltage)
All Modes
5 Accel/Decel Time Gain 261
10 V = 100%

6 DC Injection Braking Current OLV/PM AOLV/PM CLV/PM 261
10 V = Drive rated current
All Modes
7 Overtorque/Undertorque Detection Level 261
10 V = Drive rated current (V/f, V/fw/PG)
10 V = Motor rated torque (OLV, CLV, OLV/PM, AOLV/PM, CLV/PM)

8 Stall Prevention Level During Run OLV/PM AOLV/PM CLV/PM 261
10 V = Drive rated current
B.3 Parameter Table
H3 Multi-Function Analog Input Settings

Setting Function Description (For when output is 100%) Page
All Modes
9 Output Frequency Lower Limit Level 261
All Modes
B PID Feedback 261
10 V = 100%
All Modes
C PID Setpoint 261
10 V = 100%
All Modes
D Frequency Bias 262
All Modes
E Motor Temperature (PTC input) 262
10 V = 100%
All Modes
F Through Mode 262

10 Forward Torque Limit OLV/PM AOLV/PM CLV/PM 262
10 V = Motor rated torque

11 Reverse Torque Limit OLV/PM AOLV/PM CLV/PM 262

12 Regenerative Torque Limit OLV/PM AOLV/PM CLV/PM 262

Torque Limit Using Torque Reference/Speed
13 OLV/PM AOLV/PM CLV/PM 262
Control

14 Torque Compensation OLV/PM AOLV/PM CLV/PM 262

15 General Torque Limit OLV/PM AOLV/PM CLV/PM 262
All Modes
16 Differential PID Feedback 262
10 V = 100%
All Modes
17 Motor Thermistor (NTC) 10 V = -9°C 262
0 V = 234°C
Note: This set value is available in models CIMR-A4A0930 and 4A1200.
All Modes
1F Through Mode 262
All Modes
30 to 32 DriveWorksEZ Analog Input 1 to 3 262
Output is determined by the function selected using DWEZ.
Parameter List
B.3 Parameter Table
 H4: Multi-Function Analog Outputs

All Modes
Default: 102
H4-01 Multi-Function Analog Output
Selects the data to be output through multi-function analog output terminal FM. Min: 000 262
(41DH) Terminal FM Monitor Selection
Set the desired monitor parameter to the digits available in U-. For example, enter “103” Max: 999
for U1-03.
H4-02
Default: 100.0%
(41EH) Multi-Function Analog Output All Modes
Min: -999.9% 263
Terminal FM Gain
Sets the signal level at terminal FM that is equal to 100% of the selected monitor value. Max: 999.9%
H4-03
Default: 0.0%
(41FH) Multi-Function Analog Output All Modes
Min: -999.9% 263
Terminal FM Bias
Sets the signal level at terminal FM that is equal to 0% of the selected monitor value. Max: 999.9%
All Modes
Default: 103
H4-04 Multi-Function Analog Output
Selects the data to be output through multi-function analog output terminal AM. Min: 000 262
(420H) Terminal AM Monitor Selection
Set the desired monitor parameter to the digits available in U-. For example, enter “103” Max: 999
for U1-03.
H4-05
Default: 50.0%
(421H) Multi-Function Analog Output All Modes
Min: -999.9% 263
Terminal AM Gain
Sets the signal level at terminal AM that is equal to 100% of the selected monitor value. Max: 999.9%
H4-06
Default: 0.0%
(422H) Multi-Function Analog Output All Modes
Min: -999.9% 263
Terminal AM Bias
Sets the signal level at terminal AM that is equal to 0% of the selected monitor value. Max: 999.9%
All Modes
Multi-Function Analog Output Default: 0
H4-07
Terminal FM Signal Level 0: 0 to 10 V Min: 0 264
(423H)
Selection 1: -10 to 10 V Max: 2
2: 4 to 20 mA
All Modes
Multi-Function Analog Output Default: 0
H4-08
Terminal AM Signal Level 0: 0 to 10 V Min: 0 264
(424H)
Selection 1: -10 to 10 V Max: 2
2: 4 to 20 mA
 H5: MEMOBUS/Modbus Serial Communication

Note: The settings for MEMOBUS/Modbus communications become effective when the drive is restarted.
H5-01 All Modes Default: 1F

(425H) Drive Node Address Min: 0 556
Selects drive station node number (address) for MEMOBUS/Modbus terminals R+, R-, S+, S-.
<32> Max: FF
Cycle power for the setting to take effect.
All Modes
0: 1200 bps
1: 2400 bps
2: 4800 bps
Default: 3
H5-02 3: 9600 bps
Communication Speed Selection Min: 0 556
(426H) 4: 19200 bps
Max: 8
5: 38400 bps
6: 57600 bps
7: 76800 bps
8: 115200 bps
All Modes
Default: 0
H5-03 0: No parity
Communication Parity Selection Min: 0 556
(427H) 1: Even parity
Max: 2
2: Odd parity
All Modes
Default: 3
H5-04 Stopping Method After 0: Ramp to stop
Min: 0 556
(428H) Communication Error (CE) 1: Coast to stop
Max: 3
2: Fast Stop
3: Alarm only

H5-05 Communication Fault Detection
Min: 0 557
(429H) Selection 0: Disabled
Max: 1
1: Enabled. If communication is lost for more than two seconds, a CE fault will occur.
All Modes Default: 5 ms

H5-06
Drive Transmit Wait Time Min: 5 ms 557
(42AH) Set the wait time between receiving and sending data.
Max: 65 ms
B.3 Parameter Table
All Modes
Default: 1
H5-07
RTS Control Selection 0: Disabled. RTS is always on. Min: 0 557
(42BH)
1: Enabled. RTS turns on only when sending. Max: 1

H5-09
CE Detection Time Min: 0.0 s 557
(435H) Sets the time required to detect a communications error. Adjustment may be needed when
Max: 10.0 s
networking several drives.

H5-10 Unit Selection for MEMOBUS/
Min: 0 557
(436H) Modbus Register 0025H 0: 0.1 V units
Max: 1
1: 1 V units

H5-11 Communications ENTER Function
Min: 0 558
(43CH) Selection 0: Drive requires an Enter command before accepting any changes to parameter settings.
Max: 1
1: Parameter changes are activated immediately without the Enter command.

H5-12
Run Command Method Selection Min: 0 558
(43DH) 0: FWD/Stop, REV/Stop
Max: 1
1: Run/Stop, FWD/REV
All Modes
There is normally no need to change this parameter from the default value. Default: 0
H5-17 Operation Selection when Unable
Selects operation when an attempt is made to write data into EEPROM by MEMOBUS/Modbus Min: 0 558
(11A1H) to Write into EEPROM
communications, when writing into EEPROM is not possible. Max: 1
0: Cannot write into EEPROM.
1: Write in RAM only.
All Modes
Default: 0 ms
H5-18 Filter Time Constant for Motor Sets the filter time constant for monitoring the motor speed from MEMOBUS/Modbus
Min: 0 ms 558
(11A2H) Speed Monitoring communications and communication option.
Max: 100 ms
Applicable MEMOBUS/Modbus registers: 3EH, 3FH, 44H, ACH, and ADH
<32> If this parameter is set to 0, the drive will be unable to respond to MEMOBUS/Modbus commands.
 H6: Pulse Train Input/Output

All Modes
Default: 0
H6-01 Pulse Train Input Terminal RP 0: Frequency reference
Min: 0 264
(42CH) Function Selection 1: PID feedback value
Max: 3
2: PID setpoint value
3: V/f Control with Simple PG feedback (possible only when using motor 1 in V/f Control)
H6-02
Default: 1440 Hz
(42DH) All Modes
Pulse Train Input Scaling Min: 100 Hz 265
Sets the terminal RP input signal frequency that is equal to 100% of the value selected in H6-01. Max: 32000 Hz
H6-03
(42EH)
Pulse Train Input Gain Min: 0.0% 265
Sets the level of the value selected in H6-01 when a frequency with the value set in H6-02 is
Max: 1000.0%
input.
H6-04
Default: 0.0%
(42FH) All Modes
Pulse Train Input Bias Min: -100.0% 266
Sets the level of the value selected in H6-01 when 0 Hz is input. Max: 100.0%
H6-05
Default: 0.10 s
(430H) All Modes
Pulse Train Input Filter Time Min: 0.00 s 266
Sets the pulse train input filter time constant. Max: 2.00 s
H6-06
(431H)
Pulse Train Monitor Selection Min: 000 266
Select the pulse train monitor output function (value of the - part of U-).
Max: 809
Example: To select U5-01, set “501”.
H6-07
All Modes Default: 1440 Hz
(432H)
Pulse Train Monitor Scaling Min: 0 Hz 266
Sets the terminal MP output signal frequency when the monitor value is 100%. As an example,
Max: 32000 Hz
have the pulse train monitor output equal the output frequency, set H6-06 to 102 and H6-07 to 0.
Parameter List

H6-08 Pulse Train Input Minimum
Min: 0.1 Hz 266
(43FH) Frequency Sets the minimum frequency for the pulse train input to be detected. Enabled when H6-01 = 0,
Max: 1000.0 Hz
1, or 2.
B.3 Parameter Table
 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 and undertorque detection, torque limits, and other types of hardware
protection.
 L1: Motor Protection
No. (Addr.) Name Description Setting Page
All Modes
0: Disabled
1: General purpose motor (standard fan cooled)
2: Drive dedicated motor with a speed range of 1:10 Default: <10>
L1-01 Motor Overload Protection
3: Vector motor with a speed range of 1:100 Min: 0 267
(480H) Selection
4: PM motor with variable torque Max: 6
5: PM motor with constant torque control
6: General purpose motor (50 Hz)
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 All Modes
Motor Overload Protection Time Min: 0.1 min 269
(481H)
Sets the motor thermal overload protection (oL1) time. Max: 5.0 min
All Modes
Sets operation when the motor temperature analog input (H3-02, H3-06, or H3-10 = E) exceeds
Default: 3
L1-03 Motor Overheat Alarm Operation the oH3 alarm level.
Min: 0 271
(482H) Selection (PTC input) 0: Ramp to stop
Max: 3
1: Coast to stop
2: Fast Stop (decelerate to stop using the deceleration time in C1-09)
3: Alarm only (“oH3” will flash)
All Modes
Sets stopping method when the motor temperature analog input (H3-02, H3-06, or H3-10 = E) Default: 1
L1-04 Motor Overheat Fault Operation
exceeds the oH4 fault level. Min: 0 271
(483H) Selection (PTC input)
0: Ramp to stop Max: 2
1: Coast to stop
Default: 0.20 s
L1-05 Motor Temperature Input Filter All Modes
Min: 0.00 s 271
(484H) Time (PTC input)
Adjusts the filter for the motor temperature analog input (H3-02, H3-06, or H3-10 = E). Max: 10.00 s
Default: 0.0 A
All Modes Min: 0.0 A or 10% of
L1-08
OL1 Current Lvl drive rated current 271
(1103H) Sets the reference current for motor thermal overload detection for motor 1 in amperes.
Max: 150% of drive
rated current <19>
V/f V/f w/PG OLV CLV Default: 0.0 A

Min: 0.0 A or 10% of
L1-09
OL1 Current Lvl (for 2nd motor) OLV/PM AOLV/PM CLV/PM drive rated current 272
(1104H)
Sets the reference current for motor thermal overload detection for motor 2 in amperes. Max: 150% of drive
Note: This parameter is not available in models CIMR-A4A0930 and 4A1200. rated current <19>

L1-13 Continuous Electrothermal
Min: 0 272
(46DH) Operation Selection 0: Disabled
Max: 1
1: Enabled
All Modes
Default: 0
L1-15 Motor 1 Thermistor Selection
0: Disabled Min: 0 273
(440H) (NTC)
1: Enabled Max: 1

L1-16
Motor 1 Overheat Temperature Min: 50 273
(441H) Sets the temperature for motor 1 that triggers an overheat fault (oH5).
Max: 200
All Modes
Default: 0
L1-17 Motor 2 Thermistor Selection
(442H) (NTC)
1: Enabled Max: 1

L1-18
Motor 2 Overheat Temperature Min: 50 273
(443H) Sets the temperature for motor 2 that triggers an overheat fault (oH5).
Max: 200
All Modes
Determines what action the drive should take when a thermistor disconnect fault occurs (Tho).
Default: 3
L1-19 Operation at Thermistor 0: Ramp to stop
Min: 0 273
(444H) Disconnect (THo) (NTC) 1: Coast to stop
Max: 3
3: Alarm only ("THo" will flash)
B.3 Parameter Table
All Modes
Determines what action the drive should take when a motor overheat fault occurs (oH5).
Default: 1
L1-20 Operation at Motor Overheat 0: Ramp to stop
Min: 0 274
(445H) (oH5) 1: Coast to stop
Max: 3
3: Alarm only ("oH5" will flash)
<9> Default setting is determined by the drive model (o2-04) and Drive Duty Mode Selection (C6-01).
 L2: Momentary Power Loss Ride-Thru

All Modes
0: Disabled. Drive trips on (Uv1) fault when power is lost.
Default: 0
L2-01 Momentary Power Loss Operation 1: Recover within the time set in L2-02. Uv1 will be detected if power loss is longer than L2-02.
Min: 0 274
(485H) Selection 2: Recover as long as CPU has power. Uv1 is not detected.
Max: 5
3: KEB deceleration for the time set to L2-02.
4: KEB deceleration as long as CPU has power.
5: KEB deceleration to stop.
Default: <9>
L2-02 Momentary Power Loss Ride-Thru All Modes
Min: 0.0 s 279
(486H) Time
Sets the Power Loss Ride-Thru time. Enabled only when L2-01 = 1 or 3. Max: 25.5 s
All Modes
Default: <9>
L2-03 Momentary Power Loss Minimum Sets the minimum wait time for residual motor voltage decay before the drive output
Min: 0.1 s 279
(487H) Baseblock Time reenergizes after performing Power Loss Ride-Thru.
Max: 5.0 s
Increasing the time set to L2-03 may help if overcurrent or overvoltage occur during Speed
Search or during DC Injection Braking.

L2-04 Momentary Power Loss Voltage
(488H) Recovery Ramp Time
Max: 5.0 s
Sets the time for the output voltage to return to the preset V/f pattern during Speed Search.
Default: <18> <33>
L2-05 Undervoltage Detection Level All Modes
Min: 150 Vdc 280
(489H) (Uv)
Sets the DC bus undervoltage trip level. Max: 210 Vdc <18>
Default: 0.00 s
L2-06 All Modes
KEB Deceleration Time Min: 0.00 s 280
(48AH)
Sets the time required to decelerate from the speed when KEB was activated to zero speed. Max: 6000.0 s <12>

L2-07
KEB Acceleration Time Min: 0.00 s 280
(48BH) Sets the time to accelerate to the frequency reference when momentary power loss is over. If set
Max: 6000.0 s <12>
to 0.0, the active acceleration time (C1-01, C1-03, C1-05, or C1-07) is used.

L2-08
Frequency Gain at KEB Start Min: 0% 280
(48CH) Sets the percentage of output frequency reduction at the beginning of deceleration when the Max: 300%
KEB Ride-Thru function is started.
Reduction = (slip frequency before KEB) × L2-08/100 × 2
Default: 50 ms
L2-10 KEB Detection Time (Minimum All Modes
Min: 0 ms 280
(48EH) KEB Time)
Sets the time to perform KEB Ride-Thru. Max: 2000 ms
Default: <18> <33>
L2-11 DC Bus Voltage Setpoint during All Modes
Min: 150 Vdc 280
(461H) KEB
Sets the desired value of the DC bus voltage during KEB Ride-Thru. Max: 400 Vdc <18>
All Modes
Default: 0
L2-29 0: Single Drive KEB Ride-Thru 1
KEB Method Selection Min: 0 281
(475H) 1: Single Drive KEB Ride-Thru 2
Max: 3
2: System KEB Ride-Thru 1
3: System KEB Ride-Thru 2
<12> Setting range value is dependent on the units selected for the accel/decel time (C1-10). When C1-10 = 0 (units of 0.01 s), the setting range
Parameter List
becomes 0.00 to 600.00 s.

<33> Default setting value is dependent on the setting for the input voltage (E1-01).
B.3 Parameter Table
 L3: Stall Prevention


L3-01 Stall Prevention Selection during
0: Disabled. Min: 0 281
(48FH) Acceleration
1: General purpose. Acceleration is paused as long as the current is above the L3-02 setting. Max: 2
2: Intelligent. Accelerate in the shortest possible time without exceeding the L3-02 level.
Note: Setting 2 is not available when using OLV/PM.

L3-02 Stall Prevention Level during
(490H) Acceleration
Max: 150% <35>
Used when L3-01 = 1 or 2. 100% is equal to the drive rated current.

Default: 50%
L3-03 Stall Prevention Limit during OLV/PM AOLV/PM CLV/PM Min: 0% 283
(491H) Acceleration
Sets Stall Prevention lower limit during acceleration when operating in the constant power Max: 100%
range. Set as a percentage of the drive’s rated current.
All Modes
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. Default: 1
2: Intelligent. Decelerate as fast as possible while avoiding ov faults. Min: 0 283
(492H) Deceleration
3: Stall Prevention with braking resistor. Stall Prevention during deceleration is enabled in Max: 5 <34>
coordination with dynamic braking.
4: Overexcitation Deceleration. Decelerates while increasing the motor flux.
5: Overexcitation Deceleration 2. Adjust the deceleration rate according to the DC voltage.
Note: The setting of 3 is not available with models CIMR-A4A0930 and 4A1200.

Min: 0 284
(493H) Run 0: Disabled. Drive runs at a set frequency. A heavy load may cause stalling. Max: 2
1: Decel time 1. Uses the deceleration time set to C1-02 while Stall Prevention is performed.
2: Decel time 2. Uses the deceleration time set to C1-04 while Stall Prevention is performed.

L3-06
Stall Prevention Level during Run OLV/PM AOLV/PM CLV/PM Min: 30% 285
(494H)
Max: 150% <35>
Enabled when L3-05 is set to 1 or 2. 100% is equal to the drive rated current.
All Modes
Default: 0
L3-11 Overvoltage Suppression Function Enables or disables the ov suppression function, which allows the drive to change the output
Min: 0 285
(4C7H) Selection frequency as the load changes to prevent an ov fault.
Max: 1
0: Disabled
1: Enabled
Default: 375 Vdc <18>
Target DC Bus Voltage for All Modes
L3-17 <33>
Overvoltage Suppression and Stall 286
(462H) Sets the desired value for the DC bus voltage during overvoltage suppression and Stall Min: 150 Vdc
Prevention
Prevention during deceleration. Max: 400 Vdc <18>
Default: <10>
L3-20 All Modes
DC Bus Voltage Adjustment Gain Min: 0.00 286
(465H)
Sets the proportional gain for KEB Ride-Thru, Stall Prevention, and overvoltage suppression. Max: 5.00

L3-21
Accel/Decel Rate Calculation Gain Min: 0.10 286
(466H) Sets the proportional gain used to calculate the deceleration rate during KEB Ride-Thru, ov
Max: 10.00
suppression function, and Stall Prevention during deceleration (L3-04 = 2).

L3-22 Deceleration Time at Stall
(4F9H) Prevention during Acceleration
Max: 6000.0 s
Sets the deceleration time used for Stall Prevention during acceleration in OLV/PM.

L3-23 Automatic Reduction Selection for
Min: 0 287
(4FDH) Stall Prevention during Run 0: Sets the Stall Prevention level set in L3-06 that is used throughout the entire frequency range. Max: 1
1: Automatic Stall Prevention level reduction in the constant output range. The lower limit
value is 40% of L3-06.
All Modes Default: <8> <9> <14>

L3-24 Motor Acceleration Time for
Min: 0.001 s 287
(46EH) Inertia Calculations Sets the time needed to accelerate the uncoupled motor at rated torque from stop to the
Max: 10.000 s
maximum frequency.
V/f V/f w/PG OLV CLV Default: 1.0

L3-25
Load Inertia Ratio OLV/PM AOLV/PM CLV/PM Min: 1.0 287
(46FH)
Max: 1000.0
Sets the ratio between the motor and machine inertia.
All Modes Default: 0 μF

L3-26
Additional DC Bus Capacitors Min: 0 μF 288
(455H) When DC bus capacitors have been added externally, be sure to add those values to the internal
Max: 65000 μF
capacitor table for proper DC bus calculations.
B.3 Parameter Table

L3-27
Stall Prevention Detection Time OLV/PM AOLV/PM CLV/PM Min: 0 ms 288
(456H)
Max: 5000 ms
Sets the time the current must exceed the Stall Prevention level to activate Stall Prevention.

Default: Determined by
L3-34 Sets the filter time constant in seconds for the torque limit value to return to set value when the A1-02
Torque Limit Delay Time Power KEB Ride-Thru is enabled (L2-29 = 1). If oscillation occurs during Power KEB 288
(16FH) Min: 0.000
Ride-Thru, then gradually increase this setting in increments of 0.010 s. Max: 1.000
Note: 1. This parameter is not available in models CIMR-A4A0930 and 4A1200.
2. L3-34 is automatically set to 0.2 when A1-02 is set to “6” (AOLV/PM). L3-34 is
automatically set to 0.02 when A1-02 is set to “7” (CLV/PM).

Speed Agree Width at Intelligent Default: 0.00 Hz
L3-35 There is normally no need to change this parameter from the default value.
Stall Prevention during Min: 0.00 Hz 288
(747H) Sets the width of the speed agreement when L3-04=2 (Intelligent Stall Prevention during
Deceleration Max: 1.00 Hz
deceleration) in units of 0.01 Hz. Use this parameter when hunting is started by a frequency
reference in analog input.
<8> Parameter value is changed if E2-11 is manually changed or changed by Auto-Tuning.
<14> Default setting value is dependent on the motor code set to parameter E5-01.
<33> Default setting value is dependent on the setting for the input voltage (E1-01).
<34> The setting range is 0 to 2 in OLV/PM control mode.
The setting range is 0 and 1 in CLV or AOLV/PM control modes.
<35> The upper limit of the setting range and default setting is determined by the values set to the Drive Duty Mode Selection (C6-01) and the
carrier frequency reduction selection (L8-38).
 L4: Speed Detection

Default: <10>
L4-01
Speed Agreement Detection Level Min: 0.0 Hz 288
(499H) All Modes Max: 400.0 Hz
L4-01 sets the frequency detection level for digital output functions H2- = 2, 3, 4, 5. Default: <10>
L4-02
Speed Agreement Detection Width L4-02 sets the hysteresis or allowable margin for speed detection. Min: 0.0 Hz 288
(49AH)
Max: 20.0 Hz
Default: 0.0 Hz
L4-03 Speed Agreement Detection Level
Min: -400.0 Hz 289
(49BH) (+/-)
All Modes Max: 400.0 Hz
L4-03 sets the frequency detection level for digital output functions H2- = 13, 14, 15, 16.
Default: <10>
L4-04 Speed Agreement Detection Width L4-04 sets the hysteresis or allowable margin for speed detection.
Min: 0.0 Hz 289
(49CH) (+/-)
Max: 20.0 Hz

L4-05 Frequency Reference Loss
Min: 0 289
(49DH) Detection Selection 0: Operate following the frequency reference
Max: 1
1: Run. Drive continues operation according to the setting of L4-06.

L4-06 Frequency Reference at Reference
Min: 0.0% 289
(4C2H) Loss Sets the percentage of the frequency reference that the drive should run with when the
Max: 100.0%
frequency reference is lost.

L4-07
Speed Agree Detection Selection Min: 0 289
(470H) 0: No detection during baseblock.
Max: 1
1: Detection always enabled.
Parameter List
B.3 Parameter Table
 L5: Fault Restart


L5-01
Number of Auto Restart Attempts Min: 0 290
(49EH) Sets the number of times the drive may attempt to restart after the following faults occur: GF,
Max: 10
LF, oC, oH1, ov, PF, rH, rr, oL1, oL2, oL3, oL4, STo, Uv1.

L5-02 Auto Restart Fault Output
Min: 0 290
(49FH) Operation Selection 0: Fault output not active.
Max: 1
1: Fault output active during restart attempt.
Default: 10.0 s
L5-04 All Modes
Fault Reset Interval Time Min: 0.5 s 290
(46CH)
Sets the amount of time to wait between performing fault restarts. Max: 600.0 s
All Modes
Default: 0
L5-05 0: Continuously attempt to restart while incrementing restart counter only at a successful
Fault Reset Operation Selection Min: 0 291
(467H) restarts (same as F7 and G7).
Max: 1
1: Attempt to restart with the interval time set in L5-04 and increment the restart counter with
each attempt (same V7).
 L6: Torque Detection

All Modes
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 Default: 0
L6-01
Torque Detection Selection 1 3: oL3 detection only active during speed agree, output shuts down on an oL3 fault Min: 0 292
(4A1H)
4: oL3 detection always active during run, output shuts down on an oL3 fault Max: 8
5: UL3 detection only active during speed agree, operation continues after detection
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 All Modes
Torque Detection Level 1 Min: 0% 292
(4A2H)
Sets the overtorque and undertorque detection level. Max: 300%
Default: 0.1 s
L6-03 All Modes
Torque Detection Time 1 Min: 0.0 s 292
(4A3H)
Sets the time an overtorque or undertorque condition must exist to trigger torque detection 1. Max: 10.0 s
All Modes
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 Default: 0
L6-04
Torque Detection Selection 2 3: oL4 detection only active during speed agree, output shuts down on an oL4 fault Min: 0 292
(4A4H)
4: oL4 detection always active during run, output shuts down on an oL4 fault Max: 8
5: UL4 detection only active during speed agree, operation continues after detection
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
Default: 150%
L6-05 All Modes
Torque Detection Level 2 Min: 0% 292
(4A5H)
Sets the overtorque and undertorque detection level. Max: 300%
Default: 0.1 s
L6-06 All Modes
Torque Detection Time 2 Min: 0.0 s 292
(4A6H)
Sets the time an overtorque or undertorque condition must exist to trigger torque detection 2. Max: 10.0 s
All Modes
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.
Default: 0
L6-08 Mechanical Weakening Detection 1: Continue running (alarm only). Detected when the speed (signed) is greater than L6-09.
Min: 0 293
(468H) Operation 2: Continue running (alarm only). Detected when the speed (not signed) is greater than L6-09.
Max: 8
3: Interrupt drive output (fault). Detected when the speed (signed) is greater than L6-09.
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.

L6-09 Mechanical Weakening Detection
Min: -110.0% 293
(469H) Speed Level Sets the speed that triggers Mechanical Weakening Detection. When L6-08 is set for an
Max: 110.0%
unsigned value, the absolute value is used if the setting is negative.
Default: 0.1 s
L6-10 Mechanical Weakening Detection All Modes
Min: 0.0 s 293
(46AH) Time
Sets the time mechanical weakening has to be detected before an alarm or fault is triggered. Max: 10.0 s
Default: 0 h
L6-11 Mechanical Weakening Detection All Modes
Min: 0 h 294
(46BH) Start Time
Sets the operation time (U4-01) required before Mechanical Weakening Detection is active. Max: 65535 h
B.3 Parameter Table
 L7: Torque Limit


L7-01
Forward Torque Limit Min: 0% 294
(4A7H) OLV/PM AOLV/PM CLV/PM
Max: 300%
Sets the torque limit value as a percentage of the motor rated torque. Four individual quadrants
can be set.
Default: 200%
L7-02
Reverse Torque Limit Output Torque Min: 0% 294
(4A8H)
Positive Torque Max: 300%
L7-01
L7-04 Motor Default: 200%
L7-03 Forward Regenerative Torque min-1
Regeneration Min: 0% 294
(4A9H) Limit
REV FWD Max: 300%
Regeneration
L7-03 Default: 200%
L7-04 Reverse Regenerative Torque L7-02 Min: 0% 294
(4AAH) Limit Negative Torque Max: 300%

L7-06 Torque Limit Integral Time
(4ACH) Constant
Max: 10000 ms
Sets the integral time constant for the torque limit.

L7-07 Torque Limit Control Method
Min: 0 295
(4C9H) Selection during Accel/Decel 0: Proportional control (changes to integral control at constant speed). Use this setting when Max: 1
acceleration to the desired speed should take precedence over the torque limit.
1: Integral control. Set L7-07 to 1 if the torque limit should take precedence.

Default: 1
L7-16 OLV/PM AOLV/PM CLV/PM
Torque Limit Process at Start Min: 0 295
(44DH)
0: Disabled Max: 1
1: Enabled
 L8: Drive Protection

All Modes
Default: 0
L8-01 Internal Dynamic Braking Resistor
0: Resistor overheat protection disabled Min: 0 295
(4ADH) Protection Selection (ERF type)
1: Resistor overheat protection enabled Max: 1
Default: <6>
L8-02 All Modes
Overheat Alarm Level Min: 50°C 295
(4AEH)
An overheat alarm will occur if the heatsink temperature exceeds the level set in L8-02. Max: 150°C
All Modes
0: Ramp to stop. A fault is triggered. Default: 3
L8-03 Overheat Pre-Alarm Operation
1: Coast to stop. A fault is triggered. Min: 0 296
(4AFH) Selection
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09. A fault is triggered. Max: 4
3: Continue operation. An alarm is triggered.
4: Continue operation at reduced speed as set in L8-19.
All Modes
Default: 1
L8-05 Input Phase Loss Protection Selects the detection of input current phase loss, power supply voltage imbalance, or main
Min: 0 297
(4B1H) Selection circuit electrolytic capacitor deterioration.
Max: 1
0: Disabled
1: Enabled
All Modes
Default: 0
L8-07 Output Phase Loss Protection
(4B3H) Selection
1: Enabled (triggered by a single phase loss) Max: 2
2: Enabled (triggered when two phases are lost)

L8-09 Output Ground Fault Detection
Min: 0 297
(4B5H) Selection 0: Disabled
Max: 1
1: Enabled
Parameter List

L8-10 Heatsink Cooling Fan Operation
Min: 0 297
(4B6H) Selection 0: Run with timer (Fan operates only during run and for L8-11 seconds after stop.)
Max: 1
1: Run always (Cooling fan operates whenever the drive is powered up.)
Default: 60 s
L8-11 Heatsink Cooling Fan Off Delay All Modes Min: 0 s 298
(4B7H) Time
Sets a delay time to shut off the cooling fan after the Run command is removed when L8-10 = 0. Max: 300 s
Default: 40°C B
L8-12 All Modes
Ambient Temperature Setting Min: -10°C 298
(4B8H)
Enter the ambient temperature. This value adjusts the oL2 detection level. Max: 50°C
B.3 Parameter Table

L8-15 oL2 Characteristics Selection at
Min: 0 298
(4BBH) Low Speeds 0: No oL2 level reduction below 6 Hz.
Max: 1
1: oL2 level is reduced linearly below 6 Hz. It is halved at 0 Hz.

Default: 0
L8-18 OLV/PM AOLV/PM CLV/PM
Software Current Limit Selection Min: 0 298
(4BEH)
0: Disabled Max: 1
1: Enabled
Default: 0.8
L8-19 Frequency Reduction Rate during All Modes
Min: 0.1 296
(4BFH) Overheat Pre-Alarm
Specifies the frequency reference reduction gain at overheat pre-alarm when L8-03 = 4. Max: 0.9

Sets the gain for overcurrent detection as a percentage of the motor rated current. Overcurrent is
detected using the drive’s overcurrent level or the value set to L8-27, whichever is lower. Default: 300.0%
L8-27 Note: 1. The Overcurrent Protection for PM motor is not disabled when 0.0% is set for
Overcurrent Detection Gain Min: 0.0% 298
(4DDH) CIMR-A4A0930, 4A1200. Max: 400.0%
2. For drives with software version S1025 or later, Overcurrent Protection for PM motor
is disabled when L8-27 is set to 0.0%. If Overcurrent Protection for PM motor is
required, do not set L8-27 to 0.0%. When the rated current of the drive is significantly
higher than the rated current of the motor and flows to the overcurrent detection level
of the drive, the magnet of the PM motor may become demagnetized.
For models
V/f V/f w/PG OLV CLV CIMR-A2A0004 to
2A0415, 4A0002 to
OLV/PM AOLV/PM CLV/PM 4A0630
For models CIMR-A2A0004 to 2A0415, 4A0002 to 4A0630 Default: 1
0: Disabled Min: 0
L8-29 Current Unbalance Detection 1: Enabled (current and voltage detection) Max: 3
299
(4DFH) (LF2) 2: Enabled (current detection)
3: Enabled (voltage detection) For models
CIMR-A4A0930 and
For models CIMR-A4A0930 and 4A1200 4A1200
0: Disabled Default: 1
1: Enabled (current detection) Min: 0
Max: 1
All Modes
Determines the action the drive should take when a fault occurs with the internal cooling fan.
Default: 1
L8-32 0: Ramp to stop
Cooling Fan Failure Selection Min.: 0 299
(4E2H) 1: Coast to stop
Max.: 4
3: Alarm only (“FAn” will flash)
4: Continue operation at reduced speed as set in L8-19.
All Modes
Default: <6>
L8-35 0: IP00 enclosure drive
Installation Method Selection Min: 0 299
(4ECH) 1: Side-by-Side mounting
Max: 3
2: IP20/UL Type 1 enclosure
3: Finless model drive or external heatsink installation

L8-38 Carrier Frequency Reduction
Min: 0 300
(4EFH) Selection 0: Disabled Max: 2
1: Enabled below 6 Hz
2: Enabled for the entire speed range

Default: <10>
L8-40 Carrier Frequency Reduction OLV/PM AOLV/PM CLV/PM Min: 0.00 s 300
(4F1H) Off-Delay Time
Sets the time that the drive continues running with reduced carrier frequency after the carrier Max: 2.00 s
reduction condition is gone. Setting 0.00 s disables the carrier frequency reduction time.

L8-41
High Current Alarm Selection Min: 0 300
(4F2H) 0: Disabled
Max: 1
1: Enabled. An alarm is triggered at output currents above 150% of the drives rated current.

L8-55 Internal Braking Transistor
0: Disabled. L8-55 should be disabled when using a regen converter or an optional braking unit. Min: 0 300
(45FH) Protection
1: Protection enabled. Max: 1
All Modes
Default: 1
L8-78 Power Unit Output Phase Loss Enables motor protection if output phase loss occurs.
Min: 0 301
(2CCH) Protection 0: Disabled
Max: 1
1: Enabled

L8-93
LSo Detection Time at Low Speed OLV/PM AOLV/PM CLV/PM Min: 0.0 s 301
(73CH)
Max: 10.0 s
Sets the amount of time until baseblock is executed once LSo has been detected at low speed.
B.3 Parameter Table

L8-94
LSo Detection Level at Low Speed OLV/PM AOLV/PM CLV/PM Min: 0% 301
(73DH)
Max: 10%
Determines the detection level of LSo at low speed.
V/f V/f w/PG OLV CLV Default: 10 times

L8-95 Average LSo Frequency at Low
OLV/PM AOLV/PM CLV/PM Min: 1 time 301
(77FH) Speed
Max: 50 times
Sets the average number of times LSo can occur at low speed.
 L9: Drive Protection 2


There is normally no need to change this parameter from the default value. Default: 0
L9-03 Carrier Frequency Reduction Selects the level to start the reduction of the frequency or to clear the current frequency level for Min: 0 301
(819H) Level Selection the automatic reduction of the carrier frequency. Max: 1
0: Reduces the carrier frequency based on the drive's rated current that is not derated.
1: Reduces the carrier frequency based on the drive's rated current that is derated by the carrier
frequency and the temperature selected for C6-02.
 n: Special Adjustment
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
n1-01 OLV/PM AOLV/PM CLV/PM
Hunting Prevention Selection Min: 0 302
(580H)
0: Disabled Max: 1
1: Enabled

Default: 1.00
Hunting Prevention Gain Setting Min: 0.00 302
(581H)
If the motor vibrates while lightly loaded, increase the gain by 0.1 until vibration ceases. If the Max: 2.50
motor stalls, decrease the gain by 0.1 until the stalling ceases.

n1-03
Hunting Prevention Time Constant OLV/PM AOLV/PM CLV/PM Min: 0 ms 302
(582H)
Max: 500 ms
Sets the time constant used for Hunting Prevention.

Default: 0.00
n1-05 Hunting Prevention Gain while in OLV/PM AOLV/PM CLV/PM Min: 0.00 302
(530H) Reverse
Sets the gain used for Hunting Prevention. If set to 0, the gain set to n1-02 is used for operation Max: 2.50
in reverse.
 n2: Speed Feedback Detection Control (AFR) Tuning


Default: 1.00
Parameter List
n2-01 Speed Feedback Detection Control OLV/PM AOLV/PM CLV/PM

Min: 0.00 303
(584H) (AFR) Gain Sets the internal speed feedback detection control gain in the automatic frequency regulator Max: 10.00
(AFR).
If hunting occurs, increase the set value. If response is low, decrease the set value.

n2-02 Speed Feedback Detection Control
(585H) (AFR) Time Constant 1
Sets the time constant used for speed feedback detection control (AFR).
Max: 2000 ms B
(586H) (AFR) Time Constant 2
Max: 2000 ms
Sets the AFR time constant to be used during Speed Search and during regen.
B.3 Parameter Table
 n3: High Slip Braking (HSB) and Overexcitation Braking


n3-01 High Slip Braking Deceleration
Min: 1% 303
(588H) Frequency Width Sets the output frequency reduction step width for when the drive stops the motor using HSB. Max: 20%
Set as a percentage of the maximum output frequency. Increase this setting if overvoltage
occurs during HSB.

n3-02
High Slip Braking Current Limit OLV/PM AOLV/PM CLV/PM Min: 100% 304
(589H)
Max: 200%
Sets the current limit during HSB as a percentage of the motor rated current.

Default: 1.0 s
n3-03 High Slip Braking Dwell Time at OLV/PM AOLV/PM CLV/PM Min: 0.0 s 304
(58AH) Stop
Sets the time the drive will run with minimum frequency (E1-09) at the end of deceleration. Max: 10.0 s
If this time is set too low, the machine inertia can cause the motor to rotate slightly after HSB.

OLV/PM AOLV/PM CLV/PM Default: 40 s
n3-04
High-Slip Braking Overload Time Min: 30 s 304
(58BH) Sets the time required for an HSB overload fault (oL7) to occur when the drive output Max: 1200 s
frequency does not change during an HSB stop. This parameter does not typically require
adjustment.

n3-13
Overexcitation Deceleration Gain OLV/PM AOLV/PM CLV/PM Min: 1.00 305
(531H)
Max: 1.40
Sets the gain applied to the V/f pattern during Overexcitation Deceleration (L3-04 = 4).

Default: 0
n3-14 High Frequency Injection during OLV/PM AOLV/PM CLV/PM Min: 0 305
(532H) Overexcitation Deceleration
0: Disabled Max: 1
1: Enabled

n3-21 High-Slip Suppression Current
Min: 0% 305
(579H) Level Sets output current level at which the drive will start reducing the overexcitation gain in order to Max: 150%
prevent a too high motor slip during Overexcitation Deceleration. Set as a percentage of the

n3-23 Overexcitation Operation
Min: 0 305
(57BH) Selection 0: Enabled in both directions Max: 2
1: Enabled only when rotating forward
2: Enabled only when in reverse
<50> The default setting is determined by the values set to Drive Duty Mode Selection (C6-01) and the carrier frequency reduction selection (L8-38).
 n5: Feed Forward Control


Default: 0
Feed Forward Control Selection Min: 0 306
(5B0H)
0: Disabled Max: 1
1: Enabled

n5-02
Motor Acceleration Time OLV/PM AOLV/PM CLV/PM Min: 0.001 s 306
(5B1H)
Max: 10.000 s
Sets the time required to accelerate the motor at the rated torque from stop to rated speed.

Default: 1.00
Feed Forward Control Gain Min: 0.00 307
(5B2H)
Sets the ratio between motor and load inertia. Lower this setting if overshoot occurs at the end Max: 100.00
of acceleration.
B.3 Parameter Table
 n6: Online Tuning


n6-01
Online Tuning Selection Min: 0 308
(570H) 0: Disabled Max: 2
1: Line-to-line resistance tuning
2: Voltage correction. Setting not possible when Energy Saving is enabled (b8-01).

Default: 1.0
Online Tuning Gain Min: 0.1 308
(5C7H)
Decrease this setting for motors with a relatively large rotor time constant. Max: 50.0
If overload occurs, increase this setting slowly in increments of 0.10.
 n8: PM Motor Control Tuning


Default: 50%
n8-01 Initial Rotor Position Estimation OLV/PM AOLV/PM CLV/PM Min: 0% 308
(540H) Current
Sets the current used for initial rotor position estimation as a percentage of the motor rated Max: 100%
current (E5-03). If the motor nameplate lists an “Si” value, that value should be entered here.

Default: 80%
Pole Attraction Current Min: 0% 308
(541H)
Sets the current during initial polar attraction as a percentage of the motor rated current. Max: 150%
Note: This parameter is not available in models CIMR-A4A0930 and 4A1200 for CLV/PM.

n8-03
Current Startup Time There is normally no need to change this parameter from the default value. Min: 1.5 s 308
(542H)
Sets the current startup time to detect the rotor pole when tuning the phase-Z pulse position. Set Max: 5.0 s
this parameter to a large value if the motor vibrates when tuning the phase-Z pulse position.

n8-04
Pole Attraction Time There is normally no need to change this parameter from the default value. Min: 1.5 s 309
(543H)
Sets the pole attraction time to detect the rotor pole when tuning the phase-Z pulse position. Set Max: 5.0 s
this parameter to a large value if the motor vibrates when tuning the phase-Z pulse position.

n8-11 Induction Voltage Estimation Gain
Min: 0.0 309
(54AH) 2 There is normally no need to change this parameter from the default value. Max: 1000.0
Sets the gain for estimating the speed.

n8-14
Polarity Compensation Gain 3 Min: 0.000 309
(54DH) There is normally no need to change this parameter from the default value. Max: 10.000

n8-15
Polarity Compensation Gain 4 Min: 0.000 309
(54EH) There is normally no need to change this parameter from the default value. Max: 10.000

n8-21
Motor Ke Gain Min: 0.80 309
(554H) There is normally no need to change this parameter from the default value. Max: 1.00
Parameter List

n8-35 Initial Rotor Position Detection
Min: 0 309
(562H) Selection 0: Pull-in Max: 2
1: High frequency injection
2: Pulse injection
B.3 Parameter Table

Default: 500 Hz
n8-36 Sets the frequency in Hz for the superimposed signal used for superimposed harmonics.
High Frequency Injection Level Min: 200 Hz 310
(563H) Enabled when n8-57 = 1. In this case, perform High Frequency Injection Parameter Tuning Max: 1000 Hz
after setting the motor parameters. Refer to T2-01: PM Motor Auto-Tuning Mode Selection on

There is normally no need to change this parameter from the default value. Default: 20.0%
n8-37 High Frequency Injection
(564H) Amplitude Sets the amplitude for High Frequency Injection as a percentage of the voltage when the voltage Min: 0.0% 310
class base is 100% (200 V Class is 200 V and, 400 V Class is 400 V). Adjust this value when Max: 50.0%
there is too much or too little current as a result of the settings assigned to motor parameters.
Enabled when n8-57 = 1.

OLV/PM AOLV/PM CLV/PM Default: 50 Hz
n8-39 Low Pass Filter Cutoff Frequency
There is normally no need to change this parameter from the default value. Min: 0 Hz 310
(566H) for High Frequency Injection
Sets the cutoff frequency of a low pass filter for high frequency injection. Enabled when n8-57 Max: 1000 Hz
= 1.

Default: 2.50
n8-41
HFI Overlap Pole Detection Pgain OLV/PM AOLV/PM CLV/PM Min: -10.00 310
(568H)
Sets the speed estimation response for High Frequency Injection. Enabled when n8-57 = 1. Max: 10.00

Min: 0.00 310
(538H) Gain (for PM Motors) OLV/PM AOLV/PM CLV/PM
Max: 10.00
Increase this setting if hunting occurs. Decrease to lower the response.

Default: 5.0 s
n8-47 Pull-In Current Compensation OLV/PM AOLV/PM CLV/PM
Min: 0.0 s 310
(53AH) Time Constant (for PM Motors) Sets the time constant to make the pull-in current reference and actual current value agree. Max: 100.0 s
Decrease the value if the motor begins to oscillate, and increase the value if it takes too long for
the current reference to equal the output current.

Default: 30%
Pull-In Current (for PM Motors) Min: 20% 311
(53BH) Defines the d-axis current reference during no-load operation at a constant speed. Set as a Max: 200%
percentage of the motor rated current. Increase this setting if hunting occurs while running at
constant speed.

Default: <14>
n8-49 d-Axis Current for High Efficiency
OLV/PM AOLV/PM CLV/PM Min: -200.0% 311
(53CH) Control (for PM Motors)
Sets the d-axis current reference when running a high load at constant speed. Set as a percentage Max: 0.0%
of the motor rated current.

Default: 50%
n8-51 Acceleration/Deceleration Pull-In
(53EH) Current (for PM Motors)
Sets the d-axis current reference during acceleration/deceleration as a percentage of the motor Max: 200%
rated current. Set to a high value when more starting torque is needed.

Default: 1.00 s
n8-54 Voltage Error Compensation Time
(56DH) Constant
Adjusts the value when hunting occurs at low speed. If hunting occurs with sudden load Max: 10.00 s
changes, increase n8-54 in increments of 0.1. Increase this setting if vibration occurs at start.

Default: 0
n8-55 Sets the ratio between motor and machine inertia.
Load Inertia Min: 0 311
(56EH) 0: Below 1:10 Max: 3
1: Between 1:10 and 1:30
2: Between 1:30 and 1:50
3: Beyond 1:50

Default: 0
n8-57 0: Disabled. Disable when using an SPM motor.
High Frequency Injection Min: 0 312
(574H) 1: Enabled. Use this setting to enhance the speed control range when using an IPM motor. Max: 1
Note: When n8-57 is set to 1 (Enabled), perform High Frequency Injection Parameter Tuning
after setting the motor parameters. High Frequency Injection cannot be used with an SPM
motor. Refer to T2-01: PM Motor Auto-Tuning Mode Selection on page 130 for details.

Default: 200.0 V <18>
n8-62 Output Voltage Limit (for PM
OLV/PM AOLV/PM CLV/PM Min: 0.0 V 312
(57DH) Motors)
Prevents output voltage saturation. Should be set just below the voltage provided by the input Max: 230.0 V <18>
power supply.
B.3 Parameter Table

(65CH) Gain during ov Suppression
Max: 10.00
Sets the gain used for internal speed feedback detection during ov suppression

Default: 1.00
Speed Calculation Gain Min: 0.00 312
(65DH)
There is normally no need to change this parameter from the default value. Max: 20.00
Sets the proportional gain for Speed Estimation.

Default: 1
n8-72 Speed Estimation Method There is normally no need to change this parameter from the default value. Min: 0 313
(655H) Selection Sets the method to be used for estimating the speed. Max: 1
0: Conventional method
1: A1000 method

Default: 100%
n8-84 Sets the current to determine polarity for the initial polarity calculation as a percentage of the
Polarity Judge Current Min: 0% 313
(2D3H) motor rated current. Max: 150%
100% = Motor rated current
Note: If an “Si” value is listed on the nameplate for a Yaskawa motor, n8-84 should be set to
“Si” value × 2. Contact the motor manufacturer for the maximum setting values.
<17> Default setting is dependent on the speed estimation method selection (n8-72) as follows:
50.0 when n8-72 = 0
150.0 when n8-72 = 1
 o: Operator Related Settings

The o parameters are used to set up the digital operator displays.
 o1: Digital Operator Display Selection
All Modes
o1-01 Default: 106 (Monitor
Switches the display after the power has been turned on. When using an LED operator, pressing
(500H) Drive Mode Unit Monitor U1-06)
the up arrow key will display the following data: frequency reference → rotational direction → 314
Selection Min: 104
output frequency → output current → output voltage → U1-.
Max: 813
(This is done by entering the 1 part of U1-. Certain monitors are not available in some
control modes.)
All Modes
o1-02 o1-02 selects the information that is displayed when the power is turned on.
1: Frequency reference (U1-01) Default: 1
(501H) User Monitor Selection after
2: Direction Min: 1 314
Power Up
3: Output frequency (U1-02) Max: 5
4: Output current (U1-03)
5: User-selected monitor (set by o1-01)
All Modes
Sets the units the drive should use to display the frequency reference and motor speed monitors. Default: <10>
o1-03
Digital Operator Display Selection 0: 0.01 Hz Min: 0 314
(502H)
1: 0.01% (100% = E1-04) Max: 3
2: min-1 (calculated using the number of motor poles setting in E2-04, E4-04, or E5-04)
3: User-selected units (set by o1-10 and o1-11)

Default: <10>
o1-04 OLV/PM AOLV/PM CLV/PM
V/f Pattern Display Unit Min: 0 315
(503H)
0: Hz Max: 1
1: min-1
o1-05
Default: 3
Parameter List
(504H) All Modes

LCD Contrast Control Min: 0 315
Sets the brightness of the LCD operator (option). Max: 5
Default: <36>
o1-10 User-Set Display Units Maximum
All Modes Min: 1 315
(520H) Value
Max: 60000
These settings define the display values when o1-03 is set to 3.
Default: <36>
o1-11
(521H)
User-Set Display Units Decimal
Display
o1-10 sets the display value that is equal to the maximum output frequency.
o1-11 sets the position of the decimal position. Min: 0 315 B
Max: 3
<36> Default setting value is determined by the digital operator display selection (o1-03).
B.3 Parameter Table
 o2: Digital Operator Keypad Functions


o2-01
LO/RE Key Function Selection Min: 0 315
(505H) 0: Disabled
Max: 1
1: Enabled. LO/RE key switches between LOCAL and REMOTE operation.

o2-02
STOP Key Function Selection Min: 0 316
(506H) 0: Disabled. STOP key is disabled in REMOTE operation.
Max: 1
1: Enabled. STOP key is always enabled.
All Modes
Default: 0
o2-03
User Parameter Default Value 0: No change. Min: 0 316
(507H)
1: Set defaults. Saves parameter settings as default values for a User Initialization. Max: 2
2: Clear all. Clears the default settings that have been saved for a User Initialization.
Default: Determined by
o2-04 All Modes drive capacity
Drive Model Selection 316
(508H) Min: –
Enter the drive model. Setting required only if installing a new control board.
Max: –
All Modes
Default: 0
o2-05 Frequency Reference Setting
0: ENTER key must be pressed to enter a frequency reference. Min: 0 317
(509H) Method Selection
1: ENTER key is not required. The frequency reference can be adjusted using the up and down Max: 1
arrow keys only.

o2-06 Operation Selection when Digital
Min: 0 317
(50AH) Operator is Disconnected 0: The drive continues operating if the digital operator is disconnected.
Max: 1
1: A fault is triggered (oPr) and the motor coasts to stop.
All Modes
Default: 0
o2-07 Motor Direction at Power Up when
0: Forward Min: 0 317
(527H) Using Operator
1: Reverse Max: 1
This parameter requires that drive operation be assigned to the digital operator.
o2-09
Reserved – – –
(50DH)
All Modes
Selects if parameter settings can be changed during a DC bus undervoltage condition. To be
used with 24V POWER SUPPLY (PS-A10L, PS-A10H). Default: 0
o2-19 Selection of Parameter Write
(61FH) During UV
1: Enabled Max: 1
Note: If the function of o2-19 is enabled, it is possible for a CPF06 Fault to occur. This function
should be used with 24V POWER SUPPLY (PS-A10L, PS-A10H) REVISION B or later.
If the older revision is used, parameter changes might not occur correctly.
 o3: Copy Function

All Modes
0: Copy select
Default: 0
o3-01 1: INV → OP READ (Read parameters from the drive, saving them onto the digital operator.)
Copy Function Selection Min: 0 318
(515H) 2: OP → INV WRITE (Copy parameters from the digital operator, writing them to the drive.)
Max: 3
3: OP → INV VERIFY (Verify parameter settings on the drive to check if they match the data
saved on the operator.)
To read the drive’ parameter settings into the digital operator, set o3-02 to 1 (to allow reading).
All Modes
Default: 0
o3-02
Copy Allowed Selection Selects whether the read operation (o3-01 = 1) is enabled or disabled. Min: 0 318
(516H)
0: Read operation prohibited Max: 1
1: Read operation allowed
 o4: Maintenance Monitor Settings

Default: 0
o4-01 Cumulative Operation Time All Modes
Min: 0 318
(50BH) Setting
Sets the value for the cumulative operation time of the drive in units of 10 h. Max: 9999

o4-02 Cumulative Operation Time
Min: 0 318
(50CH) Selection 0: Logs power-on time
Max: 1
1: Logs operation time when the drive output is active (output operation time).
Default: 0
o4-03 Cooling Fan Operation Time All Modes
Min: 0 319
(50EH) Setting
Sets the value of the fan operation time monitor U4-03 in units of 10 h. Max: 9999
All Modes Default: 0%

o4-05
Capacitor Maintenance Setting Min: 0% 319
(51DH) Sets the point at which the cumulative timing for the main circuit capacitor maintenance starts.
Max: 150%
View monitor U4-05 to determine when the capacitors may require replacement.
B.3 Parameter Table

o4-07 DC Bus Pre-Charge Relay
Sets the point at which the cumulative timing for the soft charge bypass relay maintenance Min: 0% 319
(523H) Maintenance Setting
starts. View monitor U4-06 to determine when the bypass relay may require replacement. Max: 150%

o4-09
IGBT Maintenance Setting Sets the point at which the cumulative timing for the IGBTs maintenance starts. Min: 0% 319
(525H)
View monitor U4-07 to determine when the IGBTs may require replacement. Max: 150%

o4-11 0: U2- and U3- monitor data is not reset when the drive is initialized (A1-03).
U2, U3 Initialization Min: 0 319
(510H) 1: U2- and U3- monitor data is reset when the drive is initialized (A1-03). (The value Max: 1
of o4-11 is automatically returned to 0.)

o4-12 0: U4-10 and U4-11 monitor data is not reset when the drive is initialized (A1-03).
kWh Monitor Initialization Min: 0 320
(512H) 1: U4-10 and U4-11 monitor data is reset when the drive is initialized (A1-03). (The value of Max: 1
o4-12 is automatically returned to 0.)

o4-13 Number of Run Commands 0: U4-02 monitor data is not reset when the drive is initialized (A1-03). Min: 0 320
(528H) Counter Initialization 1: U4-02 monitor data is reset when the drive is initialized (A1-03). (The value of o4-13 is Max: 1
automatically returned to 0.)
 q: DriveWorksEZ Parameters
q1-01 to
q6-07 All Modes Refer to Help in the
DriveWorksEZ Parameters 320
(1600H to Reserved for DriveWorksEZ DWEZ software.
1746H)
 r: DriveWorksEZ Connection Parameters

r1-01 to
Default: 0
r1-40 DriveWorksEZ Connection All Modes Min: 0 320
(1840H to Parameters 1 to 20 (upper/lower) DriveWorksEZ Connection Parameters 1 to 20 (upper/lower) Max: FFFF
1867H)
 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
T1-00
Motor 1/Motor 2 Selection OLV/PM AOLV/PM CLV/PM Min: 1 127
(700H)
1: Motor 1 (sets E1-, E2-) Max: 2
2: Motor 2 (sets E3-, E4-)

0: Rotational Auto-Tuning
1: Stationary Auto-Tuning 1
2: Stationary Auto-Tuning for Line-to-Line Resistance
T1-01 3: Rotational Auto-Tuning for V/f Control (necessary for Energy Savings and Speed Estimation Default: 0
(701H) Auto-Tuning Mode Selection Speed Search) Min: 0 128
<37> 4: Stationary Auto-Tuning 2 Max: 4, 5, 8, 9 <10>
5: Stationary Auto-Tuning 3
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)
Note 1. Stationary Auto-Tuning 3 is not available in models CIMR-A4A0930 and 4A1200.
2. Inertia Tuning and ASR Gain Auto-Tuning might not be available if gears are between
the machine and the motor shaft.
Parameter List

T1-02
Motor Rated Power Min: 0.00 kW 128
Max: 650.00 kW
Sets the motor rated power as specified on the motor nameplate.
V/f V/f w/PG OLV CLV Default: 200.0 V <18>

T1-03
(703H)
Motor Rated Voltage
Min: 0.0 V
Max: 255.0 V <18>
128
B
Sets the motor rated voltage as specified on the motor nameplate.
B.3 Parameter Table

Default: <6>
T1-04
Motor Rated Current current 128
Max: 200% of drive
Sets the motor rated current as specified on the motor nameplate. rated current
V/f V/f w/PG OLV CLV Default: 50.0 Hz

T1-05
Motor Base Frequency Min: 0.0 Hz 128
Max: 400.0 Hz
Sets the rated frequency of the motor as specified on the motor nameplate.

T1-06
Number of Motor Poles Min: 2 129
Max: 48
Sets the number of motor poles as specified on the motor nameplate.
V/f V/f w/PG OLV CLV Default: 1450 min-1

T1-07
Motor Base Speed Min: 0 min-1 129
Max: 24000 min-1
Sets the rated speed of the motor as specified on the motor nameplate.

T1-08 PG Number of Pulses Per
Min: 0 ppr 129
(708H) Revolution OLV/PM AOLV/PM CLV/PM
Max: 60000 ppr
Set the number of pulses per revolution for the PG being used (pulse generator or encoder).

OLV/PM AOLV/PM CLV/PM Default: –
T1-09 Motor No-Load Current
Sets the no-load current for the motor. Min: 0 A 129
(709H) (Stationary Auto-Tuning)
After setting the motor capacity to T1-02 and the motor rated current to T1-04, this parameter Max: T1-04
will automatically display the no-load current for a standard 4 pole Yaskawa motor. Enter the
no-load current as indicated on the motor test report.

OLV/PM AOLV/PM CLV/PM Default: –
T1-10 Motor Rated Slip
Sets the motor rated slip. Min: 0.00 Hz 129
(70AH) (Stationary Auto-Tuning)
After setting the motor capacity to T1-02, this parameter will automatically display the motor Max: 20.00 Hz
slip for a standard 4 pole Yaskawa motor. Enter the motor slip as indicated on the motor test
report.

Default: 14 W <38>
T1-11 OLV/PM AOLV/PM CLV/PM
Motor Iron Loss Min: 0 W 129
(70BH) Sets the iron loss for determining the Energy Saving coefficient. Max: 65535 W
The value is set to E2-10 (motor iron loss) set when the power is cycled. If T1-02 is changed, a
default value appropriate for the motor capacity that was entered will appear.
<37> The availability of certain Auto-Tuning methods depends on the control mode selected for the drive.
<38> 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
8: Inertia Tuning
9: ASR Gain Auto-Tuning
11: Back EMF Constant Tuning Default: 0
T2-01
PM Motor Auto-Tuning Mode 13: High Frequency Injection Parameter Tuning Min: 0
(750H) 130
Selection 14: PM Rotational Auto-Tuning Max: 3, 8, 9, 11,13,
<37>
Note: 1.The settings of 13 and 14 are not available for models CIMR-A4A0930 and 4A1200. 14 <10>
2. Inertia Tuning and ASR Gain Auto-Tuning might not be available if gears are between
the machine and the motor shaft.
3. For special-purpose motors, Yaskawa recommends Back EMF Constant Tuning after
Stationary Auto-Tuning has been performed. Back EMF Constant Tuning rotates the
motor to measure the actual induction voltage constants, and therefore allows for more
accurate control than Stationary Auto-Tuning alone.
4. Perform High Frequency Injection Parameter Tuning when using High Frequency
Injection. High Frequency Injection cannot be used with an SPM motor. Refer to
T2-01: PM Motor Auto-Tuning Mode Selection on page 130 for details.

Default: <16>
T2-02 Enter the motor code when using a Yaskawa PM motor. Once the motor code is entered, the
PM Motor Code Selection Min: 0000 130
(751H) drive automatically sets parameters T2-03 through T2-09. Set T2-10 through T2-14 from the Max: FFFF
values on the motor nameplate or from the motor test report. When using a motor that is not
supported motor code or a non-Yaskawa motor, set FFFF here and then adjust the other T2
parameters according the motor nameplate or the motor test report.
B.3 Parameter Table

Default: 1
PM Motor Type Min: 0 130
(752H)
0: IPM motor Max: 1
1: SPM motor

T2-04
PM Motor Rated Power OLV/PM AOLV/PM CLV/PM Min: 0.00 kW 130
(730H)
Max: 650.00 kW
Sets the motor rated power.
V/f V/f w/PG OLV CLV Default: 200.0 V <18>

T2-05
PM Motor Rated Voltage OLV/PM AOLV/PM CLV/PM Min: 0.0 V 131
(732H)
Max: 255.0 V <18>
Enter the motor rated voltage as indicated on the motor nameplate.
Default: <6>
T2-06
PM Motor Rated Current OLV/PM AOLV/PM CLV/PM current 131
(733H)
Max: 200% of drive
Enter the motor rated current as indicated on the motor nameplate. rated current
V/f V/f w/PG OLV CLV Default: 87.5 Hz

T2-07
PM Motor Base Frequency OLV/PM AOLV/PM CLV/PM Min: 0.0 Hz 131
(753H)
Max: 400.0 Hz
Enter the motor base frequency as indicated on the motor nameplate.

T2-08
Number of PM Motor Poles OLV/PM AOLV/PM CLV/PM Min: 2 131
(734H)
Max: 48
Enter the number of motor poles for the PM motor as indicated on the motor nameplate.
V/f V/f w/PG OLV CLV Default: 1750 min-1

T2-09
PM Motor Base Speed OLV/PM AOLV/PM CLV/PM Min: 0 min-1 131
(731H)
Max: 24000 min-1
Enter the base speed for the PM motor as indicated on the motor nameplate.

T2-10
PM Motor Stator Resistance OLV/PM AOLV/PM CLV/PM Min: 0.000 Ω 131
(754H)
Max: 65.000 Ω
Enter the rotor resistance for the PM motor as indicated on the motor nameplate.

T2-11
PM Motor d-Axis Inductance OLV/PM AOLV/PM CLV/PM Min: 0.00 mH 131
(735H)
Max: 600.00 mH
Enter the d-axis inductance for the PM motor as indicated on the motor nameplate.

T2-12
PM Motor q-Axis Inductance OLV/PM AOLV/PM CLV/PM Min: 0.00 mH 131
(736H)
Max: 600.00 mH
Enter the q-axis inductance for the PM motor as indicated on the motor nameplate.

Default: 1
T2-13 Induced Voltage Constant Unit OLV/PM AOLV/PM CLV/PM Min: 0 132
(755H) Selection
0: mV/(min-1). E5-09 will automatically be set to 0.0, and E5-24 will be used. Max: 1
1: mV/(rad/s). E5-24 will automatically be set to 0.0, and E5-09 will be used

T2-14 PM Motor Induced Voltage
(737H) Constant
Max: 2000.0
Enter the induced voltage coefficient for the PM motor as indicated on the motor nameplate.

Default: 30%
T2-15 Pull-In Current Level for PM OLV/PM AOLV/PM CLV/PM Min: 0% 132
(756H) Motor Tuning
Sets the amount of pull-in current to use for Auto-Tuning as a percentage of the motor rated Max: 120%
current. Increase this setting for high inertia loads.

T2-16 PG Number of Pulses Per
OLV/PM AOLV/PM CLV/PM Min: 1 ppr 132
(738H) Revolution for PM Motor Tuning
Max: 15000 ppr
Sets the number of pulses per revolution for the PG being used (pulse generator or encoder).
V/f V/f w/PG OLV CLV Default: 0.0 deg

T2-17
Encoder Z-Pulse Offset OLV/PM AOLV/PM CLV/PM Min: -180.0 deg 132
(757H)
Max: 180.0 deg
Parameter List
Sets the offset between encoder offset and the rotor magnetic axis.
<37> The availability of certain Auto-Tuning methods depends on the control mode selected for the drive.
<39> Default setting is determined by the drive capacity and the motor code selected in T2-02.
B
B.3 Parameter Table
 T3: ASR and Inertia Tuning


Default: 3.0 Hz
Test Signal Frequency Min: 0.1 Hz 133
(760H)
Sets the frequency of the test signal used during Inertia Tuning and ASR Gain Auto-Tuning. Max: 20.0 Hz
Reduce this value if the inertia is large or if a fault occurs.

Default: 0.5 rad
Test Signal Amplitude Min: 0.1 rad 133
(761H)
Sets the amplitude of the test signal used during Inertia and ASR Gain Auto-Tuning. Reduce Max: 10.0 rad
this value if the inertia is too large or if a fault occurs.

T3-03
Motor Inertia OLV/PM AOLV/PM CLV/PM Min: 0.0001 kgm2 133
(762H)
Max: 600.00 kgm2
Sets the motor inertia. Default setting is the inertia of a Yaskawa motor.

T3-04 Default: 10.0 Hz
(763H) System Response Frequency OLV/PM AOLV/PM CLV/PM Min: 0.1 Hz 133
<40> Sets the response frequency of the mechanical system connected to the motor. Oscillation may Max: 50.0 Hz
result if set too high.
<40> Displayed only when performing Inertia Tuning or ASR Gain Auto-Tuning (T1-01 = 9 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. (Addr.) Name Description Unit Page
Level
U1-01 All Modes 10 V: Max frequency

Frequency Reference 0.01 Hz –
(40H) (-10 to +10 V)
Monitors the frequency reference. Display units are determined by o1-03.
U1-02 All Modes 10 V: Max frequency

Output Frequency 0.01 Hz –
(41H) Displays the output frequency. Display units are determined by o1-03. (-10 to +10 V)
All Modes
U1-03 10 V: Drive rated
Output Current <19> <23> –
(42H) Displays the output current. current
Note: The unit is expressed in 1 A for models CIMR-A4A0930 and 4A1200.
All Modes
0: V/f Control
1: V/f Control with PG
U1-04 No signal output
Control Method 2: Open Loop Vector Control – –
(43H) available
3: Closed Loop Vector Control
5: Open Loop Vector Control for PM
6: Advanced Open Loop Vector Control for PM
7: Closed Loop Vector Control for PM

U1-05 10 V: Max Frequency
Motor Speed OLV/PM AOLV/PM CLV/PM 0.01 Hz –
(44H) (-10 to +10 V)
Displays the motor speed feedback. Display units are determined by o1-03.
U1-06 All Modes

Output Voltage Reference 10 V: 200 Vrms <18> 0.1 Vac –
(45H)
Displays the output voltage.
U1-07 All Modes

DC Bus Voltage 10 V: 400 V <18> 1 Vdc –
(46H)
Displays the DC bus voltage.
10 V: Drive rated
U1-08 All Modes
Output Power power (kW) <60> <22> –
(47H)
Displays the output power (this value is calculated internally). (-10 to +10 V)
V/f V/f w/PG OLV CLV 10 V: Motor rated

U1-09
Torque Reference OLV/PM AOLV/PM CLV/PM torque 0.1% –
(48H)
(-10 to +10 V)
Monitors the internal torque reference.
B.3 Parameter Table
Analog Output
Level
All Modes
Displays the input terminal status.
U1 - 10= 0 0 0 0 0 0 0 0
1 Digital input 1
(terminal S1) enabled
1 Digital input 2
1 Digital input 3
U1-10 (terminal S3) enabled No signal output
Input Terminal Status – –
(49H) available
1 Digital input 4
1 Digital input 5
1 Digital input 6
1 Digital input 7
1 Digital input 8
All Modes
Displays the output terminal status.
U1 - 11= 0 0 0 0 0 0 0 0
1 Multi-Function
Digital Output
(terminal M1-M2) enabled
(4AH)
Output Terminal Status 1 Multi-Function
Digital Output available
– –
1 Multi-Function
Digital Output
Not Used
1 Fault Relay Output
(terminal MA-MC closed
MB-MC open) enabled
All Modes
Displays the drive operation status.
U1 - 12= 0 0 0 0 0 0 0 0
1 During run enabled
1 During zero-speed enabled
U1-12
Drive Status
1 During REV enabled No signal output
– –
(4BH) available
1 During fault reset
signal input enabled
1 During speed agree enabled
1 Drive ready enabled
1 During alarm
detection enabled
1 During fault detection enabled
U1-13 All Modes 10 V: 100%
Terminal A1 Input Level 0.1% –
(4EH) (-10 to +10 V)
Displays the signal level to analog input terminal A1.
U1-14 All Modes 10 V: 100%

(4FH) (-10 to +10 V)
U1-15 All Modes 10 V: 100%

(50H) (-10 to +10 V)
U1-16 Output Frequency after Soft All Modes 10 V: Max frequency

Parameter List
0.01 Hz –
(53H) Starter (-10 to +10 V)
Displays output frequency with ramp time and S-curves. Units determined by o1-03.
All Modes
DI-A3 Input Status Displays the reference value input from the DI-A3 option card. – –
(58H) available
Display will appear in hexadecimal as determined by the digital card input selection in F3-01.
3FFFF: Set (1 bit) + sign (1 bit) + 16 bit
U1-18
oPE Fault Parameter
All Modes No signal output
– –
B
(61H) available
Displays the parameter number that caused the oPE02 or oPE08 (Operation error).
B.3 Parameter Table
Analog Output
Level
All Modes
Displays the contents of a MEMOBUS/Modbus error.
U1 - 19= 0 0 0 0 0 0 0 0
1 CRC Error
U1-19 MEMOBUS/Modbus Error 1 Data Length Error No signal output
– –
(66H) Code 0 Not Used available
1 Parity Error
1 Overrun Error
1 Framing Error
1 Timed Out
0 Not Used
U1-21 AI-A3 Terminal V1 Input All Modes 10 V: 100%
0.1% –
(77H) Voltage Monitor (-10 to +10 V)
Displays the input voltage to terminal V1 on analog input card AI-A3.

0.1% –
(72AH) Voltage Monitor (-10 to +10 V)

0.1% –
(72BH) Voltage Monitor (-10 to +10 V)
U1-24 All Modes

Input Pulse Monitor Determined by H6-02 1 Hz –
(7DH)
Displays the frequency to pulse train input terminal RP.
U1-25 All Modes No signal output

Software Number (Flash) – –
(4DH) available
FLASH ID

Software No. (ROM) – –
(5BH) available
ROM ID
All Modes
Software No. (PWM) – –
(7AAH) PWM ID available
Note: This parameter is displayed in models CIMR-A4A0930 and 4A1200.
<22> The display resolution depends on the rated output power of the drive after the Drive Duty has been set in parameter C6-01. Drives with a
maximum output up to 11 kW will display this value in units of 0.01 kW (two decimal places). Drives with a maximum output greater than 11
kW will display this value in units of 0.1 kW (one decimal place). Refer to Model Number and Nameplate Check on page 32 for details.
<23> When checking the values of U1-03, U2-05 and U4-13 with the digital operator they are displayed in units of amperes, but when they are
checked using MEMOBUS/Modbus communications, the monitor value in MEMOBUS/Modbus communications is: displayed numeric value
/ 8192 × drive’ rated current (A), from the condition “8192 (maximum value) = drive’ rated current (A)”
<60> Depends on the setting of A1-02 (Control Method Selection).
A1-02 = 0 or 1: 10 V is drive capacity (kW)
A1-02 = 2 or 3: 10 V is motor rated power (E2-11) (kW)
A1-02 = 5, 6, or 7: 10 V is motor rated power (E5-02) (kW)
 U2: Fault Trace

Analog Output
Level

Current Fault – –
(80H) available
Displays the current fault.

Previous Fault – –
(81H) available
Displays the previous fault.
U2-03 Frequency Reference at All Modes No signal output

0.01 Hz –
(82H) Previous Fault available
Displays the frequency reference at the previous fault.
U2-04 Output Frequency at Previous All Modes No signal output

0.01 Hz –
(83H) Fault available
Displays the output frequency at the previous fault.
All Modes
U2-05 Output Current at Previous No signal output
<19> <23> –
(84H) Fault Displays the output current at the previous fault. available

Motor Speed at Previous Fault OLV/PM AOLV/PM CLV/PM 0.01 Hz –
(85H) available
Displays the motor speed at the previous fault.
B.3 Parameter Table
Analog Output
Level
U2-07 Output Voltage at Previous All Modes No signal output

0.1 Vac –
Displays the output voltage at the previous fault.
U2-08 DC Bus Voltage at Previous All Modes No signal output

1 Vdc –
Displays the DC bus voltage at the previous fault.
U2-09 Output Power at Previous All Modes No signal output

0.1 kW –
Displays the output power at the previous fault.

U2-10 Torque Reference at Previous No signal output
OLV/PM AOLV/PM CLV/PM 0.1% –
Displays the torque reference at the previous fault.
U2-11 Input Terminal Status at All Modes No signal output

– –
(8AH) Previous Fault available
Displays the input terminal status at the previous fault. Displayed as in U1-10.
U2-12 Output Terminal Status at All Modes No signal output

– –
(8BH) Previous Fault available
Displays the output status at the previous fault. Displayed as in U1-11.
U2-13 Drive Operation Status at All Modes No signal output

– –
(8CH) Previous Fault available
Displays the operation status of the drive at the previous fault. Displayed as in U1-12.
U2-14 Cumulative Operation Time at All Modes No signal output

1h –
(8DH) Previous Fault available
Displays the cumulative operation time at the previous fault.
U2-15 Run Speed after Soft Starter at All Modes No signal output
0.01 Hz –
(7E0H) Previous Fault available
Displays the run speed after a soft start when a previous fault occurred. Displayed as in U1-16.
U2-16 Motor q-Axis Current at All Modes No signal output

0.1% –
Displays the q-axis current for the motor at the previous fault. Displayed as in U6-01.

U2-17 Motor d-Axis Current at No signal output
OLV/PM AOLV/PM CLV/PM 0.1% –
Displays the d-axis current for the motor at the previous fault. Displayed as in U6-02.

U2-19 Rotor Deviation at Previous OLV/PM AOLV/PM CLV/PM No signal output
0.1 deg –
(7E4H) Fault available
Displays the degree of rotor deviation when the most recent fault occurred. Displays the same
status displayed in U6-10.
All Modes
U2-20 Heatsink Temperature at No signal output
Displays the temperature of the heatsink when the most recent fault occurred. Displayed as in 1°C –
(8EH) Previous Fault available
U4-08.
All Modes
U2-27 Motor Temperature at Previous Displays the temperature of the motor when the most recent fault occurred. Displayed as in No signal output
1°C –
(7FAH) Fault (NTC) available
U4-32.
All Modes
Malfunctioned Module – –
(7FCH) Display the module where the previous fault occurred at a decimal number. available
/ 8192 × drive’ rated current (A), from the condition “8192 (maximum value) = drive’s rated current (A)”
Parameter List
B.3 Parameter Table
 U3: Fault History

Analog Output
Level
U3-01 to
U3-04
All Modes No signal output
(90H to 93H First to 4th Most Recent Fault – –
available
(800H to Displays the first to the fourth most recent faults.
803H))
All Modes
U3-05 to
U3-10 Displays the fifth to the tenth most recent faults. No signal output
5th to 10th Most Recent Fault – –
(804H to After ten faults have occurred in the drive, data for the oldest fault is deleted. The most recent available
809H) fault appears in U3-01, with the next most recent fault appearing in U3-02. The data is moved to
the next monitor parameter every time a fault occurs.
U3-11 to
U3-14
Cumulative Operation Time at All Modes No signal output
(94H to 97H 1h –
1st to 4th Most Recent Fault available
(80AH to Displays the cumulative operation time when the first to the fourth most recent faults occurred.
80DH))
U3-15 to
U3-20 Cumulative Operation Time at All Modes No signal output
1h –
(80EH to 5th to 10th Most Recent Fault available
Displays the cumulative operation time when the fifth to the tenth most recent faults occurred.
813H)
 U4: Maintenance Monitors

Analog Output
Level
All Modes
U4-01
Displays the cumulative operation time of the drive. The value for the cumulative operation No signal output
(4CH) Cumulative Operation Time 1h –
time counter can be reset in parameter o4-01. Use parameter o4-02 to determine if the operation available
<26>
time should start as soon as the power is switched on or only while the Run command is present.
The maximum number displayed is 99999, after which the value is reset to 0.
All Modes
Number of Run Commands 1 Time –
(75H) Displays the number of times the Run command is entered. Reset the number of Run commands available
using parameter o4-13. This value will reset to 0 and start counting again after reaching 65535.
All Modes
U4-03
No signal output
(67H) Cooling Fan Operation Time Displays the cumulative operation time of the cooling fan. The default value for the fan 1h –
available
<58> operation time is reset in parameter o4-03. This value will reset to 0 and start counting again
after reaching 99999.
All Modes
U4-04 Displays main cooling fan usage time in as a percentage of its expected performance life. No signal output
Cooling Fan Maintenance 1% –
(7EH) available
Parameter o4-03 can be used to reset this monitor. The fan should be replaced when this
monitor reaches 90%.
All Modes
Capacitor Maintenance Displays main circuit capacitor usage time in as a percentage of their expected performance life. 1% –
(7CH) available
Parameter o4-05 can be used to reset this monitor. The capacitor should be replaced when this
monitor reaches 90%.
All Modes
U4-06 Soft Charge Bypass Relay No signal output
Displays the soft charge bypass relay maintenance time as a percentage of its estimated 1% –
(7D6H) Maintenance available
performance life. Parameter o4-07 can be used to reset this monitor. The soft charge bypass
relay should be replaced when this monitor reaches 90%.
All Modes
IGBT Maintenance 1% –
(7D7H) Displays IGBT usage time as a percentage of the expected performance life. Parameter o4-09 available
can be used to reset this monitor. The IGBT should be replaced when this monitor reaches 90%.
U4-08 All Modes

Heatsink Temperature 10 V: 100°C 1°C –
(68H)
Displays the heatsink temperature.

LED Check – –
(5EH) available
Lights all segments of the LED to verify that the display is working properly.

kWh, Lower 4 Digits 1 kWh –
(5CH) available
Monitors the drive cumulative output power usage. The value is shown as a 9 digit number
displayed across two monitor parameters, U4-10 and U4-11.
Example:
12345678.9 kWh is displayed as:
kWh, Upper 5 Digits U4-10: 678.9 kWh 1 MWh –
(5DH) available
U4-11: 12345 MWh
All Modes
U4-13 No signal output 0.01 A
Peak Hold Current –
(7CFH) Displays the highest current value that occurred during run. available <19> <23>
B.3 Parameter Table
Analog Output
Level

Peak Hold Output Frequency 0.01 Hz –
(7D0H) available
Displays the output frequency when the current value shown in U4-13 occurred.
All Modes
U4-16 Motor Overload Estimate
10 V: 100% 0.1% –
(7D8H) (oL1) Shows the value of the motor overload detection accumulator. 100% is equal to the oL1
detection level.
All Modes
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
U4-18 Frequency Reference Source 1-00 = Analog No signal output
– –
(7DAH) Selection 1-01 = Analog (terminal A1) available
1-02 = Analog (terminal A2)
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
9-01 = Up/Down Command
U4-19 Frequency Reference from All Modes No signal output

0.01% –
(7DBH) MEMOBUS/Modbus Comm. available
Displays the frequency reference provided by MEMOBUS/Modbus (decimal).

Option Frequency Reference – –
(7DCH) available
Displays the frequency reference input by an option card (decimal).
All Modes
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
U4-21 Run Command Source No signal output
7 = DWEZ – –
(7DDH) Selection available
nn: Run command limit status data
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
All Modes
U4-22 MEMOBUS/Modbus No signal output
– –
(7DEH) Communications Reference Displays the drive control data set by MEMOBUS/Modbus communications register no. 0001H available
as a four-digit hexadecimal number.
U4-23 Communication Option Card All Modes No signal output

– –
(7DFH) Reference available
Displays drive control data set by an option card as a four-digit hexadecimal number.
All Modes
U4-32 Displays the motor temperature (NTC).
Option Card Reference 200°C 1°C –
(7FBH) U4-32 will display 20°C when a multi-function analog input is not set for motor thermistor
input (H1- = 17H).
All Modes
oH Alarm Location Monitor – –
(1044H) Displays the module where the oH alarm occurred as a binary number. available
All Modes
Parameter List

FAn Alarm Location Monitor – –
(1045H) Displays the module where the FAn alarm occurred as a binary number. available
All Modes
voF Alarm Location Monitor – –
(1046H) Displays the module where the voF alarm occurred as a binary number. available
<19> Display is in the following units. B
B.3 Parameter Table
/ 8192 × drive’ rated current (A), from the condition “8192 (maximum value) = drive’ rated current (A)”
<26> The MEMOBUS/Modbus communications data is in 10 h units. If data in 1 h units are also required, refer to register number 0099H.
<58> The MEMOBUS/Modbus communications data is in 10 h units. If data in 1 h units are also required, refer to register number 009BH.
 U5: PID Monitors
No. (Addr.) Name Description Analog Output Unit Page

Level
U5-01 All Modes 10 V: 100%

PID Feedback 0.01% –
(57H) (-10 to +10 V)
Displays the PID feedback value.
U5-02 All Modes 10 V: 100%

PID Input 0.01% –
(63H) (-10 to +10 V)
Displays the amount of PID input (deviation between PID setpoint and feedback).
U5-03 All Modes 10 V: 100%

PID Output 0.01% –
(64H) (-10 to +10 V)
Displays PID control output.
U5-04 All Modes 10 V: 100%

PID Setpoint 0.01% –
(65H) (-10 to +10 V)
Displays the PID setpoint.
U5-05 All Modes 10 V: 100%

PID Differential Feedback 0.01% –
(7D2H) (-10 to +10 V)
Displays the 2nd PID feedback value if differential feedback is used (H3- = 16).
All Modes
U5-06 10 V: 100%
PID Adjusted Feedback 0.01% –
(7D3H) Displays the difference of both feedback values if differential feedback is used (U5-01) - (-10 to +10 V)
(U5-05). If differential feedback is not used, then U5-01 and U5-06 will be the same.
Automatically Calculated V/f V/f w/PG OLV CLV

Energy Saving Coefficient Ki OLV/PM AOLV/PM CLV/PM 0.01 –
(872H) available
Value
Displays the energy saving coefficient Ki value.
Automatically Calculated V/f V/f w/PG OLV CLV

Energy Saving Coefficient Kt OLV/PM AOLV/PM CLV/PM 0.01 –
(873H) available
Value
Displays the energy saving coefficient Kt value.
 U6: Control Monitors

Analog Output
Level
10 V: Motor
U6-01 All Modes secondary rated
Motor Secondary Current (Iq) 0.1% –
(51H) current
Displays the value of the motor secondary current (Iq). Motor rated secondary current is 100%.
(-10 to +10 V)
V/f V/f w/PG OLV CLV 10 V: Motor

U6-02 OLV/PM AOLV/PM CLV/PM secondary rated
Motor Excitation Current (Id) 0.1% –
(52H) current
Displays the value calculated for the motor excitation current (Id). Motor rated secondary (-10 to +10 V)
current is 100%.
U6-03 10 V: Max frequency
ASR Input
(54H) V/f V/f w/PG OLV CLV (-10 to +10 V)
10 V: Motor 0.01% –
U6-04 OLV/PM AOLV/PM CLV/PM secondary rated
ASR Output
(55H) Displays the input and output values when using ASR control. current
(-10 to +10 V)

U6-05 10 V: 200 Vrms <18>
Output Voltage Reference (Vq) OLV/PM AOLV/PM CLV/PM 0.1 Vac –
(59H) (-10 to +10 V)
Output voltage reference (Vq) for the q-axis.

U6-06 10 V: 200 Vrms <18>
Output Voltage Reference (Vd) OLV/PM AOLV/PM CLV/PM 0.1 Vac –
(5AH) (-10 to +10 V)
Output voltage reference (Vd) for the d-axis.

U6-07 10 V: 200 Vrms <18>
q-Axis ACR Output OLV/PM AOLV/PM CLV/PM 0.1% –
(5FH) (-10 to +10 V)
Displays the output value for current control relative to motor secondary current (q-axis).

U6-08 10 V: 200 Vrms <18>
d-Axis ACR Output OLV/PM AOLV/PM CLV/PM 0.1% –
(60H) (-10 to +10 V)
Displays the output value for current control relative to motor secondary current (d-axis).
V/f V/f w/PG OLV CLV 10 V: 180 deg

U6-09 Advance Phase Compensation
OLV/PM AOLV/PM CLV/PM -10 V: -180 deg 0.1 deg –
(7C0H) (Δθ)
(-10 to +10 V)
Displays the degree of forward phase correction after calculating the deviation of Δθcmp.
B.3 Parameter Table
Analog Output
Level

10 V: 180 deg
U6-10 OLV/PM AOLV/PM CLV/PM
Control Axis Deviation (Δθ) -10 V: -180 deg 0.1 deg –
(7C1H)
Displays the amount of deviation between the actual d-axis / q-axis and the γ-axis / δ-axis used (-10 to +10 V)
for motor control.

U6-13 Flux Position Detection
(7CAH) (sensor)
(-10 to +10 V)
Monitors the value of the flux position detection (sensor).

U6-14 Flux Position Estimation
(7CBH) (observer)
(-10 to +10 V)
Monitors the value of the flux position estimation.
U6-18 All Modes

Speed Detection PG1 Counter 10 V: 65536 1 pulse –
(7CDH)
Monitors the number of pulses for speed detection (PG1).
U6-19 All Modes

Speed Detection PG2 Counter 10 V: 65536 1 pulse –
(7E5H)
Monitors the number of pulses for speed detection (PG2).
U6-20 Frequency Reference Bias All Modes

10 V: Max frequency 0.1% –
(7D4H) (Up/Down 2)
Displays the bias value used to adjust the frequency reference.
All Modes
U6-21
Offset Frequency 10 V: Max frequency 0.1% –
(7D5H) The total value of the offset frequencies d7-01, d7-02 and d7-03 selected with digital inputs 44
to 46 is displayed.
V/f V/f w/PG OLV CLV 10 V: No. of pulses

U6-22
Zero Servo Pulse Movement OLV/PM AOLV/PM CLV/PM per revolution 1 pulse –
(62H)
(-10 to +10 V)
Displays how far the rotor has moved from its last position in PG pulses (multiplied by 4).

U6-25 secondary rated
Feedback Control Output OLV/PM AOLV/PM CLV/PM 0.01% –
(6BH) current
Output monitor for the ASR speed loop. (-10 to +10 V)

U6-26 secondary rated
Feed Forward Control Output OLV/PM AOLV/PM CLV/PM 0.01% –
(6CH) current
Output monitor for Feed Forward control. (-10 to +10 V)

U6-54
ACR Id Deviation Integral OLV/PM AOLV/PM CLV/PM 10 V: 100% 0.10% –
(74EH)
Monitors the value of the ACR Id deviation integral.

U6-55 ACR Id Deviation
OLV/PM AOLV/PM CLV/PM 10 V: 100% 0.10% –
(74FH) Proportional
Monitors the value of the ACR Id deviation proportional.
U6-57 Integrated Current Deviation OLV/PM AOLV/PM CLV/PM No signal output

1 –
(7C4H) during Judging Polarity Displays the deviation from the integrated current when judging motor polarity. If this value is available
lower than 819, then increase the value set to n8-84. The value 8192 is equivalent to the motor
rated current.
U6-80 to
U6-83 All Modes
Online IP Address 0 to 255 – –
(7B0H to IP Address currently available; U6-80 is the most significant octet
7B3H)
U6-84 to
U6-87 All Modes
Online Subnet 0 to 255 – –
(7B4H to Subnet currently available; U6-84 is the most significant octet
7B7H)
U6-88 All Modes
Online Gateway1 0 to 255 – –
(7B8H) Gateway currently available; U6-88 is the most significant octet
U6-89 All Modes
(7B9H)
Parameter List
Gateway currently available.
U6-90 All Modes

(7F0H) Gateway currently available.
U6-91 All Modes
(7F1H) Gateway currently available.
U6-92
Online Speed All Modes 10: 10 Mbps
– –
B
(7F2H) Link Speed 100: 100 Mbps
U6-93 All Modes 0: Half

Online Duplex – –
(7F3H) Duplex Setting 1: Full
B.3 Parameter Table
Analog Output
Level
U6-98 All Modes
First Fault – – –
(7F8H) First Option Fault
U6-99 All Modes
Current Fault – – –
(7F9H) Current Option Fault
Note: Fault trace (i.e., the fault history) is not kept when CPF00, CPF01, CPF06, CPF24, oFA00, oFb00, oFC00, Uv1, Uv2, or Uv3
occur.
 U8: DriveWorksEZ Monitors

Analog Output
Level
U8-01 to
U8-10 DriveWorksEZ Custom All Modes
10 V: 100% 0.01% –
(1950H to Monitor 1 to 10
DriveWorksEZ Custom Monitor 1 to 10
1959H)
U8-11 to
U8-13 DriveWorksEZ Version All Modes No signal output
– –
(195AH to Control Monitor 1 to 3 available
DriveWorksEZ Version Control Monitor 1 to 3
195CH)
B.4 Control Mode Dependent Parameter Default Values

The tables below list parameters that depend on the control mode selection (A1-02 for motor 1, E3-01 for motor 2).
These parameters are initialized to the shown values if the control mode is changed.
 A1-02 (Motor 1 Control Mode) Dependent Parameters

Table B.2 A1-02 (Motor 1 Control Mode) Dependent Parameters and Default Values
Control Modes (A1-02)
No. Name Setting Range Resolution
V/f (0) V/f w/PG (1) OLV (2) CLV (3)
b2-01 DC Injection Braking Start Frequency 0.0 to 10.0 0.1 0.5 Hz 0.5 Hz 0.5 Hz 0.5 Hz
b2-04 DC Injection Braking Time at Stop 0.00 to 10.00 0.01 s 0.50 0.50 0.50 0.50
b3-01 Speed Search Selection at Start 0 to 1 – 0 1 0 –
b3-02 Speed Search Deactivation Current 0 to 200 1% 120 – 100 –
Current Control Gain during Speed Search
b3-08 0.00 to 6.00 – <6> <6> <6> <6>
(Speed Estimation Type)
Current Control Integral Time during Speed
b3-09 0.0 to 1000.0 0.1 ms 2.0 ms 2.0 ms 2.0 ms 2.0 ms
Search (Speed Estimation Type)
b3-14 Bi-Directional Speed Search Selection 0 to 1 – 1 0 1 –
b5-15 PID Sleep Function Start Level 0.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
b6-01 Dwell Reference at Start 0.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
b6-03 Dwell Reference at Stop 0.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
b8-01 Energy Saving Control Selection 0 to 1 – 0 0 0 0
b8-02 Energy Saving Gain 0.0 to 10.0 0.1 – – 0.7 1.0
b8-03 Energy Saving Control Filter Time Constant 0.00 to 10.00 0.01 s – – 0.50 <51> 0.01 <51>
C1-11 Accel/Decel Time Switching Frequency 0.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
C2-01 S-Curve Time at Acceleration Start 0.00 to 10.00 0.01 s 0.20 0.20 0.20 0.20
C3-01 Slip Compensation Gain 0.0 to 2.5 0.1 0.0 – 1.0 1.0
C3-02 Slip Compensation Primary Delay Time 0 to 10000 1 ms 2000 – 200 –
C4-01 Torque Compensation Gain 0.00 to 2.50 0.01 1.00 1.00 1.00 –
C4-02 Torque Compensation Primary Delay Time 0 to 10000 1 ms 200 200 20 –
C5-01 ASR Proportional Gain 1 0.00 to 300.00 0.01 – 0.20 – 20.00
C5-02 ASR Integral Time 1 0.000 to 10.000 0.001 s – 0.200 – 0.500
C5-03 ASR Proportional Gain 2 0.00 to 300.00 0.01 – 0.02 – 20.00
C5-04 ASR Integral Time 2 0.000 to 10.000 0.001 s – 0.050 – 0.500
C5-06 ASR Primary Delay Time Constant 0.000 to 0.500 0.001 s – – – 0.004
C5-07 ASR Gain Switching Frequency 0.0 to 400.0 0.1 – – – 0.0 Hz
C6-02 Carrier Frequency Selection 1 to F – 7 <53> 7 <53> 7 <53> 7
d3-01 Jump Frequency 1 0.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
d3-04 Jump Frequency Width 0.0 to 20.0 0.1 1.0 Hz 1.0 Hz 1.0 Hz 1.0 Hz
d5-02 Torque Reference Delay Time 0 to 1000 1 ms – – – 0
E1-04 Maximum Output Frequency 40.0 to 400.0 0.1 Hz 60.0 <52> 60.0 60.0 60.0
E1-05 Maximum Voltage <18> 0.0 to 255.0 0.1 V 200 <52> 200 <52> 200 200
E1-06 Base Frequency 0.0 to 400.0 0.1 Hz 60.0 <52> 60.0 <52> 60.0 60.0
E1-07 Middle Output Frequency 0.0 to 400.0 0.1 Hz 3.0 <52> 3.0 <52> 3.0 –
E1-08 Middle Output Frequency Voltage <18> 0.0 to 255.0 0.1 V 15.0 <52> 15.0 <52> 11.0 –
E1-09 Minimum Output Frequency 0.0 to 400.0 0.1 Hz 1.5 <52> 1.5 <52> 0.5 0.0
E1-10 Minimum Output Frequency Voltage <18> 0.0 to 255.0 0.1 V 9.0 9.0 2.0 –
E1-04 to
The default setting of these parameters depends on the control mode but also on the drive capacity. Refer to V/f Pattern Default Values on page 528.
E1-10
F1-01 PG 1 Pulses Per Revolution 0 to 60000 1 ppr – 1024 – 1024
F1-05 PG 1 Rotation Selection 0 to 1 – – 0 – 0
F1-09 Overspeed Detection Delay Time 0.0 to 2.0 0.1 s – 1.0 – 0.0
L1-01 Motor Overload Protection Selection 0 to 4 – 1 1 1 1
Parameter List
L3-20 DC Bus Voltage Adjustment Gain 0.00 to 5.00 0.01 1.00 1.00 0.30 0.30
L3-21 Accel/Decel Rate Calculation Gain 0.10 to 10.00 0.01 1.00 1.00 1.00 1.00
L3-34 Torque Limit Delay Time 0.000 to 1.000 0.001 s – – – –
L4-01 Speed Agreement Detection Level 0.0 to 400.0 0.1 0.0 Hz 0.0 Hz 0.0 Hz 0.0 Hz
L4-02 Speed Agreement Detection Width 0.0 to 20.0 0.1 2.0 Hz 2.0 Hz 2.0 Hz 2.0 Hz
L4-03
L4-04
Speed Agreement Detection Level (+/-)
Speed Agreement Detection Width (+/–)
-400.0 to 400.0
0.0 to 20.0
0.1
0.1
0.0 Hz
2.0 Hz
0.0 Hz
2.0 Hz
0.0 Hz
2.0 Hz
0.0 Hz
2.0 Hz
B
L8-38 Carrier Frequency Reduction Selection 0 to 2 – <53> <53> <53> <53>
L8-40 Carrier Frequency Reduction Off Delay Time 0.00 to 2.00 0.01 s 0.50 0.50 0.50 0.50
o1-03 Digital Operator Display Selection 0 to 3 – 0 0 0 0

V/f (0) V/f w/PG (1) OLV (2) CLV (3)
o1-04 V/f Pattern Display Unit 0 to 1 – – – – 0

<51> This setting value depends on a Maximum Applicable Motor Capacity in models CIMR-A2A0250 to 2A0415 and
CIMR-A4A0139 to 4A1200: 2.00 in Open Loop Vector Control, 0.05 in Closed Loop Vector Control
<52> This setting value depends on a Maximum Applicable Motor Capacity and V/f pattern selection in parameter E1-03.
<53> The default setting value depends on the Heavy/Normal duty selection in parameter C6-01.
Table B.3 A1-02 (Motor 1 Control Mode) Dependent Parameters and Default Values
OLV/PM (5) AOLV/PM (6) CLV/PM (7)
b2-01 DC Injection Braking Start Frequency 0.0 to 10.0 0.1 0.5 Hz 1.0% <41> 0.5% <41>
b2-04 DC Injection Braking Time at Stop 0.00 to 10.00 0.01 s 0.00 0.00 0.00
b3-01 Speed Search Selection at Start 0 to 1 – 0 0 1
b3-02 Speed Search Deactivation Current 0 to 200 1% – – –
Current Control Gain during Speed Search
b3-08 0.00 to 6.00 – 0.3 0.3 –
(Speed Estimation Type)
Current Control Integral Time during Speed
b3-09 0.0 to 1000.0 0.1 ms 4.0 ms 4.0 ms –
Search (Speed Estimation Type)
b3-14 Bi-Directional Speed Search Selection 0 to 1 – – – –
b5-15 PID Sleep Function Start Level 0.0 to 400.0 <55> 0.1 0.0 Hz 0.0% 0.0%
b6-01 Dwell Reference at Start 0.0 to 400.0 <55> 0.1 0.0 Hz 0.0% 0.0%
b6-03 Dwell Reference at Stop 0.0 to 400.0 <55> 0.1 0.0 Hz 0.0% 0.0%
b8-01 Energy Saving Control Selection 0 to 1 – – 1 1
b8-02 Energy Saving Gain 0.0 to 10.0 0.1 – – –
b8-03 Energy Saving Control Filter Time Constant 0.00 to 10.00 0.01 s – – –
C1-11 Accel/Decel Time Switching Frequency 0.0 to 400.0 <55> 0.1 0.0 Hz 0.0% 0.0%
C2-01 S-Curve Time at Acceleration Start 0.00 to 10.00 0.01 s 1.00 0.20 0.20
C3-01 Slip Compensation Gain 0.0 to 2.5 0.1 – – –
C3-02 Slip Compensation Primary Delay Time 0 to 10000 1 ms – – –
C4-01 Torque Compensation Gain 0.00 to 2.50 0.01 0.00 – –
C4-02 Torque Compensation Primary Delay Time 0 to 10000 1 ms 100 – –
C5-01 ASR Proportional Gain 1 0.00 to 300.00 0.01 – 10.00 20.00
C5-02 ASR Integral Time 1 0.000 to 10.000 0.001 s – 0.500 0.500
C5-03 ASR Proportional Gain 2 0.00 to 300.00 0.01 – 10.00 20.00
C5-04 ASR Integral Time 2 0.000 to 10.000 0.001 s – 0.500 0.500
C5-06 ASR Primary Delay Time Constant 0.000 to 0.500 0.001 s – 0.016 0.004
C5-07 ASR Gain Switching Frequency 0.0 to 400.0 <55> 0.1 – 0.0% 0.0%
C6-02 Carrier Frequency Selection 1 to F – 2 2 2
d3-01 Jump Frequency 1 0.0 to 400.0 <55> 0.1 0.0 Hz 0.0% 0.0%
d3-04 Jump Frequency Width 0.0 to 20.0 <56> 0.1 1.0 Hz 1.0% 1.0%
d5-02 Torque Reference Delay Time 0 to 1000 1 ms – – 0
E1-04 Maximum Output Frequency 40.0 to 400.0 0.1 Hz <14> <14> <14>
E1-05 Maximum Voltage <18> 0.0 to 255.0 0.1 V <14> <14> <14>
E1-06 Base Frequency 0.0 to 400.0 0.1 Hz <14> <14> <14>
E1-07 Middle Output Frequency 0.0 to 400.0 0.1 Hz – – –
E1-08 Middle Output Frequency Voltage <18> 0.0 to 255.0 0.1 V – – –
E1-09 Minimum Output Frequency 0.0 to 400.0 0.1 Hz <14> <14> <14>
E1-10 Minimum Output Frequency Voltage <18> 0.0 to 255.0 0.1 V – – –
E1-04 to
The default setting of these parameters depends on the control mode but also on the drive capacity. Refer to V/f Pattern Default Values on page 528.
E1-10
E5-01 Motor Code Selection (for PM Motors) 000 to FFFF – <6> <6> <6>
F1-01 PG 1 Pulses Per Revolution 0 to 60000 1 ppr – – 1024
F1-05 PG 1 Rotation Selection 0 to 1 – – – 1
F1-09 Overspeed Detection Delay Time 0.0 to 2.0 0.1 s – 0.0 0.0
L1-01 Motor Overload Protection Selection 0 to 6 – 4 4 5
L3-20 DC Bus Voltage Adjustment Gain 0.00 to 5.00 0.01 0.65 0.65 0.65
L3-21 Accel/Decel Rate Calculation Gain 0.10 to 10.00 0.01 1.00 1.00 1.00
L3-34 Torque Limit Delay Time 0.000 to 1.000 0.001 s – 0.200 0.020
L4-01 Speed Agreement Detection Level 0.0 to 400.0 <55> 0.1 0.0 Hz 0.0% 0.0%
L4-02 Speed Agreement Detection Width 0.0 to 20.0 0.1 2.0Hz 4.0% <41> 4.0% <41>
L4-03 Speed Agreement Detection Level (+/-) -400.0 to 400.0 <57> 0.1 0.0 Hz 0.0% 0.0%
L4-04 Speed Agreement Detection Width (+/-) 0.0 to 20.0 0.1 2.0Hz 4.0% <41> 4.0% <41>
L8-38 Carrier Frequency Reduction Selection 0 to 2 – 0 – 0

OLV/PM (5) AOLV/PM (6) CLV/PM (7)
L8-40 Carrier Frequency Reduction Off Delay Time 0.00 to 2.00 0.01s 0.00 – 0.00
o1-03 Digital Operator Display Selection 0 to 3 – 0 1 1
o1-04 V/f Pattern Display Unit 0 to 1 – – 1 1
<6> Default setting is determined by parameter o2-04, Drive Model Selection.
<14> Default setting value is dependent on the motor code set to parameter E5-01.
<41> This default value is a calculated as a percentage of the maximum output frequency.
<57> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent (-100.0 to 100.0%) instead of in Hz.
 E3-01 (Motor 2 Control Mode) Dependent Parameters

Table B.4 E3-01 (Motor 2 Control Mode) Dependent Parameters and Default Values
Control Modes (E3-01)
V/f (0) V/f w/PG (1) OLV (2) CLV (3)
C3-21 Motor 2 Slip Compensation Gain 0.0 to 2.5 0.1 0.0 – 1.0 1.0
C3-22 Motor 2 Slip Compensation Primary Delay Time 0 to 10000 1 ms 2000 – 200 –
C5-21 Motor 2 ASR Proportional Gain 1 0.00 to 300.00 0.01 – 0.20 – 20.00
C5-22 Motor 2 ASR Integral Time 1 0.000 to 10.000 0.001 s – 0.200 – 0.500
C5-23 Motor 2 ASR Proportional Gain 2 0.00 to 300.00 0.01 – 0.02 – 20.00
C5-24 Motor 2 ASR Integral Time 2 0.000 to 10.000 0.001 s – 0.050 – 0.500
C5-26 Motor 2 Carrier Frequency Selection 1 to F – 7 <9> 7 <9> 7 <9> 7 <9>
E3-04 Motor 2 Maximum Output Frequency 40.0 to 400.0 0.1 Hz 60.0 60.0 60.0 60.0
E3-05 Motor 2 Maximum Output Voltage <18> 0.0 to 255.0 0.1 V 200.0 200.0 200.0 200.0
E3-06 Motor 2 Base Frequency 0.0 to 400.0 0.1 Hz 60.0 60.0 60.0 60.0
E3-07 Motor 2 Mid Output Frequency 0.0 to 400.0 0.1 Hz 3.0 3.0 3.0 0.0
E3-08 Motor 2 Mid Output Frequency Voltage <18> 0.0 to 255.0 0.1 V 15.0 15.0 11.0 0.0
E3-09 Motor 2 Minimum Output Frequency 0.0 to 400.0 0.1 Hz 1.5 1.5 0.5 0.0
E3-10 Motor 2 Minimum Output Voltage <18> 0.0 to 255.0 0.1 V 9.0 9.0 2.0 0.0
E3-04 to The default setting of these parameters depends on the control mode but also on the drive capacity They are equivalent to the motor 1 settings. Refer to V/f Pattern Default
E3-10 Values on page 528.
Parameter List
B.5 V/f Pattern Default Values
B.5 V/f Pattern Default Values

The tables below show the V/f pattern settings default values depending on the control mode (A1-02) and the V/f pattern
selection (E1-03 in V/f Control).
Table B.5 E1-03 V/f Pattern Settings for Drive Capacity:
CIMR-A2A0004 to 2A0021 (HD), CIMR-A2A0004 to 2A0018 (ND), CIMR-A4A0002 to 4A0011 (HD),
CIMR-A4A0002 to 4A0009 (ND)
No. Units V/f OLV/PM
F OLV CLV AOLV/PM
E1-03 − 0 1 2 3 4 5 6 7 8 9 A B C D E CLV/PM
<42>
E1-04 Hz 50.0 60.0 60.0 72.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 90.0 120.0 180.0 50.0 50.0 50.0 <14>
E1-05
V 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 <14>
<18>
E1-06 Hz 50.0 60.0 50.0 60.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 60.0 60.0 60.0 50.0 50.0 50.0 <14>
E1-07 Hz 2.5 3.0 3.0 3.0 25.0 25.0 30.0 30.0 2.5 2.5 3.0 3.0 3.0 3.0 3.0 2.5 3.0 – –
E1-08
V 15.0 15.0 15.0 15.0 35.0 50.0 35.0 50.0 19.0 24.0 19.0 24.0 15.0 15.0 15.0 15.0 14.4 – –
<18>
E1-09 Hz 1.3 1.5 1.5 1.5 1.3 1.3 1.5 1.5 1.3 1.3 1.5 1.5 1.5 1.5 1.5 1.3 0.5 <14>
0.0
E1-10
V 9.0 9.0 9.0 9.0 8.0 9.0 8.0 9.0 11.0 13.0 11.0 15.0 9.0 9.0 9.0 9.0 3.0 – –
<18>
<14> The default setting value varies depending on the values of parameter E5-01, Motor Code Selection (for PM Motors).
<42> Default settings for E1-04 through E1-10 (E3-04 through E3-10 for motor 2). The default values are the same as the values of E1-03 = 0.

CIMR-A4A0011 to 4A0088 (ND)
F OLV CLV AOLV/PM
E1-03 − 0 1 2 3 4 5 6 7 8 9 A B C D E <42> CLV/PM
E1-04 Hz 50.0 60.0 60.0 72.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 90.0 120.0 180.0 50.0 50.0 50.0 <14>
E1-05
V 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 <14>
<18>
E1-06 Hz 50.0 60.0 50.0 60.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 60.0 60.0 60.0 50.0 50.0 50.0 <14>
E1-07 Hz 2.5 3.0 3.0 3.0 25.0 25.0 30.0 30.0 2.5 2.5 3.0 3.0 3.0 3.0 3.0 2.5 3.0 – –
E1-08
V 14.0 14.0 14.0 14.0 35.0 50.0 35.0 50.0 18.0 23.0 18.0 23.0 14.0 14.0 14.0 14.0 13.2 – –
<18>
E1-09 Hz 1.3 1.5 1.5 1.5 1.3 1.3 1.5 1.5 1.3 1.3 1.5 1.5 1.5 1.5 1.5 1.3 0.5 0.0 <14>
E1-10
V 7.0 7.0 7.0 7.0 6.0 7.0 6.0 7.0 9.0 11.0 9.0 13.0 7.0 7.0 7.0 7.0 2.4 – –
<18>

CIMR-A4A0103 to 4A1200 (ND)
F OLV CLV AOLV/PM
E1-03 − 0 1 2 3 4 5 6 7 8 9 A B C D E CLV/PM
<42>
E1-04 Hz 50.0 60.0 60.0 72.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 90.0 120.0 180.0 50.0 50.0 50.0 <14>
E1-05
V 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 <14>
<18>
E1-06 Hz 50.0 60.0 50.0 60.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 60.0 60.0 60.0 50.0 50.0 50.0 <14>
E1-07 Hz 2.5 3.0 3.0 3.0 25.0 25.0 30.0 30.0 2.5 2.5 3.0 3.0 3.0 3.0 3.0 2.5 3.0 – –
E1-08
V 12.0 12.0 12.0 12.0 35.0 50.0 35.0 50.0 15.0 20.0 15.0 20.0 12.0 12.0 12.0 12.0 13.2 – –
<18>
E1-09 Hz 1.3 1.5 1.5 1.5 1.3 1.3 1.5 1.5 1.3 1.3 1.5 1.5 1.5 1.5 1.5 1.3 0.5 0.0 <14>
E1-10
V 6.0 6.0 6.0 6.0 5.0 6.0 5.0 6.0 7.0 9.0 7.0 11.0 6.0 6.0 6.0 6.0 2.4 – –
<18>
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01)

The following tables show parameters and default settings that change with the drive model selection (o2-04). Parameter
numbers shown in parenthesis are valid for motor 2.
Table B.8 200 V Class Drives Default Settings by Drive Model Selection and ND/HD settings
No. Name Unit Default Settings
Model CIMR-A – 2A0004 2A0006 2A0010 2A0012
HD ND HD ND HD ND HD ND
C6-01 Drive Duty Mode Selection –
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 62 63 65 66
E2-11 (E4-11) Motor rated Output kW 0.4 0.75 0.75 1.1 1.5 2.2 2.2 3.0
b3-04 V/f Gain during Speed Search % 100 100 100 100 100 100 100 100
b3-06 Output Current 1 during Speed Search – 1 1 0.5 0.5 0.5 0.5 0.5 0.5
Output Current 2 during Speed Search (Speed
b3-07 <66> – – – – – – – – –
Estimation Type)
Current Control Gain during Speed Search (Speed
b3-08 – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
Estimation Type)
b3-26 <66> Start Speed Search Select – – – – – – – – –
b8-03 Energy Saving Control Filter Time Constant s 0.50 0.50 0.50 0.50 0.50 0.50 0.50 0.50
b8-04 Energy Saving Coefficient Value – 288.2 223.7 223.7 196.6 169.4 156.8 156.8 136.4
C5-17 (C5-37) Motor Inertia kgm2 0.0015 0.0028 0.0028 0.0068 0.0068 0.0088 0.0088 0.0158
C6-02 Carrier Frequency Selection – 1 7 1 7 1 7 1 7
E2-01 (E4-01) Motor Rated Current A 1.9 3.3 3.3 4.9 6.2 8.5 8.5 11.4
E2-02 (E4-02) Motor Rated Slip Hz 2.9 2.5 2.5 2.6 2.6 2.9 2.9 2ÅD7
E2-03 (E4-03) Motor No-Load Current A 1.2 1.8 1.8 2.3 2.8 3 3 3.7
E2-05 (E4-05) Motor Line to Line Resistance Ω 9.842 5.156 5.156 3.577 1.997 1.601 1.601 1.034
E2-06 (E4-06) Motor Leakage Inductance % 18.2 13.8 13.8 18.5 18.5 18.4 18.4 19
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 14 26 26 38 53 77 77 91
E5-01 Motor Code Selection (for PM Motors) Hex. 1202 1202 1203 1203 1205 1205 1206 1206
L2-02 Momentary Power Loss Ride-Thru Time s 0.1 0.1 0.2 0.2 0.3 0.3 0.5 0.5
L2-03 Momentary Power Loss Minimum Baseblock Time s 0.2 0.3 0.3 0.4 0.4 0.5 0.5 0.5
L2-04 Momentary Power Loss Voltage Recovery Time s 0.3 0.3 0.3 0.3 0.3 0.3 0.3 0.3
L3-24 Motor Acceleration Time for Inertia Calculations s 0.178 0.142 0.142 0.142 0.166 0.145 0.145 0.145
L8-02 Overheat Alarm Level °C 115 115 115 115 115 115 125 125
L8-35 Installation Method Selection – 2 2 2 2 2 2 2 2
L8-38 Carrier Frequency Reduction Selection – 2 2 2 2 2 2 2 2
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 10 10
n5-02 Motor Acceleration Time s 0.178 0.142 0.142 0.142 0.166 0.145 0.145 0.145
<66> This parameter is available in models CIMR-A4A0930 and 4A1200.

Model CIMR-A – 2A0021 2A0030 2A0040 2A0056
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 68 6A 6B 6D
E2-11 (E4-11) Motor rated Output kW 3.7 5.5 5.5 7.5 7.5 11 11 15
b3-06 Output Current 1 during Speed Search – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
b3-07 <66> – – – – – – – – –
Estimation Type)
b3-08 – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
Estimation Type)
Parameter List
E2-01 (E4-01) Motor Rated Current A 14 19.6 19.6 26.6 26.6 39.7 39.7 53
E2-02 (E4-02) Motor Rated Slip Hz 2.73 1.5 1.5 1.3 1.3 1.7 1.7 1.6
E2-03 (E4-03) Motor No-Load Current A 4.5 5.1 5.1 8 8 11.2 11.2 15.2
E2-05 (E4-05) Motor Line to Line Resistance Ω 0.771 0.399 0.399 0.288 0.288 0.23 0.23 0.138 B
E2-06 (E4-06) Motor Leakage Inductance % 19.6 18.2 18.2 15.5 15.5 19.5 19.5 17.2
E5-01 Motor Code Selection (for PM Motors) Hex. 1208 1208 120A 120A 120B 120B 120D 120D
L2-02 Momentary Power Loss Ride-Thru Time s 1 1 1 1 1 1 2 2

Model CIMR-A – 2A0021 2A0030 2A0040 2A0056
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 68 6A 6B 6D
E2-11 (E4-11) Motor rated Output kW 3.7 5.5 5.5 7.5 7.5 11 11 15
L2-03 Momentary Power Loss Minimum Baseblock Time s 0.6 0.7 0.7 0.8 0.8 0.9 0.9 1

Model CIMR-A – 2A0069 2A0081 2A0110 2A0138
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 6E 6F 70 72
E2-11 (E4-11) Motor rated Output kW 15 18.5 18.5 22 22 30 30 37
b3-07 <66> – – – – – – – – –
Estimation Type)
b3-08 – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
Estimation Type)
E2-01 (E4-01) Motor Rated Current A 53 65.8 65.8 77.2 77.2 105 105 131
E2-03 (E4-03) Motor No-Load Current A 15.2 15.7 15.7 18.5 18.5 21.9 21.9 38.2
E5-01 Motor Code Selection (for PM Motors) Hex. 120E 120E 120F 120F 1210 1210 1212 1212
L2-03 Momentary Power Loss Minimum Baseblock Time s 1 1 1 1 1 1.1 1.1 1.1

Model CIMR-A – 2A0169 2A0211 2A0250
HD ND HD ND HD ND
0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 73 74 75
E2-11 (E4-11) Motor rated Output kW 37 45 45 55 55 75
b3-04 V/f Gain during Speed Search % 80 80 80 80 80 80
b3-06 Output Current 1 during Speed Search – 0.5 0.5 0.5 0.5 0.5 0.7
b3-07 <66> – – – – – – –
Estimation Type)
b3-08 – 0.5 0.5 0.5 0.5 0.5 0.5
Estimation Type)
b3-26 <66> Start Speed Search Select – – – – – – –
b8-03 Energy Saving Control Filter Time Constant s 0.50 0.50 0.50 2.00 2.00 2.00
b8-04 Energy Saving Coefficient Value – 38.16 35.78 35.78 31.35 31.35 23.1

Model CIMR-A – 2A0169 2A0211 2A0250
HD ND HD ND HD ND
0 1 0 1 0 1
C5-17 (C5-37) Motor Inertia kgm2 0.273 0.333 0.333 0.490 0.49 0.90
C6-02 Carrier Frequency Selection – 1 7 1 7 1 7
E2-01 (E4-01) Motor Rated Current A 131 160 160 190 190 260
E2-02 (E4-02) Motor Rated Slip Hz 1.33 1.6 1.6 1.43 1.43 1.39
E2-03 (E4-03) Motor No-Load Current A 38.2 44 44 45.6 45.6 72
E2-05 (E4-05) Motor Line to Line Resistance Ω 0.039 0.03 0.03 0.022 0.022 0.023
E2-06 (E4-06) Motor Leakage Inductance % 18.8 20.2 20.2 20.5 20.5 20
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 823 852 852 960 960 1200
E5-01 Motor Code Selection (for PM Motors) Hex. 1213 1213 1214 1214 1215 1215
L2-02 Momentary Power Loss Ride-Thru Time s 2 2 2 2 2 2
L2-03 Momentary Power Loss Minimum Baseblock Time s 1.1 1.2 1.2 1.3 1.3 1.5
L2-04 Momentary Power Loss Voltage Recovery Time s 0.6 1 1 1 1 1
L3-24 Motor Acceleration Time for Inertia Calculations s 0.32 0.387 0.387 0.317 0.317 0.533
L8-02 Overheat Alarm Level °C 130 130 125 125 115 115
L8-35 Installation Method Selection – 0 0 0 0 0 0
L8-38 Carrier Frequency Reduction Selection – 2 2 2 2 2 2
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 10 10
n5-02 Motor Acceleration Time s 0.32 0.387 0.387 0.317 0.317 0.533

Model CIMR-A – 2A0312 2A0360 2A0415
HD ND HD ND HD ND
0 1 0 1 0 1
b3-07 <66> – – – – – – –
Estimation Type)
b3-08 – 0.5 0.5 0.5 0.5 0.5 0.5
Estimation Type)
E2-03 (E4-03) Motor No-Load Current A 72 72 72 72 72 72
E2-06 (E4-06) Motor Leakage Inductance % 20 20 20 20 20 20
E5-01 Motor Code Selection (for PM Motors) Hex. 1216 1216 FFFF FFFF FFFF FFFF
L2-03 Momentary Power Loss Minimum Baseblock Time s 1.5 1.5 1.5 1.7 1.7 1.7
L2-04 Momentary Power Loss Voltage Recovery Time s 1 1 1 1 1 1
Parameter List

Table B.9 400 V Class Drives Default Settings by Drive Capacity and ND/HD Setting
Model CIMR-A – 4A0002 4A0004 4A0005 4A0007
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 92 93 94 95
E2-11 (E4-11) Motor rated Output kW 0.4 0.75 0.75 1.5 1.5 2.2 2.2 3.0
b3-07 <66> – – – – – – – – –
Estimation Type)
b3-08 – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
Estimation Type)
E2-01 (E4-01) Motor Rated Current A 1 1.6 1.6 3.1 3.1 4.2 4.2 5.7
E2-02 (E4-02) Motor Rated Slip Hz 2.9 2.6 2.6 2.5 2.5 3 3 2.7
E2-06 (E4-06) Motor Leakage Inductance % 18.2 14.3 14.3 18.3 18.3 18.7 18.7 19
L2-02 Momentary Power Loss Ride-Thru Time s 0.1 0.1 0.2 0.2 0.3 0.3 0.5 0.5

Model CIMR-A – 4A0009 4A0011 4A0018 4A0023
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 96 97 99 9A
E2-11 (E4-11) Motor rated Output kW 3.0 3.7 3.7 5.5 5.5 7.5 7.5 11
b3-07 <66> – – – – – – – – –
Estimation Type)
b3-08 – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
Estimation Type)
E2-01 (E4-01) Motor Rated Current A 5.7 7 7 9.8 9.8 13.3 13.3 19.9
E2-03 (E4-03) Motor No-Load Current A 1.9 2.3 2.3 2.6 2.6 4 4 5.6
E2-06 (E4-06) Motor Leakage Inductance % 19 19.3 19.3 18.2 18.2 15.5 15.5 19.6
E5-01 Motor Code Selection (for PM Motors) Hex. FFFF FFFF 1238 1238 123A 123A 123B 123B
L2-02 Momentary Power Loss Ride-Thru Time s 0.5 0.5 0.5 0.5 0.8 0.8 1 1

Model CIMR-A – 4A0009 4A0011 4A0018 4A0023
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 96 97 99 9A
E2-11 (E4-11) Motor rated Output kW 3.0 3.7 3.7 5.5 5.5 7.5 7.5 11

Model CIMR-A – 4A0031 4A0038 4A0044 4A0058
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 9C 9D 9E 9F
E2-11 (E4-11) Motor rated Output kW 11 15 15 18.5 18.5 22 22 30
b3-07 <66> – – – – – – – – –
Estimation Type)
b3-08 – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
Estimation Type)
E2-01 (E4-01) Motor Rated Current A 19.9 26.5 26.5 32.9 32.9 38.6 38.6 52.3
E5-01 Motor Code Selection (for PM Motors) Hex. 123D 123D 123E 123E 123F 123F 1240 1240
L2-03 Momentary Power Loss Minimum Baseblock Time s 0.9 1 1 1 1 1 1 1.1

Model CIMR-A – 4A0072 4A0088 4A0103 4A0139
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. A1 A2 A3 A4
E2-11 (E4-11) Motor rated Output kW 30 37 37 45 45 55 55 75
b3-07 <66> – – – – – – – – –
Estimation Type)
Parameter List

b3-08 – 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.8
Estimation Type)
C6-02 Carrier Frequency Selection – 1 7 1 7 1 7 1 7 B
E2-01 (E4-01) Motor Rated Current A 52.3 65.6 65.6 79.7 79.7 95 95 130
E2-03 (E4-03) Motor No-Load Current A 10.9 19.1 19.1 22 22 24 24 36

Model CIMR-A – 4A0072 4A0088 4A0103 4A0139
0 1 0 1 0 1 0 1
E2-06 (E4-06) Motor Leakage Inductance % 20.7 18.8 18.8 19.9 19.9 20 20 20
L2-04 Momentary Power Loss Voltage Recovery Time s 0.6 0.6 0.6 0.6 0.6 1 1 1

Model CIMR-A – 4A0165 4A0208 4A0250 4A0296
0 1 0 1 0 1 0 1
b3-07 <66> – – – – – – – – –
Estimation Type)
b3-08 – 0.8 0.8 0.8 0.8 0.8 0.8 0.8 0.8
Estimation Type)
E2-01 (E4-01) Motor Rated Current A 130 156 156 190 190 223 223 270
E2-03 (E4-03) Motor No-Load Current A 36 40 40 49 49 58 58 70
E2-06 (E4-06) Motor Leakage Inductance % 20 20 20 20 20 20 20 20
L2-04 Momentary Power Loss Voltage Recovery Time s 1 1 1 1 1 1 1 1

Model CIMR-A – 4A0362 4A0414 4A0515
HD ND HD ND HD ND
0 1 0 1 0 1
o2-04 Drive Model Selection Hex. A9 AA AC
b3-07 <66> – – – – – – –
Estimation Type)

Model CIMR-A – 4A0362 4A0414 4A0515
HD ND HD ND HD ND
0 1 0 1 0 1
o2-04 Drive Model Selection Hex. A9 AA AC
b3-08 – 0.8 0.8 0.8 0.8 0.8 0.8
Estimation Type)
E5-01 Motor Code Selection (for PM Motors) Hex. 124A 124A FFFF FFFF FFFF FFFF
L2-03 Momentary Power Loss Minimum Baseblock Time s 1.8 1.9 1.9 2 2 2.1
L2-04 Momentary Power Loss Voltage Recovery Time s 1 1 1 1 1 1

Model CIMR-A – 4A0675 4A0930 4A1200
HD ND HD ND HD ND
0 1 0 1 0 1
o2-04 Drive Model Selection Hex. AE B0 B2
b3-07 <66> – – – 3.0 2.0 3.0 2.0
Estimation Type)
b3-08 – 0.8 0.8 0.8 0.8 0.8 0.8
Estimation Type)
b3-26 <66> Start Speed Search Select – – – 1000 1000 1000 1000
E2-02 (E4-02) Motor Rated Slip Hz 1.25 1 1 0.9 0.8 0.7
E5-01 Motor Code Selection (for PM Motors) Hex. FFFF FFFF FFFF FFFF FFFF FFFF
L2-03 Momentary Power Loss Minimum Baseblock Time s 2.1 2.3 2.8 3.1 4 4.6
Parameter List
L2-04 Momentary Power Loss Voltage Recovery Time s 1 1 2.6 3 3.8 4.5
L3-24 Motor Acceleration Time for Inertia Calculations s 1.392 1.667 2 2.222 2.857 3.333
n1-03 Hunting Prevention Time Constant ms 100 100 100 100 100 100 B
n5-02 Motor Acceleration Time s 1.392 1.667 2 2.222 2.857 3.333
B.7 Parameters that Change with the Motor Code Selection (for PM Motors)
The following tables show parameters and default settings that change with the motor code selection E5-01 when Open
Loop Vector for PM motors is used.
 YASKAWA SMRA Series SPM Motor

Table B.10 200 V, 1800 min-1 Type YASKAWA SMRA Series SPM Motor
Motor Code Selection (for PM Motors) − 0002 0003 0005 0006 0008
Voltage Class V 200 200 200 200 200
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7
Rated Speed min-1 1800 1800 1800 1800 1800
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7
E5-03 Motor Rated Current (for PM Motors) A 2.1 4.0 6.9 10.8 17.4
E5-04 Number of Motor Poles (for PM Motors) – 8 8 8 8 8
E5-05 Motor Stator Resistance (r1) (for PM Motors) Ω 2.47 1.02 0.679 0.291 0.169
Motor d-Axis Inductance (Ld) (for PM
E5-06 mH 12.7 4.8 3.9 3.6 2.5
Motors)
Motor q-Axis Inductance (Lq) (for PM
E5-07 mH 12.7 4.8 3.9 3.6 2.5
Motors)
Motor Induction Voltage Constant 1 (Ke) (for
E5-09 mVs/rad 0 0 0 0 0
PM Motors)
E5-24 mV/(min-1) 62.0 64.1 73.4 69.6 72.2
PM Motors)
E1-04 Maximum Output Frequency Hz 120 120 120 120 120
E1-05 Maximum Voltage V 200.0 200.0 200.0 200.0 200.0
E1-06 Base Frequency Hz 120 120 120 120 120
E1-09 Minimum Output Frequency Hz 6 6 6 6 6
C5-17 Motor Inertia kgm2 0.0007 0.0014 0.0021 0.0032 0.0046
L3-24 Motor Acceleration Time for Inertia
s 0.064 0.066 0.049 0.051 0.044
<6> Calculations
n5-02 Motor Acceleration Time s 0.064 0.066 0.049 0.051 0.044
d-Axis Current for High Efficiency Control
n8-49 % 0 0 0 0 0
(for PM Motors) (OLV/PM)
Table B.11 200 V, 3600 min-1 Type YASKAWA SMRA Series SPM Motor
Motor Code Selection (for PM Motors) − 0103 0105 0106 0108
Voltage Class V 200 200 200 200
E5-01
Rated Power kW 0.75 1.5 2.2 3.7
Rated Speed min-1 3600 3600 3600 3600
E5-02 Motor Rated Power (for PM Motors) kW 0.75 1.5 2.2 3.7
E5-03 Motor Rated Current (for PM Motors) A 4.1 8.0 10.5 16.5
E5-04 Number of Motor Poles (for PM Motors) – 8 8 8 8
E5-05 Motor Stator Resistance (r1) (for PM Motors) Ω 0.538 0.20 0.15 0.097
E5-06 mH 3.2 1.3 1.1 1.1
Motors)
E5-07 mH 3.2 1.3 1.1 1.1
Motors)
E5-09 mVs/rad 0 0 0 0
PM Motors)
E5-24 mV/(min-1) 32.4 32.7 36.7 39.7
PM Motors)
E1-04 Maximum Output Frequency Hz 240 240 240 240
E1-05 Maximum Voltage V 200.0 200.0 200.0 200.0
E1-06 Base Frequency Hz 240 240 240 240
E1-09 Minimum Output Frequency Hz 12 12 12 12
C5-17 Motor Inertia kgm2 0.0007 0.0014 0.0021 0.0032
s 0.137 0.132 0.132 0.122
<6> Calculations
n5-02 Motor Acceleration Time s 0.137 0.132 0.132 0.122
d-Axis Current for High Efficiency Control
n8-49 % 0 0 0 0
(for PM Motors) (OLV/PM)
 YASKAWA SSR1 Series IPM Motor (For Derated Torque)

Table B.12 200 V, 1750 min-1 Type YASKAWA SSR1 Series IPM Motor
Motor Code Selection (for PM Motors) − 1202 1203 1205 1206 1208 120A 120B 120D
Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
E5-03 Motor Rated Current (for PM Motors) A 1.77 3.13 5.73 8.44 13.96 20.63 28.13 41.4
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6
Motor Stator Resistance (r1) (for PM
E5-05 Ω 8.233 2.284 1.470 0.827 0.455 0.246 0.198 0.094
Motors)
E5-06 mH 54.84 23.02 17.22 8.61 7.20 4.86 4.15 3.40
Motors)
E5-07 mH 64.10 29.89 20.41 13.50 10.02 7.43 5.91 3.91
Motors)
Motor Induction Voltage Constant 1 (Ke)
E5-09 mVs/rad 223.7 220.3 240.8 238.0 238.7 239.6 258.2 239.3
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1750 1750 1750 1750 1750 1750 1750 1750
E1-04 Maximum Output Frequency
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
min-1 1750 1750 1750 1750 1750 1750 1750 1750
E1-06 Base Frequency
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
min-1 88 88 88 88 88 88 88 88
(Hz) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4)
C5-17 Motor Inertia kgm2 0.0011 0.0017 0.0023 0.0043 0.0083 0.014 0.017 0.027
s 0.092 0.076 0.052 0.066 0.075 0.083 0.077 0.084
<6> Calculations
d-Axis Current for High Efficiency
n8-49 % -7.6 -11.5 -9.1 -19.0 -18.7 -23.4 -18.5 -10.9
Control (for PM Motors) (OLV/PM)

Motor Code Selection (for PM Motors) − 120E 120F 1210 1212 1213 1214 1215 1216
Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750
E5-05 Ω 0.066 0.051 0.037 0.030 0.020 0.014 0.012 0.006
Motors)
E5-06 mH 2.45 2.18 1.71 1.35 0.99 0.83 0.79 0.44
Motors)
E5-07 mH 3.11 2.55 2.05 1.82 1.28 1.01 0.97 0.56
Motors)
E5-09 mVs/rad 248.1 253.6 250.0 280.9 264.2 280.4 311.9 268.0
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1750 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
min-1 1750 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
min-1 88 88 88 88 88 88 88 88
Parameter List
(Hz) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4)

s 0.102 0.101 0.098 0.130 0.127 0.193 0.191 0.187
<6> Calculations
n8-49 % -16.5 -11.3 -12.8 -16.8 -15.6 -10.7 -9.6 -13.3
Control (for PM Motors) (OLV/PM) B
Motor Code Selection (for PM Motors) − 1232 1233 1235 1236 1238 123A 123B 123D 123E 123F
Voltage Class V 400 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11 15 18
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0 15 18.50
E5-03 Motor Rated Current (for PM Motors) A 0.89 1.56 2.81 4.27 7.08 10.31 13.65 20.7 27.5 33.4
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6 6 6
E5-05 Ω 25.370 9.136 6.010 3.297 1.798 0.982 0.786 0.349 0.272 0.207
Motors)
E5-06 mH 169.00 92.08 67.71 34.40 32.93 22.7 16.49 13.17 10.30 8.72
Motors)
E5-07 mH 197.50 119.56 81.71 54.00 37.70 26.80 23.46 15.60 12.77 11.22
Motors)
E5-09 mVs/rad 392.6 440.6 478.3 466.3 478.8 478.1 520.0 481.5 498.8 509.5
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1750 1750 1750 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
min-1 1750 1750 1750 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
min-1 88 88 88 88 88 88 88 88 88 88
(Hz) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4)
C5-17 Motor Inertia kgm2 0.0011 0.0017 0.0023 0.0043 0.0083 0.014 0.017 0.027 0.046 0.055
s 0.092 0.076 0.052 0.066 0.075 0.083 0.077 0.084 0.102 0.101
<6> Calculations
n5-02 Motor Acceleration Time s 0.092 0.076 0.052 0.066 0.075 0.083 0.077 0.084 0.102 0.101
n8-49 % -8.6 -11.5 -10.3 -19.8 -8.5 -11.0 -18.6 -12.5 -15.5 -17.9

Motor Code Selection (for PM Motors) − 1240 1242 1243 1244 1245 1246 1247 1248 1249 124A
Voltage Class V 400 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 22 30 37 45 55 75 90 110 132 160
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power (for PM Motors) kW 22.00 30.00 37.00 45.00 55.00 75.00 90.00 110.00 132 160
E5-05 Ω 0.148 0.235 0.079 0.054 0.049 0.029 0.019 0.017 0.012 0.008
Motors)
E5-06 mH 6.81 5.4 4.08 3.36 3.16 2.12 1.54 1.44 1.21 0.97
Motors)
E5-07 mH 8.47 7.26 5.12 3.94 3.88 2.61 2.06 2.21 1.46 1.28
Motors)
E5-09 mVs/rad 503.9 561.7 528.5 558.1 623.8 594.5 524.1 583.7 563.6 601.2
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0 0
(for PM Motors)
min-1 1750 1750 1750 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380 380
min-1 1750 1750 1750 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
min-1 88 88 88 88 88 88 88 88 88 88
(Hz) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4)
s 0.098 0.130 0.127 0.193 0.191 0.187 0.208 0.254 0.243 0.338
<6> Calculations
n8-49 % -15.1 -16.8 -14.1 -8.8 -9.6 -10.3 -17.0 -21.7 -10.9 -13.2
Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450 1450
E5-05 Ω 3.190 1.940 1.206 0.665 0.341 0.252 0.184 0.099
Motors)
E5-06 mH 32.15 26.12 14.72 12.27 8.27 6.49 6.91 4.07
Motors)
E5-07 mH 41.74 34.30 20.15 14.77 9.81 7.74 7.66 4.65
Motors)
E5-09 mVs/rad 264.3 269.6 284.3 287.1 284.5 298.0 335.0 303.9
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1450 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
min-1 1450 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
min-1 72 72 72 72 72 72 72 72
(Hz) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6)
s 0.098 0.071 0.066 0.087 0.085 0.072 0.084 0.096
<6> Calculations
n8-49 % -6.6 -10.9 -13.5 -9.0 -9.5 -10.1 -6.0 -9.3

Motor Code Selection (for PM Motors) − 130E 130F 1310 1312 1313 1314 1315
Voltage Class V 200 200 200 200 200 200 200
E5-01
Rated Power kW 15 18 22 30 37 45 55
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power (for PM Motors) kW 15.00 18.50 22.00 30.00 37.00 45.00 55.00
E5-03 Motor Rated Current (for PM Motors) A 55.5 65.6 75.1 105.2 126.0 153.1 186.5
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6
E5-05 Ω 0.075 0.057 0.041 0.034 0.023 0.015 0.012
Motors)
E5-06 mH 3.29 2.53 1.98 1.75 1.48 1.04 0.87
Motors)
E5-07 mH 3.84 3.01 2.60 2.17 1.70 1.31 1.10
Motors)
E5-09 mVs/rad 311.2 300.9 327.7 354.2 369.6 351.6 374.7
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0
min-1 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
min-1 72 72 72 72 72 72 72
(Hz) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6)
C5-17 Motor Inertia kgm2 0.055 0.064 0.116 0.140 0.259 0.312 0.42
Parameter List

s 0.085 0.080 0.122 0.108 0.161 0.160 0.175
<6> Calculations
n5-02 Motor Acceleration Time s 0.085 0.080 0.122 0.108 0.161 0.160 0.175
n8-49 % -10.7 -13.2 -15.7 -11.5 -7.0 -11.8 -10.2
B
Motor Code Selection (for PM Motors) − 1332 1333 1335 1336 1338 133A 133B 133D 133E 133F
Voltage Class V 400 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11 15 18
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0 15 18.50
E5-05 Ω 12.760 7.421 4.825 2.656 1.353 0.999 0.713 0.393 0.295 0.223
Motors)
E5-06 mH 128.60 85.11 58.87 46.42 31.73 26.20 27.06 15.51 12.65 9.87
Motors)
E5-07 mH 166.96 113.19 80.59 60.32 40.45 30.94 33.45 19.63 15.87 12.40
Motors)
E5-09 mVs/rad 528.6 544.2 568.5 572.8 562.9 587.6 670.1 612.7 624.6 610.4
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
min-1 72 72 72 72 72 72 72 72 72 72
(Hz) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6)
s 0.098 0.071 0.066 0.087 0.085 0.072 0.084 0.096 0.085 0.080
<6> Calculations
n8-49 % -6.6 -9.2 -13.5 -12.1 -13.7 -10.1 -12.2 -15.5 -15.1 -16.0

Motor Code Selection (for PM Motors) − 1340 1342 1343 1344 1345 1346 1347 1348 1349
Voltage Class V 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 22 30 37 45 55 75 90 110 132
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power (for PM Motors) kW 22.00 30.00 37.00 45.00 55.00 75.00 90.00 110.00 132.00
E5-03 Motor Rated Current (for PM Motors) A 37.6 52.5 63.2 76.4 96.1 124.0 153.1 186.5 226.0
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6 6
E5-05 Ω 0.164 0.137 0.093 0.059 0.048 0.028 0.024 0.015 0.011
Motors)
E5-06 mH 7.90 7.01 5.93 4.17 3.11 2.32 2.20 1.45 1.23
Motors)
E5-07 mH 10.38 8.68 6.79 5.22 4.55 2.97 3.23 1.88 1.67
Motors)
E5-09 mVs/rad 655.4 708.4 739.2 703.0 747.1 639.3 708.0 640.7 677.0
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
min-1 72 72 72 72 72 72 72 72 72
(Hz) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6)
C5-17 Motor Inertia kgm2 0.116 0.140 0.259 0.312 0.42 0.56 0.83 0.96 1.61
s 0.122 0.108 0.161 0.160 0.175 0.171 0.213 0.201 0.281
<6> Calculations
n5-02 Motor Acceleration Time s 0.122 0.108 0.161 0.160 0.175 0.171 0.213 0.201 0.281
n8-49 % -15.7 -11.5 -6.8 -11.5 -14.8 -15.8 -19.6 -14.9 -15.1
Motor Code Selection (for PM Motors) − 1402 1403 1405 1406 1408 140A 140B
Voltage Class V 200 200 200 200 200 200 200
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150
E5-05 Ω 4.832 2.704 1.114 0.511 0.412 0.303 0.165
Motors)
E5-06 mH 48.68 32.31 19.22 12.15 7.94 11.13 6.59
Motors)
E5-07 mH 63.21 40.24 24.38 15.35 11.86 14.06 8.55
Motors)
E5-09 mVs/rad 320.4 327.1 364.4 344.4 357.5 430.8 391.5
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 58 58 58 58 58 58 58
(Hz) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9)
s 0.062 0.044 0.080 0.090 0.067 0.072 0.088
<6> Calculations
n8-49 % -8.8 -9.9 -9.3 -10.0 -17.7 -12.3 -15.3

Motor Code Selection (for PM Motors) − 140D 140E 140F 1410 1412 1413 1414
Voltage Class V 200 200 200 200 200 200 200
E5-01
Rated Power kW 11 15 18 22 30 37 45
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power (for PM Motors) kW 11.0 15 18.50 22.00 30.00 37.00 45.00
E5-05 Ω 0.113 0.084 0.066 0.048 0.035 0.023 0.016
Motors)
E5-06 mH 4.96 3.83 3.33 2.38 2.04 1.53 1.16
Motors)
E5-07 mH 6.12 4.65 4.50 3.15 2.86 2.27 1.54
Motors)
E5-09 mVs/rad 384.4 372.1 421.3 410.9 436.1 428.8 433.3
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 58 58 58 58 58 58 58
(Hz) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9)
Parameter List

s 0.073 0.062 0.091 0.092 0.125 0.122 0.135
<6> Calculations
n8-49 % -13.9 -14.4 -17.9 -15.9 -17.9 -20.1 -13.7
B
Motor Code Selection (for PM Motors) − 1432 1433 1435 1436 1438 143A 143B 143D 143E
Voltage Class V 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11 15
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0 15
E5-05 Ω 19.320 10.800 4.456 2.044 1.483 1.215 0.660 0.443 0.331
Motors)
E5-06 mH 194.70 129.20 76.88 48.60 37.58 44.54 26.36 19.10 15.09
Motors)
E5-07 mH 252.84 160.90 97.52 61.40 47.65 56.26 34.20 24.67 18.56
Motors)
E5-09 mVs/rad 640.9 654.1 728.8 688.9 702.0 861.5 783.0 762.2 749.6
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 58 58 58 58 58 58 58 58 58
(Hz) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9)
s 0.062 0.044 0.080 0.090 0.067 0.072 0.088 0.073 0.062
<6> Calculations
n8-49 % -8.8 -9.9 -9.3 -10.0 -12.8 -12.3 -15.3 -16.7 -14.9

Motor Code Selection (for PM Motors) − 143F 1440 1442 1443 1444 1445 1446 1447 1448
Voltage Class V 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 18 22 30 37 45 55 75 90 110
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power (for PM Motors) kW 18.50 22.00 30.00 37.00 45.00 55.00 75.00 90.00 110.00
E5-05 Ω 0.264 0.192 0.140 0.093 0.063 0.051 0.033 0.027 0.015
Motors)
E5-06 mH 13.32 9.52 8.16 6.13 4.63 3.96 3.03 2.60 1.89
Motors)
E5-07 mH 18.00 12.60 11.40 9.10 6.15 5.00 5.14 3.28 2.33
Motors)
E5-09 mVs/rad 842.7 821.8 872.3 857.7 866.6 854.0 823.1 853.4 829.2
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 58 58 58 58 58 58 58 58 58
(Hz) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9)
s 0.091 0.092 0.125 0.122 0.135 0.147 0.161 0.154 0.212
<6> Calculations
n8-49 % -17.9 -15.9 -17.7 -20.1 -13.8 -12.5 -28.8 -13.3 -11.6
 YASKAWA SST4 Series IPM Motor (For Constant Torque)

Table B.18 200 V, 1750 min-1 Type YASKAWA SST4 Series IPM Motor
Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750
E5-05 Ω 2.247 1.132 0.774 0.479 0.242 0.275 0.161 0.111
Motors)
E5-06 mH 22.32 12.38 8.90 7.39 5.06 5.82 3.86 3.59
Motors)
E5-07 mH 32.50 15.72 11.96 9.63 6.42 6.74 4.66 4.32
Motors)
E5-09 mVs/rad 215.2 203.9 219.3 230.6 235.1 251.7 235.7 252.0
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1750 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
min-1 1750 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
min-1 88 88 88 88 88 88 88 88
(Hz) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4)
s 0.134 0.099 0.094 0.124 0.121 0.081 0.075 0.082
<6> Calculations
n8-49 % -9.3 -6.4 -10.0 -9.9 -9.7 -8.4 -11.5 -13.1

Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power (for PM Motors) kW 15 18.50 22.00 30.00 37.00 45.00 55.00 75.00
E5-05 Ω 0.071 0.049 0.040 0.030 0.020 0.013 0.009 0.006
Motors)
E5-06 mH 2.67 1.98 1.69 1.31 0.88 0.77 0.55 0.40
Motors)
E5-07 mH 3.10 2.41 2.12 1.61 1.14 1.04 0.69 0.50
Motors)
E5-09 mVs/rad 253.7 244.6 256.3 283.1 266.3 260.0 261.5 259.3
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1750 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
min-1 1750 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
min-1 88 88 88 88 88 88 88 88
Parameter List
(Hz) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4)

s 0.099 0.098 0.096 0.127 0.124 0.188 0.186 0.184
<6> Calculations
n8-49 % -10.9 -14.3 -15.1 -11.3 -14.1 -18.8 -11.4 -12.2
Control (for PM Motors) (OLV/PM) B
Voltage Class V 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750
E5-05 Ω 8.935 4.570 3.096 1.906 0.972 1.103 0.630 0.429
Motors)
E5-06 mH 80.14 48.04 35.60 30.31 20.03 23.41 14.86 14.34
Motors)
E5-07 mH 110.76 64.88 47.84 38.36 24.97 28.70 17.25 17.25
Motors)
E5-09 mVs/rad 416.5 399.4 438.5 475.5 463.7 485.8 470.4 513.4
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1750 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
min-1 1750 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
min-1 88 88 88 88 88 88 88 88
(Hz) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4)
s 0.134 0.099 0.094 0.124 0.121 0.081 0.075 0.082
<6> Calculations
n8-49 % -7.5 -8.5 -9.8 -8.2 -9.1 -13.1 -9.2 -12.4

Voltage Class V 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750 1750
E5-05 Ω 0.275 0.196 0.160 0.120 0.077 0.052 0.036 0.023
Motors)
E5-06 mH 9.99 7.92 6.82 5.24 3.57 2.98 1.59 1.59
Motors)
E5-07 mH 12.37 9.64 8.51 6.44 4.65 3.75 2.78 1.97
Motors)
E5-09 mVs/rad 505.3 489.2 509.5 566.2 531.6 530.6 515.2 515.2
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1750 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
min-1 1750 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
min-1 88 88 88 88 88 88 88 88
(Hz) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4)
s 0.099 0.098 0.096 0.127 0.124 0.188 0.186 0.184
<6> Calculations
n8-49 % -15.1 -14.3 -15.3 -11.3 -14.5 -13.2 -22.6 -11.9

Motor Code Selection (for PM Motors) − 2247 2248 2249 224A 224C 224D 224E
Voltage Class V 400 400 400 400 400 400 400
E5-01
Rated Power kW 90 110 132 160 200 220 300
Rated Speed min-1 1750 1750 1750 1750 1750 1750 1750
E5-05 Ω 0.019 0.017 0.012 0.008 0.005 0.004 0.002
Motors)
E5-06 mH 1.51 1.43 1.13 0.96 0.65 0.67 0.40
Motors)
E5-07 mH 1.76 1.92 1.54 1.26 0.88 0.74 0.52
Motors)
E5-09 mVs/rad 538.3 590.9 548.2 603.9 556.8 593.1 495.4
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
min-1 1750 1750 1750 1750 1750 1750 1750
(Hz) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5) (87.5)
min-1 88 88 88 88 88 88 88
(Hz) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4) (4.4)
s 0.205 0.250 0.244 0.336 0.327 0.379 0.414
<6> Calculations
n8-49 % -8.6 -14.8 -17.5 -12.5 -14.7 -5.1 -16.3
Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450 1450
E5-05 Ω 3.154 1.835 0.681 0.308 0.405 0.278 0.180 0.098
Motors)
E5-06 mH 28.46 19.46 10.00 6.88 8.15 5.77 6.32 3.34
Motors)
E5-07 mH 39.29 25.89 15.20 9.25 10.76 8.60 8.80 4.61
Motors)
E5-09 mVs/rad 268.8 256.9 271.9 260.2 286.8 314.9 300.8 292.3
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1450 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
min-1 1450 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
min-1 72 72 72 72 72 72 72 72
(Hz) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6)
Parameter List
s 0.092 0.068 0.125 0.139 0.083 0.070 0.082 0.092
<6> Calculations
n8-49 % -7.5 -9.4 -13.9 -10.0 -15.0 -17.9 -22.7 -20.5
<6> Default setting value varies by the drive model (o2-04). B

Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450 1450
E5-05 Ω 0.073 0.055 0.048 0.034 0.023 0.016 0.012 0.007
Motors)
E5-06 mH 2.94 2.23 2.08 1.67 1.39 0.94 0.82 0.56
Motors)
E5-07 mH 3.65 2.85 2.66 2.04 1.73 1.22 1.06 0.76
Motors)
E5-09 mVs/rad 305.1 297.6 355.8 355.4 324.0 302.4 337.2 323.4
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1450 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
min-1 1450 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
min-1 72 72 72 72 72 72 72 72
(Hz) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6)
s 0.083 0.079 0.118 0.105 0.157 0.156 0.172 0.169
<6> Calculations
n8-49 % -14.6 -16.4 -11.8 -10.5 -14.5 -17.4 -13.9 -17.5
Motor Code Selection (for PM Motors) − 2332 2333 2335 2336 2338 233A 233B 233D 233E 233F 2340
Voltage Class V 400 400 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11 15 18 22
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0 15 18.50 22.00
E5-03 Motor Rated Current (for PM Motors) A 0.91 1.67 3.02 4.74 7.08 10.21 13.96 20.5 27.1 34.2 37.6
E5-04 Number of Motor Poles (for PM Motors) – 6 6 6 6 6 6 6 6 6 6 6
E5-05 Ω 12.616 7.340 2.724 1.232 1.509 1.112 0.720 0.393 0.291 0.220 0.192
Motors)
E5-06 mH 113.84 77.84 40.00 27.52 31.73 23.09 25.28 13.36 11.77 8.94 8.32
Motors)
E5-07 mH 157.16 103.56 60.80 37.00 40.88 34.39 35.20 18.44 14.60 11.40 10.64
Motors)
E5-09 mVs/rad 490.8 513.8 543.7 520.3 580.8 602.7 601.5 584.6 610.3 595.2 711.6
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
min-1 72 72 72 72 72 72 72 72 72 72 72
(Hz) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6)
C5-17 Motor Inertia kgm2 0.0016 0.0022 0.0081 0.0133 0.0133 0.017 0.027 0.044 0.054 0.063 0.113
s 0.092 0.068 0.125 0.139 0.083 0.070 0.082 0.092 0.083 0.079 0.118
<6> Calculations
n5-02 Motor Acceleration Time s 0.092 0.068 0.125 0.139 0.083 0.070 0.082 0.092 0.083 0.079 0.118
n8-49 % -9.5 -9.4 -13.7 -10.0 -12.9 -19.9 -22.8 -19.8 -14.5 -16.1 -11.8

Motor Code Selection (for PM Motors) − 2342 2343 2344 2345 2346 2347 2348 2349 234A 234C 234D
Voltage Class V 400 400 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 30 37 45 55 75 90 110 132 160 200 250
Rated Speed min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power (for PM Motors) kW 30.00 37.00 45.00 55.00 75.00 90.00 110.00 132.00 160.00 200.00 250.00
E5-05 Ω 0.136 0.091 0.064 0.048 0.028 0.024 0.015 0.011 0.007 0.006 0.003
Motors)
E5-06 mH 6.68 5.30 3.76 3.09 2.24 2.20 1.34 1.23 0.92 0.84 0.61
Motors)
E5-07 mH 8.16 6.80 4.88 4.75 3.03 3.23 2.16 1.67 1.30 1.25 0.89
Motors)
E5-09 mVs/rad 710.8 652.7 604.8 669.1 646.8 708.0 637.8 677.0 661.7 687.1 655.9
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
min-1 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450
(Hz) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5) (72.5)
min-1 72 72 72 72 72 72 72 72 72 72 72
(Hz) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6) (3.6)
s 0.105 0.157 0.156 0.172 0.169 0.210 0.201 0.279 0.281 0.325 0.341
<6> Calculations
n8-49 % -10.5 -15.6 -17.4 -21.7 -17.3 -19.6 -24.1 -15.1 -17.0 -19.8 -19.3
Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150 1150
E5-05 Ω 2.680 1.520 1.071 0.542 0.362 0.295 0.162 0.115
Motors)
E5-06 mH 30.55 15.29 17.48 11.98 8.60 9.54 5.31 4.44
Motors)
E5-07 mH 42.71 24.28 22.51 15.51 10.69 13.84 8.26 5.68
Motors)
E5-09 mVs/rad 313.1 313.1 345.3 342.9 363.8 384.3 379.9 370.2
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1150 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 1150 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 58 58 58 58 58 58 58 58
(Hz) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9)
Parameter List
s 0.080 0.081 0.078 0.088 0.066 0.070 0.085 0.071
<6> Calculations
n8-49 % -8.4 -11.0 -10.7 -10.7 -9.4 -22.5 -22.2 -16.7
<6> Default setting value varies by the drive model (o2-04). B

Voltage Class V 200 200 200 200 200 200 200 200
E5-01
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150 1150
E5-05 Ω 0.083 0.065 0.052 0.035 0.026 0.019 0.013 0.009
Motors)
E5-06 mH 3.50 2.92 2.55 2.03 1.59 1.24 0.98 0.70
Motors)
E5-07 mH 4.23 3.79 3.22 2.46 1.92 1.64 1.37 0.97
Motors)
E5-09 mVs/rad 364.5 404.5 445.1 444.4 447.3 470.8 422.4 418.3
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1150 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 1150 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 58 58 58 58 58 58 58 58
(Hz) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9)
s 0.061 0.089 0.090 0.122 0.119 0.132 0.145 0.159
<6> Calculations
n8-49 % -13.7 -15.2 -10.9 -9.8 -9.3 -11.5 -17.7 -17.1
Motor Code Selection (for PM Motors) − 2432 2433 2435 2436 2438 243A 243B 243D 243E 243F 2440
Voltage Class V 400 400 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11 15 18 22
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power (for PM Motors) kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0 15 18.50 22.00
E5-05 Ω 10.720 6.080 4.336 2.143 1.428 1.199 0.648 0.460 0.325 0.260 0.209
Motors)
E5-06 mH 122.20 61.16 70.24 46.20 33.87 41.67 21.24 17.76 12.83 11.68 10.09
Motors)
E5-07 mH 170.80 97.12 90.04 60.28 42.98 69.15 33.04 22.72 17.19 15.16 16.25
Motors)
E5-09 mVs/rad 626.1 626.1 703.1 727.6 699.0 861.5 759.7 740.4 716.6 809.1 786.2
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 58 58 58 58 58 58 58 58 58 58 58
(Hz) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9)
s 0.080 0.081 0.078 0.088 0.066 0.070 0.085 0.071 0.061 0.089 0.090
<6> Calculations
n8-49 % -8.4 -11.0 -9.9 -9.0 -11.4 -23.2 -22.1 -16.7 -20.2 -15.2 -27.7

Motor Code Selection (for PM Motors) − 2442 2443 2444 2445 2446 2447 2448 2449 244A 244C
Voltage Class V 400 400 400 400 400 400 400 400 400 400
E5-01
Rated Power kW 30 37 45 55 75 90k 110 132 160 200
Rated Speed min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power (for PM Motors) kW 30.00 37.00 45.00 55.00 75.00 90.00 110.00 132.00 160.00 200.00
E5-05 Ω 0.140 0.106 0.076 0.051 0.032 0.026 0.015 0.012 0.009 0.007
Motors)
E5-06 mH 8.12 6.43 4.96 3.99 2.97 2.44 1.87 1.49 1.41 1.22
Motors)
E5-07 mH 9.84 7.71 6.56 5.39 3.90 3.23 2.46 2.08 1.88 1.51
Motors)
E5-09 mVs/rad 888.8 857.7 941.6 853.8 829.6 835.6 833.4 848.6 889.1 915.0
(for PM Motors)
E5-24 mV/(min-1) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
(for PM Motors)
min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 1150 1150 1150 1150 1150 1150 1150 1150 1150 1150
(Hz) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5) (57.5)
min-1 58 58 58 58 58 58 58 58 58 58
(Hz) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9) (2.9)
s 0.122 0.119 0.132 0.145 0.159 0.155 0.211 0.214 0.256 0.268
<6> Calculations
n8-49 % -9.8 -10.2 -11.5 -16.0 -15.7 -15.7 -14.7 -16.5 -14.1 -10.4
Parameter List
Appendix: C
MEMOBUS/Modbus Communications
C.1 MEMOBUS/MODBUS CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 552

C.2 COMMUNICATION SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
C.3 CONNECTING TO A NETWORK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554
C.4 MEMOBUS/MODBUS SETUP PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . 556
C.5 DRIVE OPERATIONS BY MEMOBUS/MODBUS . . . . . . . . . . . . . . . . . . . . . . . . 559
C.6 COMMUNICATIONS TIMING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
C.7 MESSAGE FORMAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561
C.8 MESSAGE EXAMPLES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
C.9 MEMOBUS/MODBUS DATA TABLE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 565
C.10 ENTER COMMAND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
C.11 COMMUNICATION ERRORS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
C.12 SELF-DIAGNOSTICS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579
C.1 MEMOBUS/Modbus Configuration
C.1 MEMOBUS/Modbus Configuration

Drives can be controlled from a PLC or other master device via serial communications using the MEMOBUS/Modbus
protocol.
MEMOBUS/Modbus communication can be configured using one master (PLC) and a maximum of 255 slaves. The
drive has slave functionality only, meaning that serial communication is normally initiated from the master and
responded to by the slaves.
The master communicates to the slave (drive) specified. The address or node for each slave must be set beforehand so
that the master can communicate with the slave at that address. A slave that receives a command from the master will
perform the specified function and then send a response back to the master.
Figure C.1
Master (PLC or other)
Slave (Drive)
Figure C.1 Connecting Multiple Drives to a PLC
C.2 Communication Specifications
C.2 Communication Specifications

MEMOBUS/Modbus specifications appear in Table C.1.
Table C.1 MEMOBUS/Modbus Communication Specifications
Item Specifications
Interface RS-422, RS-485
Communications Cycle Asynchronous (Start-stop synchronization)
Communication Speeds Available 1.2; 2.4; 4.8; 9.6; 19.2; 38.4; 57.6; 76.8; 115.2 kbps
Data length 8 bit (fixed)
Communication Parameters
Parity Select even, odd, or none
Stop bit 1 bit (fixed)
Protocol MEMOBUS/Modbus (using RTU mode only)
Max Number of Slaves 31 drives (RS-485)
MEMOBUS/Modbus
Communications
C.3 Connecting to a Network

This section explains how to connect the drive to a MEMOBUS/Modbus network and the network termination required.
 Network Cable Connection

Follow the instructions below to connect the drive to a MEMOBUS/Modbus network.
1. With the power shut off, connect the communications cable to the drive and the master. Use terminals TB5 for
MEMOBUS/Modbus.
Figure C.2
IG R+ R- S+ S- (TB4)
S- Send (-)
S+ Send (+)
R- Receive (-)
R+ Receive (+)
IG Shield Ground
Figure C.2 Serial Communications Cable Connection Terminals (TB4)

Note: Separate the communications cables from the main circuit cables and other wiring and power cables. Use shielded cables for the
communications cables, and properly shielded clamps to prevent problems with noise. When using RS-485 communications,
connect S+ to R+, and S- to R- as shown in the diagram below.
2. Check or set the termination resistor selection at all slaves. Use the description in Network Termination on
page 555 for slaves that are A1000 drives.
3. Switch the power on.
4. Set the parameters needed for serial communications (H5-01 through H5-12) using the digital operator.
5. Shut the power off and wait until the display on the digital operator goes out completely.
6. Turn the power back on.
7. The drive is now ready to begin communicating with the master.
 Wiring Diagram for Multiple Connection

Figure C.3 and Figure C.4 explain the wiring diagrams for multiple connections using MEMOBUS/Modbus
communication.
 RS-485 Interface
Figure C.3
R– S– Drive
R+ S+
PLC S– R– S2
S+ R+
IG IG OFF
S– Drive
S+
R– S2
R+
IG OFF
S– Drive
S+
R– S2
R+ ON
IG
Figure C.3 RS-485 Interface

Note: 1. Turn on the DIP switch S2 on the drive that is located at the end of the network. All other slave devices must have this DIP switch set
to the OFF position.
2. Set H5-07 to “1” when using the RS-485 interface.
 RS-422 Interface
Figure C.4
R– S– Drive
R+ S+
PLC S– R– S2
S+ R+
IG IG OFF
S– Drive
S+
R– S2
R+
IG OFF
S– Drive
S+
R– S2
R+ ON
IG
Figure C.4 RS-422 Interface

Note: 1. Turn on the DIP switch S2 on the drive that is located at the end of the network. All other slave devices must have this DIP switch set
to the OFF position.
2. Set H5-07 to 0 when using RS-422 interface in a point-to-point circuit.
Set H5-07 to 1 when using RS-422 interface in a multi-drop circuit.
 Network Termination
The two ends of the MEMOBUS/Modbus network line have to be terminated. The drive has a built in termination
resistor that can be enabled or disabled using DIP switch S2. If a drive is located at the end of a network line, enable the
termination resistor by setting DIP switch S2 to the ON position. Disable the termination resistor on all slaves that are not
located at the network line end.
Refer to MEMOBUS/Modbus Termination on page 88 for details on setting S2.
MEMOBUS/Modbus
Communications
C.4 MEMOBUS/Modbus Setup Parameters

 MEMOBUS/Modbus Serial Communication
The settings for MEMOBUS/Modbus communications become effective when the drive is restarted after they have been
made.
 H5-01: Drive Slave Address
Sets the drive slave address used for MEMOBUS/Modbus communications.
Note: After changing this parameter, the power must be cycled to enable the new setting.

H5-01 Drive Slave Address 0 to FF <1> 1F
<1> If the address is set to 0, no response will be provided during communications.
For serial communications to work, each individual slave drive must be assigned a unique slave address. Setting H5-01
to any value besides 0 assigns the drive its address in the network. Slave address don’t need to be assigned in sequential
order, but each address needs to be unique so that no two drives have the same address.
 H5-02: Communication Speed Selection
Sets the MEMOBUS/Modbus communications speed.

H5-02 Communication Speed Selection 0 to 8 3
H5-02 Communication Speed H5-02 Communication Speed

0 1200 bps 5 38400 bps
1 2400 bps 6 57600 bps
2 4800 bps 7 76800 bps
3 9600 bps 8 115200 bps
4 19200 bps –
 H5-03: Communication Parity Selection

Sets the parity used for MEMOBUS/Modbus communications.

H5-03 Communication Parity Selection 0 to 2 0
Setting 0: No parity
Setting 1: Even parity
Setting 2: Odd parity
 H5-04: Stopping Method after Communication Error
Selects the stopping method after a communications error (CE) has occurred.

H5-04 Stopping Method after Communication Error 0 to 3 3
Setting 0: Ramp to stop (uses the deceleration time currently enabled)

Setting 3: Alarm only (continue operation)
 H5-05: Communication Fault Detection Selection

Enables or disabled the communication error (CE) detection for MEMOBUS/Modbus communications.

H5-05 Communication Fault Detection Selection 0 or 1 1
Setting 0: Disabled
No communication error detection. The drive continues operation.
Setting 1: Enabled
If the drive does not receive data from the master for longer than the time set to H5-09, then a CE fault will be triggered
and the drive will operate as determined by parameter H5-04.
 H5-06: Drive Transmit Wait Time
Sets the time the drive waits after receiving data from a master until responding data.

H5-06 Drive Transmit Wait Time 5 to 65 ms 5 ms
Figure C.5
PLC→Drive Drive→PLC PLC→Drive
Command message Response message Command message Time
24 bit length H5-06 setting
Figure C.5 Drive Transmit Wait Time Setting
 H5-07: RTS Control Selection

Enables or disables RTS control.

H5-07 RTS Control Selection 0 or 1 1
Setting 0: Disabled. RTS is always on.

Use this setting with point-to-point RS-422 communications.
Setting 1: Enabled. RTS switches while sending.
Use this setting with RS-485 communications or when using multi-drop RS-422 communications.
 H5-09: Communication Fault Detection Time
Sets the time the communications must be lost before the drive triggers a CE fault.

H5-09 Communication Fault Detection Time 0.0 to 10.0 s 2.0 s
 H5-10: Unit Selection for MEMOBUS/Modbus Register 0025H

Sets the unit for the output voltage monitor value in MEMOBUS/Modbus register 0025H.
MEMOBUS/Modbus
Communications

H5-10 Unit Selection for MEMOBUS/Modbus Register 0025H 0 or 1 0
Setting 0: 0.1 V units

Setting 1: 1 V units
C
 H5-11: Communications Enter Function Selection

Selects if an Enter command is needed to change parameter values via MEMOBUS/Modbus communications. Refer to
Enter Command on page 577.

H5-11 Communications Enter Function Selection 0 or 1 0
Setting 0: Parameter changes applied and saved in drive on Enter command input
Parameter changes are applied on Enter command input and saved in EEPROM in the drive if 0900H in the Enter
command is set to 0. Input the Enter command only after completion of all of the parameter changes.
Setting 1: Parameter changes applied immediately and saved in drive on Enter command input
Parameter changes are applied as soon as they are made. The parameter changes are saved to EEPROM in the drive when
an Enter command with 0900H set to 0 is input.
 H5-12: Run Command Method Selection
Selects the type of sequence used when the Run command source is set to MEMOBUS/Modbus communications (b1-02,
b1-16 = 2).

H5-12 Run Command Method Selection 0 or 1 0
Setting 0: FWD/Stop, REV/Stop

Setting bit 0 of MEMOBUS/Modbus register 0001H will start and stop the drive in the forward direction. Setting bit 1
will start and stop the drive in reverse.
Setting 1: Run/Stop, FWD/REV
Setting bit 0 of MEMOBUS/Modbus register 0001H will start and stop the drive. Setting bit 1 changes the direction.
 H5-17: Operation Selection when Unable to Write into EEPROM
Selects the operation to be carried out when an attempt is made to write data into EEPROM by MEMOBUS/Modbus
communications if writing into EEPROM is not enabled.

H5-17 Operation Selection when Unable to Write into EEPROM 0, 1 0
Setting 0: Cannot write into EEPROM.

Setting 1: Write in RAM only.
 H5-18: Filter Time Constant for Motor Speed Monitoring
Sets the filter time constant for monitoring the motor speed from MEMOBUS/Modbus communications and
communication option.
Applicable MEMOBUS/Modbus registers: 3EH, 3FH, 44H, ACH, and ADH

H5-18 Filter Time Constant for Motor Speed Monitoring 0 to 100 ms 0 ms
C.5 Drive Operations by MEMOBUS/Modbus
C.5 Drive Operations by MEMOBUS/Modbus

The drive operations that can be performed by MEMOBUS/Modbus communication depend on drive parameter settings.
This section explains the functions that can be used and related parameter settings.
 Observing the Drive Operation

A PLC can perform the following actions with MEMOBUS/Modbus communications at any time regardless of
parameter settings (except H5-).
• Observe drive status and drive control terminal status from a PLC.
• Read and write parameters.
• Set and reset faults.
• Set multi-function inputs. Inputs settings from the input terminals (S1 to S8) and from MEMOBUS/Modbus
communications are both linked by an OR operation.
 Controlling the Drive

To start and stop the drive or set the frequency reference using MEMOBUS/Modbus communications, an external
reference must be selected and the parameters listed in Table C.2 must be adjusted accordingly.
Table C.2 Setting Parameters for Drive Control from MEMOBUS/Modbus
Reference Source Parameter Name Required Setting
b1-01 Frequency Reference Selection 1 2
External Reference 1
b1-02 Run Command Selection 1 2
b1-15 Frequency Reference Selection 2 2
External Reference 2
b1-16 Run Command Selection 2 2
Refer to b1-01: Frequency Reference Selection 1 on page 148 and b1-02: Run Command Selection 1 on page 150 for
details on external reference parameter selections. Refer to Setting 2: External reference 1/2 selection on page 237 for
instructions on how to select external reference 1 and 2.
MEMOBUS/Modbus
Communications
C.6 Communications Timing
C.6 Communications Timing

To prevent overrun in the slave drive, the master should wait a certain time between sending messages to the same drive.
In the same way, the slave drive must wait before sending response messages to prevent an overrun in the master. This
section explains the message timing.
 Command Messages from Master to Drive

In order to prevent overrun and data loss, the master must wait between receiving a response and sending the same type
of command as before to the same slave drive. The minimum wait time depends on the command as shown in Table C.3.
Table C.3 Minimum Wait Time for Sending Messages
Command Type Example Minimum Wait Time
• Control command (Run, Stop)
1 • Set inputs/outputs 5 ms <1>
• Read monitors and parameter values
H5-11 = 0: 50 ms
2 • Write parameters H5-11 = 1: 200ms
<1>
200 ms to 2 s, depending on the number of
3 • Save changes using an Enter command
parameters that were changed <1>
4 • Enter with storage to drive EEPROM after initialization 5s
<1> If the drive receives command type 1 data during the minimum wait time, it will perform the command and then respond. However, if it
receives a command type 2 or 3 during that time, either a communication error will result or the command will be ignored.
Figure C.6
Master Send
24 bit length
Wait Time
Figure C.6 Minimum Wait Time for Sending Messages

A timer should be set in the master to check how long it takes for the slave drive(s) to respond to the master. If no
response is received within a certain amount of time, the master should try resending the message.
 Response Messages from Drive to Master

If the drive receives a command from the master, it will process the data received and wait for the time set in H5-06 until
it responds. Increase H5-06 if the drive response causes overrun in the master.
Figure C.7
24 bit length H5-06

setting
Figure C.7 Minimum Response Wait Time
C.7 Message Format
C.7 Message Format

 Message Content
In MEMOBUS/Modbus communications, the master sends commands to the slave, and the slave responds. The message
format is configured for both sending and receiving as shown below, and the length of data packets depends on the
command (function) content.
SLAVE ADDRESS
FUNCTION CODE
DATA
ERROR CHECK
 Slave Address
The slave address in the message defines the note the message is sent to. Use addresses between 0 and FF (hex). If a
message with slave address 0 is sent (broadcast), the command from the master will be received by all slaves. The slaves
do not provide a response to a broadcast type message.
 Function Code
The three types of function codes are shown in the table below.
Data Length (bytes)

Function
Function Name Command Message Response Message
Code
Minimum Maximum Minimum Maximum
03H Read MEMOBUS/Modbus registers 8 8 7 37
08H Loopback test 8 8 8 8
10H Write to multiple MEMOBUS/Modbus registers 11 41 8 8
 Data
Configure consecutive data by combining the MEMOBUS/Modbus register address (test code in case of a loopback test)
and the data the register contains. The data length changes depending on the command details.
A drive MEMOBUS/Modbus register always has a data length of two bytes. Therefore data written into drive registers
must also always have a length of two bytes. Register data read out from the drive will always consist of two bytes.
 Error Check
The drive uses a CRC-16 (cyclic redundancy check, checksum method) for checking data validity. Use the procedure
described below when calculating the CRC-16 checksum for command data or when verifying response data.
 Command Data
When the drive receives data, it calculates the CRC-16 checksum from the data and compares it to the CRC-16 value
received within the message. Both must match before a command is processed.
An initial value of FFFFH (i.e., all 16 bits equal 1) must be used for CRC-16 calculations in the MEMOBUS/Modbus
protocol.
MEMOBUS/Modbus
Communications
Calculate the CRC-16 checksum using the following steps:

1. The starting value is FFFFH.
2. Perform an XOR operation of this value and the slave address.
3. Right shift the result.
4. When the overflow bit of the shift operation becomes 1, perform an XOR operation of the result from step 3
above and the fix value A001H. C
5. Repeat steps 3 and 4 until eight shift operations have been performed.
C.7 Message Format
6. After eight shift operations, perform an XOR operation with the result and the next data in the message (function
code, register address, data). Continue with steps 3 to 5 until the last data has been processed.
7. The result of the last shift or XOR operation is the checksum.
The example in Table C.4 shows the CRC-16 calculation of the slave address 02H and the function code 03H, yielding
the result D140H.
Note: This example does not show the calculation for a complete MEMOBUS/Modbus command. Normally data would follow in the
calculation.
Table C.4 CRC-16 Checksum Calculation Example
Description Calculation Overflow Description Calculation Overflow
Initial Value (FFFFH) 1111 1111 1111 1111 Function Code 03H 0000 0000 0000 0011
Address 02H 0000 0000 0000 0010 XOR w result 1000 0001 0011 1101
XOR w initial value 1111 1111 1111 1101 Shift 1 0100 0000 1001 1110 1
Shift 1 0111 1111 1111 1110 1 XOR w A001H 1010 0000 0000 0001
XOR w A001H 1010 0000 0000 0001 XOR result 1110 0000 1001 1111
XOR result 1101 1111 1111 1111 Shift 2 0111 0000 0100 1111 1
Shift 2 0110 1111 1111 1111 1 XOR w A001H 1010 0000 0000 0001
XOR result 1100 1111 1111 1110 Shift 3 0110 1000 0010 0111 0
Shift 3 0110 0111 1111 1111 0 Shift 4 0011 0100 0001 0011 1
Shift 4 0011 0011 1111 1111 1 XOR w A001H 1010 0000 0000 0001
XOR result 1001 0011 1111 1110 Shift 5 0100 1010 0000 1001 0
Shift 5 0100 1001 1111 1111 0 Shift 6 0010 0101 0000 0100 1
Shift 6 0010 0100 1111 1111 1 XOR w A001H 1010 0000 0000 0001
XOR result 1000 0100 1111 1110 Shift 7 0100 0010 1000 0010 1
Shift 7 0100 0010 0111 1111 0 XOR w A001H 1010 0000 0000 0001
Shift 8 0010 0001 0011 1111 1 XOR result 1110 0010 1000 0011
XOR w A001H 1010 0000 0000 0001 Shift 8 0111 0001 0100 0001 1
XOR result 1000 0001 0011 1110 XOR w A001H 1010 0000 0000 0001
XOR result 1101 0001 0100 0000
1101 0001 0100 0000
Perform operations with next data (function code) CRC-16 D 1 4 0
Lower Upper
Continue from here with next data.
 Response Data
To be sure that the data is valid, perform a CRC-16 calculation on the response message data as described above.
Compare the result to the CRC-16 checksum that was received within the response message. Both should match.
C.8 Message Examples

Below are some examples of command and response messages.
 Reading Drive MEMOBUS/Modbus Register Contents

Using the function code 03H (Read), a maximum of 16 MEMOBUS/Modbus registers can be read out at a time.
The following table shows message examples when reading status signals, error details, data link status, and frequency
references from the slave 2 drive.
Command Message Response Message (normal) Response Message (fault)

Slave Address 02H Slave Address 02H Slave Address 02H
Function Code 03H Function Code 03H Function Code 83H
Upper 00H Data Quantity 08H Error Code 03H
Starting No.
Lower 20H Upper 00H Upper F1H
1st storage register CRC-16
Upper 00H Lower 65H Lower 31H
Data Quantity
Lower 04H Next storage Upper 00H
Upper 45H register Lower 00H
CRC-16
Lower F0H Next storage Upper 00H
register Lower 00H
Next storage Upper 01H
register Lower F4H
Upper AFH
CRC-16
Lower 82H
 Loopback Test
Function code 08H performs a loopback test. This test returns a response message with exactly the same content as the
command message and can be used to check communications between the master and slave. User-defined test code and
data values can be set.
The following table shows a message example when performing a loopback test with the slave 1 drive.
Command Message Response Message

Slave Address 01H Slave Address 01H
Function Code 08H Function Code 08H
Upper 00H Upper 00H
Test Code Test Code
Lower 00H Lower 00H
Upper A5H Upper A5H
Data Data
Lower 37H Lower 37H
Upper DAH Upper DAH
CRC-16 CRC-16
Lower 8DH Lower 8DH
MEMOBUS/Modbus
Communications
 Writing to Multiple Registers

Function code 10h allows the user to write multiple drive MEMOBUS/Modbus registers with one message. This process
works similar to reading registers, i.e., the address of the first register that is to be written and the data quantity must be
set in the command message. The data to be written must be consecutive so that the register addresses are in order,
starting from the specified address in the command message. The data order must be high byte, then lower byte.
The following table shows an example of a message where a forward operation has been set with a frequency reference
of 60.00 Hz for the slave 1 drive.
If parameter values are changed using the Write command, depending on the setting of H5-11, an Enter command will be
necessary to activate the data or save them. Refer to H5-11: Communications Enter Function Selection on page 558
and Enter Command on page 577 for detailed descriptions.
Command Message Response Message (normal) Response Message (fault)

Slave Address 01H Slave Address 01H Slave Address 01H
Function Code 10H Function Code 10H Function Code 90H
Upper 00H Upper 00H Error Code 02H
Starting No. Starting No.
Lower 01H Lower 01H Upper CDH
CRC-16
Upper 00H Upper 00H Lower C1H
Data Quantity Data Quantity
Lower 02H Lower 02H
Number of Bytes 04H Upper 10H
CRC-16
Upper 00H Lower 08H
Starting Data
Lower 01H
Upper 17H
Next Data
Lower 70H
Upper 63H
CRC-16
Lower 39H
Note: For the number of bytes in the command message, take double the number of the data quantity.
C.9 MEMOBUS/Modbus Data Table

Table below lists all MEMOBUS/Modbus data. There are three types of data: command data, monitor data, and
broadcast data.
The MEMOBUS register hex addresses for parameters are listed in Parameter Table on page 459.
 Command Data
It is possible to both read and write command data.
Note: Bits that are not used should be set to 0. Refrain from writing to reserved registers.
Register No. Contents

0000H Reserved
Operation Commands and Multi-function Inputs
H5-12 = 0: Forward Run Command (0 = Stop, 1 = Forward Run)
bit 0
H5-12 = 1: Run Command (0 = Stop, 1 = Run)
H5-12 = 0: Reverse Run Command (0 = Stop, 1 = Reverse Run)
bit 1
H5-12 = 1: Forward/Reverse (0 = Forward, 1 = Reverse)
bit 2 External Fault (EF0)
bit 3 Fault Reset
Multi-Function Input 1
Function is ComRef when H1-01 = 40 (Forward/Stop).
bit 4
Note: When the bit at ComCtrl is turned on, commands from MEMOBUS/Modbus communications take control of the operation.
0001H However, when a communications option card is connected, that option card is given priority.
Multi-Function Input 2
bit 5
Function is ComCtrl when H1-02 = 41 (Reverse/Stop).
bit 6 Multi-Function Input 3
bit A Multi-Function Input 7
bit B Multi-Function Input 8
bit C to F Reserved
0002H Frequency Reference Units are determined by parameter o1-03.
Unit: 0.1%
0003H Output voltage gain
Range: 20 (2.0%) to 2000 (200.0%), Default when power on: 1000 (100.0%)
0004H Torque Reference/Torque Limit, 0.1% units, signed (Usable only if Torque Control is enabled)
0005H Torque Compensation, 0.1% units, signed (Usable only if Torque Control is enabled)
0006H PID Target, 0.01% units, signed
0007H Analog Output Terminal FM Setting (10 V / 4000 H)
0008H Analog Output Terminal AM Setting (10 V / 4000 H)
Settings for Multi-Function Digital Outputs
bit 0 Multi-Function Contact Output 1 (terminal M1-M2)
0009H
bit 3 to 5 Reserved
bit 6 Enables the function in bit 7
bit 7 Fault Contact Output (terminal MA/MB-MC)
bit 8 to F Reserved
000AH Pulse Output Terminal MP Setting, 1 Hz units, Setting Range: 0 to 32000
000BH to 000EH Reserved
Control Selection Setting
bit 0 Reserved
bit 1 PID Setpoint Input
bit 2 Torque reference / torque limit input (enables the setting from MEMOBUS/Modbus)
bit 3 Torque compensation input (enables the setting from MEMOBUS/Modbus)
000FH
bit 4 to B Reserved
MEMOBUS/Modbus
bit C Enable Terminal S5 Input for Broadcast Data

Communications
bit D Enable Terminal S6 Input for Broadcast Data

bit E Enable Terminal S7 Input for Broadcast Data
bit F Enable Terminal S8 Input for Broadcast Data
0010H to 001AH Reserved
001BH Analog Monitor Option AO-A3 Analog Output 1 (10 V/4000 H)
001CH Analog Monitor Option AO-A3 Analog Output 2 (10 V/4000 H)
001DH Digital Output Option DO-A3 Output (Binary) C
001EH to 001FH Reserved
 Monitor Data
Monitor data can be read only.

Drive Status 1
bit 0 During Run
bit 1 During Reverse
bit 2 Drive Ready
bit 3 Fault
bit 4 Data Setting Error
0020H
bit 8 to bit D Reserved
bit E When ComRef has been enabled
bit F When ComCtrl has been enabled
Fault Contents 1
bit 0 Overcurrent (oC), Ground fault (GF)
bit 1 Drive Overheat Warning (ov)
bit 2 Drive Overload (oL2)
bit 3 Overheat 1 (oH1), Drive Overheat Warning (oH2)
bit 4 Dynamic Braking Transistor Fault (rr), Braking Resistor Overheat (rH)
bit 5 Reserved
bit 6 PID Feedback Loss (FbL / FbH)
0021H bit 7 External Fault (EF0 to EF8)
bit 8 CPF: Hardware Fault (includes oFx)
bit 9 Motor Overload (oL1), Overtorque Detection 1/2 (oL3/oL4), Undertorque Detection 1/2 (UL3/UL4)
bit A PG Disconnected (PGo), PG Hardware Fault (PGoH), Overspeed (oS), Speed Deviation (dEv),
bit B Main Circuit Undervoltage (Uv)
bit C DC Bus Undervoltage (Uv1), Control Power Supply Voltage Fault (Uv2), Undervoltage 3 (Uv3)
bit D Output Phase Loss (LF), Input Phase Loss (PF)
bit E MEMOBUS/Modbus Communication Error (CE), Option Communication Error (bUS)
bit F External Digital Operator Connection Fault (oPr)
Data Link Status
bit 0 Writing data or switching motors
bit 1
Reserved
bit 2
bit 3 Upper or lower limit error
0022H bit 4 Data conformity error
bit 5 Writing to EEPROM
0: Write into EEPROM.
bit 6 1: Write in RAM only.
Note: Enabled only when H5-17=1.
bit 7 to bit F Reserved
0023H Frequency Reference, <1>
0024H Output Frequency, <1>
0025H Output Voltage Reference, 0.1 V units (units are determined by parameter H5-10)
0026H Output Current, 0.1 A units
0027H Output Power
0028H Torque Reference
Fault Contents 2
bit 0 Output Short-Circuit or IGBT Fault (SC)
bit 1 Ground Fault (GF)
bit 2 Input Phase Loss (PF)
0029H bit 3 Output Phase Loss (LF)
bit 4 Braking Resistor Overheat (rH)
bit 5 Reserved
bit 6 Motor Overheat Fault (PTC Input) (oH4)

Alarm Contents1
bit 0, 1 Reserved
bit 2 Forward/Reverse Run Command Input Error (EF)
bit 3 Drive Baseblock (bb)
bit 4 Overtorque Detection 1 (oL3)
bit 5 Heatsink Overheat (oH)
bit 7 Undervoltage (Uv)
002AH
bit 8 Internal Fan Fault (FAn)
bit 9 MEMOBUS/Modbus Communication Error (CE)
bit A Option Communication Error (bUS)
bit B Undertorque Detection 1/2 (UL3/UL4)
bit C Motor Overheat (oH3)
bit D PID Feedback Loss (FbL, FbH)
bit E Reserved
bit F Serial Communication Transmission Error (CALL)
Input Terminal Status
bit 0 Terminal S1 Closed
002BH
Drive Status 2
bit 0 During Run
bit 1 Zero Speed
bit 2 Speed Agree
bit 3 User Speed Agree
bit 4 Frequency Detection 1
bit 5 Frequency Detection 2
bit 6 Drive Ready
002CH bit 7 During Undervoltage
bit 8 During Baseblock
bit 9 Frequency Reference from Operator Keypad
bit A Run Command from Operator Keypad
bit B Over/Undertorque Detection 1, 2
bit C Frequency Reference Loss
bit D During Fault Restart
bit E Fault
bit F Communication Timeout
Output Terminal Status
002DH bit 2 Multi-Function Contact Output 3 (terminal M5-M6)
bit 3 to 6 Reserved
bit 7 Fault Contact Output (terminal MA/MB-MC)
bit 8 to F Reserved
002EH Reserved
002FH Frequency Reference Bias (from Up/Down 2 Function), 0.1% units
0030H Reserved
0031H DC Bus Voltage, 1 Vdc units
0032H Torque Reference (U1-09), 1% units
0033H Reserved
0034H Product Code 1 [ASCII], Product Type (A0 for A1000)
0035H Product Code 2 [ASCII], Region Code
0036H, 0037H Reserved
MEMOBUS/Modbus
0038H PID Feedback, 0.1% units, unsigned, 100% / max. output frequency
Communications
0039H PID Input, 0.1% units, signed, 100% / max. output frequency
003AH PID Output, 0.1% units, signed, 100% / max. output frequency
003BH, 003CH Reserved

Communications Error Contents <3>
bit 0 CRC Error
bit 1 Data Length Error
bit 2 Reserved
003DH bit 3 Parity Error
bit 4 Overrun Error
bit 5 Framing Error
bit 6 Timeout
003EH min-1 <4>
Output Frequency
003FH 0.01% units
0040H to 004AH Used for various monitors U1-. Refer to U: Monitors on page 516 for parameter details.
Drive status (U1-12)
bit 0 During Run
bit 1 During Zero Speed
bit 2 During Reverse Run
bit 3 During Fault Reset Signal Input
bit 4 During Speed Agree
bit 5 Drive Ready
004BH bit 6 Minor Fault
bit 7 Fault
bit 8 During Operation Error (oPE)
bit 9 During Momentary Power Loss
bit A Motor 2 selected
bit B Reserved
bit E ComRef status, NetRef status
bit F ComCtrl status, NetCtrl status
Used for various monitors U1-, U4-, U5- and U6-. Refer to U2: Fault Trace on page 518 and U3: Fault History on page 520 for parameter
004CH to 007EH
details.
007FH Minor Fault Code, Refer to Alarm Register Contents on page 576 for Minor Fault codes.
Used for monitors U2-, U3-. Refer to U: Monitors on page 516 for parameter details and Refer to Fault Trace Contents on page 574 for register
0080H to 0097H
value descriptions.
U4-01 (Cumulative Operation Time)
0098H, 0099H
Example: When U4-01 (Cumulative Operation Time) is 12345 hours, then 0098H = 1234 and 0099H = 5.
U4-03 (Cooling Fan Operation Time)
009AH, 009BH
Example: When U4-03 (Cooling Fan Operation Time) is 12345 hours, then 009AH = 1234 and 009BH = 5.
009CH to 00AAH Reserved
00ABH Drive Rated Current <2>
00ACH min-1 units <4>
Motor Speed (U1-05)
00ADH 0.01% units
00AEH, 00AFH Reserved
Register contains ASCII code of the option card.
AI-A3 = 0003H
AO-A3 = 0004H
DI-A3 = 0001H
DO-A3 = 0002H
PG-B3 = 0011H
PG-F3 = 0021H
PG-RT3 = 0023H
PG-X3 = 0012H
00B0H Option Code Connected to CN5-A
SI-C3 = 5343H
SI-EM3 = 1005H
SI-EN3 = 1006H
SI-ET3 = 1004H
SI-N3 = 534EH
SI-P3 = 5350H
SI-S3 = 5353H
SI-T3 = 5354H
SI-W3 = 1003H
00B1H Reserved
00B2H Option Code Connected to CN5-B
00B3H Option Code Connected to CN5-C
00B4H Reserved
00B5H Frequency Reference After min-1 units <4>
00B6H Soft-starter (U1-16) 0.01% units
00B7H min-1 <4>
Frequency Reference
00B8H 0.01% units
00B9H to 00BEH Reserved
00BFH Lists the last two digits of operation error code oPE.

Fault contents 3
bit 1 DC Bus Undervoltage (Uv1)
bit 2 Control Power Supply Undervoltage (Uv2)
bit 3 Undervoltage 3 (Soft-Charge Bypass Circuit Fault) (Uv3)
bit 4 Output Short-Circuit or IGBT Fault (SC)
bit 5 Ground Fault (GF)
bit 6 Overcurrent (oC)
00C0H
bit 9 Overheat 1 (oH1)
bit A Motor Overload (oL1)
bit B Drive Overload (oL2)
bit C Overtorque Detection 1 (oL3)
bit D Overtorque Detection 2 (oL4)
bit E Dynamic Braking Transistor Fault (rr)
bit F Braking Resistor Overheat (rH)
Fault contents 4
bit 0 External Fault at input terminal S3 (EF3)
bit 6 Internal Fan Fault (FAn)
00C1H bit 7 Overspeed (os)
bit 8 Speed Deviation (dEv)
bit 9 PG Disconnected (PGo)
bit A Input Phase Loss (PF)
bit B Output Phase Loss (LF)
bit C Motor Overheat (PTC input) (oH3)
bit D External Digital Operator Connection Fault (oPr)
bit E EEPROM Write Error (Err)
bit F Motor Overheat Fault (PTC input) (oH4)
Fault contents 5
bit 1 Option Communication Error (bUS)
bit 2, 3 Reserved
bit 4 Control Fault (CF)
bit 5 Zero Servo Fault (SvE)
00C2H bit 6 Option External Fault (EF0)
bit 7 PID Feedback Loss (FbL)
bit 8 Undertorque Detection 1 (UL3)
bit 9 Undertorque Detection 2 (UL4)
bit A High Slip Braking Overload (oL7)
bit B to E Reserved
bit F Hardware Fault (includes oFx)
Fault contents 6
bit 0 Reserved
bit 1 Z Pulse Fault (dv1)
bit 2 Z Pulse Noise Fault Detection (dv2)
bit 3 Inversion Detection (dv3)
bit 4 Inversion Prevention Detection (dv4)
00C3H bit 5 Output Current Imbalance (LF2)
bit 6 Pullout Detection (STo)
bit 7 PG Hardware Fault (PGoH)
bit 8 MECHATROLINK Watchdog Timer Error (E5)
bit 9 Reserved
bit A Too many speed search restarts (SEr)
bit B to F Reserved
MEMOBUS/Modbus
Communications

Fault contents 7
bit 0 PID Feedback Loss (FbH)
bit 1 External Fault 1, input terminal S1 (EF1)
bit 3 Mechanical Weakening Detection 1 (oL5)
bit 4 Mechanical Weakening Detection 2 (UL5)
bit 5 Current Offset Fault (CoF)
00C4H
bit 6, 7 Reserved
bit 8 DriveWorksEZ Fault (dWFL)
bit 9 EEPROM Memory DriveWorksEZ Data Error (dWF1)
bit A to C Reserved
bit D Braking Resistor Fault (rF)
bit E Braking Transistor Overload Fault (boL)
bit F Motor Overheat (NTC Input) (oH5)
Fault contents 8
bit 0 LSo Fault (LSo)
bit 1 Node Setup Fault (nSE)
bit 2 Thermistor Disconnect (THo)
00C5H bit 3 to 9 Reserved
bit A Polarity Judge Timeout (dv7)
bit B to D Reserved
bit E Power Unit Output Phase Loss 3 (LF3)
bit F Current Unbalance (UnbC)
Fault contents 9
00C6H bit 0 Gate Drive Board Undervoltage (Uv4)
bit 1 to F Reserved
00C7H Reserved
Alarm contents 2
bit 0 Undervoltage (Uv)
bit 3 Drive Overheat Warning (oH2)
bit 4 Overtorque 1 (oL3)
bit 5 Overtorque 2 (oL4)
bit 6 Run Commands Input Error (EF)
00C8H bit 7 Drive Baseblock (bb)
bit A External Fault 5, input terminal S5 (EF5)
bit B External Fault 6, input terminal S6 (EF6)
bit C External Fault 7, input terminal S7 (EF7)
bit D External Fault 8, input terminal S8 (EF8)
bit E Internal Fan Fault (FAn)
bit F Overspeed (oS)
Alarm contents 3
bit 0 Speed Deviation (dEv)
bit 1 PG Disconnected (PGo)
bit 2 External Digital Operator Connection Fault (oPr)
bit 4 Option Communication Error (bUS)
bit 5 Serial Communication Transmission Error (CALL)
bit 6 Motor Overload (oL1)
00C9H bit 7 Drive Overload (oL2)
bit 8 Reserved
bit 9 Option Card External fault (EF0)
bit A Motor 2 Switch command input during run (rUn)
bit B Reserved
bit C Serial Communication Transmission Error (CALL)
bit D Undertorque Detection 1 (UL3)
bit E Undertorque Detection 2 (UL4)
bit F MEMOBUS/Modbus Communication Test Mode Error (SE)

Alarm contents 4
bit 0 Reserved
bit 1 Motor Overheat 1 (PTC Input) (oH3)
bit 2 to 5 Reserved
00CAH bit 6 PID Feedback Loss (FbL)
bit 7 PID Feedback Loss (FbH)
bit 9 Drive Disabled (dnE)
bit A PG Disconnected (PGo)
bit B to F Reserved
Alarm Contents 5
bit 0 MECHATROLINK Watchdog Timer Error (E5)
bit 1 Station Address Setting Error (AEr)
bit 2 MECHATROLINK Comm. Cycle Setting Error (CyC)
bit 3 High Current Alarm (HCA)
bit 4 Cooling Fan Maintenance Time (LT-1)
bit 5 Capacitor Maintenance Time (LT-2)
bit 6 Reserved
00CBH
bit 7 SI-S EEPROM Error (EEP)
bit 8 External Fault 1 (input terminal S1) (EF1)
bit 9 External Fault 2 (input terminal S2) (EF2)
bit A Safe Disable Input (HbbF)
bit B Safe Disable Input (Hbb)
bit C Mechanical Weakening Detection 1 (oL5)
bit D Mechanical Weakening Detection 2 (UL5)
bit E, F Reserved
Alarm Contents 6
bit 0 Output Voltage Detection Fault (VoF)
bit 1 IGBT Maintenance Time (90%) (TrPC)
bit 2 Soft Charge Bypass Relay Maintenance Time (LT-3)
bit 3 IGBT Maintenance Time (50%) (LT-4)
bit 4 Braking Transistor Overload Fault (boL)
00CCH
bit 5 to 6 Reserved
bit 7 Motor Overheat (NTC Input) (oH5)
bit 8 DriveWorksEZ Fault (dWAL)
bit 9 to B Reserved
bit C Thermistor Disconnect (THo)
bit D to F Reserved
00CDH to 00CFH Reserved
CPF Contents 1
bit 0, 1 Reserved
bit 2 A/D Conversion Error (CPF02)
bit 3 PWM Data Fault (CPF03)
bit 4, 5 Reserved
bit 6 EEPROM Memory Data Error (CPF06)
bit 7 Terminal Board Connection Error (CPF07)
00D0H
bit 8 EEPROM Serial Communications Fault (CPF08)
bit 9, A Reserved
bit B RAM Fault (CPF11)
bit C FLASH Memory Fault (CPF12)
bit D Watchdog Circuit Exception (CPF13)
bit E Control Circuit Fault (CPF14)
bit F Reserved
CPF Contents 2
bit 0 Clock Fault (CPF16)
bit 1 Timing Fault (CPF17)
bit 2 Control Circuit Fault (CPF18)
bit 3 Control Circuit Fault (CPF19)
bit 4 Hardware fault at power up (CPF20)
bit 5 Hardware fault at communication start up (CPF21)
MEMOBUS/Modbus
bit 6 A/D Conversion Fault (CPF22)

Communications
00D1H bit 7 PWM Feedback Fault (CPF23)

bit 8 Drive Unit Signal Fault (CPF24)
bit 9 Terminal board is not properly connected. (CPF25)
bit A ASIC BB Circuit Error (CPF26)
bit B ASIC PWM Setting Register Error (CPF27)
bit C ASIC PWM Pattern Error (CPF28)
bit D ASIC On-delay Error (CPF29)
bit E ASIC BBON Error (CPF30)
C
bit F ASIC Code Error (CPF31)

CPF Contents 3
bit 0 ASIC Start-up Error (CPF32)
bit 1 Watch-dog Error (CPF33)
bit 2 ASIC Power/Clock Error (CPF34)
bit 3 External A/D Converter Error (CPF35)
bit 4 to 7 Reserved
00D2H bit 8 Control Circuit Error (CPF40)
bit 9 Control Circuit Error (CPF41)
bit A Control Circuit Error (CPF42)
bit B Control Circuit Error (CPF43)
bit C Control Circuit Error (CPF44)
bit D Control Circuit Error (CPF45)
bit E, F Reserved
00D3H to 00D7H Reserved
oFA0 Contents (CN5-A)
bit 0 Option Compatibility Error (oFA00)
bit 1 Option not properly connected (oFA01)
00D8H bit 2 to 4 Reserved
bit 5 A/D Conversion Error (oFA05)
bit 6 Option Response Error (oFA06)
bit 7 to F Reserved
bit 0 Option RAM Fault (oFA10)
bit 1 Option Operation Mode Fault (SLMOD) (oFA11)
bit 2 Drive Receive CRC Error (oFA12)
bit 3 Drive Receive Frame Error (oFA13)
00D9H
bit 4 Drive Receive Abort Error (oFA14)
bit 5 Option Receive CRC Error (oFA15)
bit 6 Option Receive Frame Error (oFA16)
bit 7 Option Receive Abort Error (oFA17)
bit 8 to F Reserved
00DAH to 00DBH Reserved
bit 0 Comm. ID Error (oFA30)
bit 1 Model Code Error (oFA31)
bit 2 Sumcheck Error (oFA32)
bit 3 Comm. option timeout waiting for response (oFA33)
bit 4 MEMOBUS Timeout (oFA34)
bit 5 Drive timeout waiting for response (oFA35)
bit 6 CI Check Error (oFA36)
00DBH
bit 8 Control Command Selection Error (oFA38)
bit A Control Response Selection 1 Error (oFA40)
bit B Drive timeout waiting for response (oFA41)
bit C Control Response Selection 2 Error (oFA42)
bit D Drive timeout waiting for response (oFA43)
bit E, F Reserved
oFb0 Contents (CN5-B)
bit 0 Option compatibility error (oFb00)
bit 1 Option not properly connected (oFb01)
bit 2 Same type of option card already connected (oFb02)
00DCH
bit 3, 4 Reserved
bit 5 A/D Conversion Fault (oFb05)
bit 6 Option Response Error (oFb06)
bit 7 to F Reserved
bit 0 Option RAM Fault (oFb10)
bit 1 Option Operation Mode Fault (SLMOD) (oFb11)
bit 2 Drive Receive CRC Error (oFb12)
bit 3 Drive Receive Frame Error (oFb13)
00DDH
bit 4 Drive Receive Abort Error (oFb14)
bit 5 Option Receive CRC Error (oFb15)
bit 6 Option Receive Frame Error (oFb16)
bit 7 Option Receive Abort Error (oFb17)
bit 8 to F Reserved
00DEH to 00DFH Reserved

bit 0 Comm. ID Error (oFb30)
bit 1 Model Code Error (oFb31)
bit 2 Sumcheck Error (oFb32)
bit 3 Comm. option timeout waiting for response (oFb33)
bit 4 MEMOBUS Timeout (oFb34)
bit 5 Drive timeout waiting for response (oFb35)
bit 6 CI Check Error (oFb36)
00E0H
bit 8 Control Command Selection Error (oFb38)
bit A Control Response Selection 1 Error (oFb40)
bit B Drive timeout waiting for response (oFb41)
bit C Control Response Selection 2 Error (oFb42)
bit D Drive timeout waiting for response (oFb43)
bit E, F Reserved
oFC0 Contents (CN5-C)
bit 0 Option compatibility error (oFC00)
bit 1 Option not properly connected (oFC01)
bit 2 Same type of option card already connected (oFC02)
00E1H
bit 3, 4 Reserved
bit 5 A/D Conversion Fault (oFC05)
bit 6 Option Response Error (oFC06)
bit 7 to F Reserved
bit 0 Option RAM Fault (oFC10)
bit 1 Option Operation Mode Fault (SLMOD) (oFC11)
bit 2 Drive Receive CRC Error (oFC12)
bit 3 Drive Receive Frame Error (oFC13)
00E2H
bit 4 Drive Receive Abort Error (oFC14)
bit 5 Option Receive CRC Error (oFC15)
bit 6 Option Receive Frame Error (oFC16)
bit 7 Option Receive Abort Error (oFC17)
bit 8 to F Reserved
00E3H Reserved
bit 0 Encoder Option AD Conversion Error (oFC50)
bit 1 Encoder Option Analog Circuit Error (oFC51)
bit 2 Encoder Communication Timeout (oFC52)
00E4H
bit 3 Encoder Communication Data Error (oFC53)
bit 4 Encoder Error (oFC54)
bit 5 Resolver Error (oFC55)
bit 6 to F Reserved
00E5H Reserved
00E6H to 00FAH Reserved
00FBH Output Current
00FFH Reserved
<1> Units are determined by parameter o1-03.
<3> The contents of a communication error are saved until the fault is reset.
<4> Depending on the motor used, the correct motor pole number must be set to parameter E2-04, E4-04, or E5-04.
MEMOBUS/Modbus
Communications
 Broadcast Messages
Data can be written from the master to all slave devices at the same time.
The slave address in a broadcast command message must be set to 00H. All slaves will receive the message, but will not
respond.

Digital Input Command
bit 0 Forward Run (0: Stop 1: Run)
bit 1 Direction Command (0: Forward, 1: Reverse)
bit 2, 3 Reserved
bit 4 External Fault
0001H bit 5 Fault Reset
bit 6 to B Reserved
bit C Multi-Function Digital Input S5
bit D Multi-Function Digital Input S6
bit E Multi-Function Digital Input S7
bit F Multi-Function Digital Input S8
0002H Frequency Reference 30000/100%
 Fault Trace Contents

The table below shows the fault codes that can be read out by MEMOBUS/Modbus commands from the U2- and
U3- monitor parameters.
Table C.5 Fault Trace / History Register Contents
Fault Code Fault Name Fault Code Fault Name
0002H DC Bus Undervoltage (Uv1) 009BH ASIC BB Circuit Error (CPF26)
0003H Control Power Supply Voltage Fault (Uv2) 009CH ASIC PWM Setting Register Error (CPF27)
0004H Undervoltage 3 (Uv3) 009DH ASIC PWM Pattern Error (CPF28)
0005H Output Short-Circuit or IGBT Fault (SC) 009EH ASIC On-Delay Error (CPF29)
0006H Ground Fault (GF) 009FH ASIC BBON Error (CPF30)
0007H Overcurrent (oC) 00A0H ASIC Code Error (CPF31)
0008H Drive Overheat Warning (ov) 00A1H ASIC Start-p Error (CPF32)
0009H Heatsink Overheat (oH) 00A2H Watch-dog Error (CPF33)
000AH Overheat 1 (oH1) 00A3H ASIC Power/Clock Error (CPF34)
000BH Motor Overload (oL1) 00A4H External A/D Converter Error (CPF35)
000CH Drive Overload (oL2) 00A9H Control Circuit Error (CPF40)
000DH Overtorque Detection 1 (oL3) 00AAH Control Circuit Error (CPF41)
000EH Overtorque Detection 2 (oL4) 00ABH Control Circuit Error (CPF42)
000FH Dynamic Braking Transistor (rr) 00ACH Control Circuit Error (CPF43)
0010H Braking Resistor Overheat (rH) 00ADH Control Circuit Error (CPF44)
0011H External Fault at input terminal S3 (EF3) 00AEH Control Circuit Error (CPF45)
0012H External Fault at input terminal S4 (EF4) 0101H Option compatibility error (oFA00)
0013H External Fault at input terminal S5 (EF5) 0102H Option not properly connected (oFA01)
0014H External Fault at input terminal S6 (EF6) 0106H A/D Conversion Error (oFA05)
0015H External Fault at input terminal S7 (EF7) 0107H Option Response Error (oFA06)
0016H External Fault at input terminal S8 (EF8) 0111H Option RAM Fault (oFA10)
0017H Internal Fan Fault (FAn) 0112H Option Operation Mode Fault (SLMOD) (oFA11)
0018H Overspeed (oS) 0113H Drive Receive CRC Error (oFA12)
0019H Speed Deviation (dEv) 0114H Drive Receive Frame Error (oFA13)
001AH PG Disconnect (PGo) 0115H Drive Receive Abort Error (oFA14)
001BH Input Phase Loss (PF) 0116H Option Receive CRC Error (oFA15)
001CH Output Phase Loss (LF) 0117H Option Receive Frame Error (oFA16)
001DH Motor Overheat (PTC input) (oH3) 0118H Option Receive Abort Error (oFA17)
001EH Digital Operator Connection (oPr) 0131H Comm. ID Error (oFA30)
001FH EEPROM Write Error (Err) 0132H Model Code Error (oFA31)
0020H Motor Overheat (PTC input) (oH4) 0133H Sumcheck Error (oFA32)
0021H MEMOBUS/Modbus Communication Error (CE) 0134H Comm. option timeout waiting for response (oFA33)
0022H Option Communication Error (bUS) 0135H MEMOBUS Timeout (oFA34)
0025H Control fault (CF) 0136H Drive timeout waiting for response (oFA35)
0026H Zero-Serve Fault (SvE) 0137H CI Check Error (oFA36)
0027H Option External Fault (EF0) 0138H Drive timeout waiting for response (oFA37)
0028H PID Feedback Loss (FbL) 0139H Control Command Selection Error (oFA38)
Fault Code Fault Name Fault Code Fault Name

0029H Undertorque Detection 1 (UL3) 013AH Drive timeout waiting for response (oFA39)
002AH Undertorque Detection 2 (UL4) 013BH Control Response Selection 1 Error (oFA40)
002BH High Slip Braking Overload (oL7) 013CH Drive timeout waiting for response (oFA41)
0030H Hardware Fault (including oFx) 013DH Control Response Selection 2 Error (oFA42)
0032H Z Pulse Fault (dv1) 013EH Drive timeout waiting for response (oFA43)
0033H Z Pulse Noise Fault Detection (dv2) 0201H Option Compatibility Error (oFb00)
0034H Inversion Detection (dv3) 0202H Option Connection Error (oFb01)
0035H Inversion Prevention Detection (dv4) 0203H Same type of option card already connected (oFb02)
0036H Output Current Imbalance (LF2) 0206H A/D Conversion Error (oFb05)
0037H Pullout Detection (Sto) 0207H Option Response Error (oFb06)
0038H PG Hardware Fault (PGoH) 0211H Option RAM Fault (oFb10)
0039H MECHATROLINK Watchdog Timer Error (E5) 0212H Option Operation Mode Fault (SLMOD) (oFb11)
003BH Too many speed search restarts (SEr) 0213H Drive Receive CRC Error (oFb12)
0041H PID Feedback Loss (FbH) 0214H Drive Receive Frame Error (oFb13)
0042H External Fault 1, input terminal S1 (EF1) 0215H Drive Receive Abort Error (oFb14)
0043H External Fault 2, input terminal S2 (EF2) 0216H Option Receive CRC Error (oFb15)
0044H Mechanical Weakening Detection 1 (oL5) 0217H Option Receive Frame Error (oFb16)
0045H Mechanical Weakening Detection 2 (UL5) 0218H Option Receive Abort Error (oFb17)
0046H Current Offset Fault (CoF) 0231H Comm. ID Error (oFb30)
0047H PLC Detection Error 1 (PE1) 0232H Model Code Error (oFb31)
0048H PLC Detection Error 2 (PE2) 0233H Sumcheck Error (oFb32)
0049H DriveWorksEZ Fault (dWFL) 0234H Comm. option timeout waiting for response (oFb33)
004AH EEPROM Memory DriveWorksEZ Data Error (dWF1) 0235H MEMOBUS Timeout (oFb34)
004EH Braking Resistor Transistor Fault (rF) 0236H Drive timeout waiting for response (oFb35)
004FH Braking Transistor Overload Fault (boL) 0237H CI Check Error (oFb36)
0050H Motor Overheat (NTC Input) (oH5) 0238H Drive timeout waiting for response (oFb37)
0051H LSo Fault (LSo) 0239H Control Command Selection Error (oFb38)
0052H Node Setup Fault (nSE) 023AH Drive timeout waiting for response (oFb39)
0053H Thermistor Disconnect (THo) 023BH Control Response Selection 1 Error (oFb40)
005BH Polarity Judge Timeout (dV7) 023CH Drive timeout waiting for response (oFb41)
005FH Power Unit Output Phase Loss 3 (LF3) 023DH Control Response Selection 2 Error (oFb42)
0060H Current Unbalance (UnbC) 023EH Drive timeout waiting for response (oFb43)
0061H Power Supply Module Undervoltage (Uv4) 0301H Option Compatibility Error (oFC00)
0083H A/D Conversion Error (CPF02) 0302H Option not properly connected (oFC01)
0084H PWM Data Fault (CPF03) 0303H Same type of option card already connected (oFC02)
0087H EEPROM Memory Data Error (CPF06) 0306H A/D Conversion Error (oFC05)
0088H Terminal Board Connection Error (CPF07) 0307H Option Response Error (oFC06)
0089H EEPROM Serial Communication Fault (CPF08) 0311H Option RAM Fault (oFC10)
008CH RAM Fault (CPF11) 0312H Option Operation Mode Fault (SLMOD) (oFC11)
008DH Flash Memory Circuit Exception (CPF12) 0313H Drive Receive CRC Error (oFC12)
008EH Watchdog Circuit Exception (CPF13) 0314H Drive Receive Frame Error (oFC13)
008FH Control Circuit Fault (CPF14) 0315H Drive Receive Abort Error (oFC14)
0091H Clock Fault (CPF16) 0316H Option Receive CRC Error (oFC15)
0092H Timing Fault (CPF17) 0317H Option Receive Frame Error (oFC16)
0093H Control Circuit Fault (CPF18) 0318H Option Receive Abort Error (oFC17)
0094H Control Circuit Fault (CPF19) 0351H Encoder Option AD Conversion Error (oFC50)
0095H Hardware fault at power up (CPF20) 0352H Encoder Option Analog Circuit Error (oFC51)
0096H Hardware fault at communication start up (CPF21) 0353H Encoder Communication Timeout (oFC52)
0097H A/D Conversion Fault (CPF22) 0354H Encoder Communication Data Error (oFC53)
0098H PWM Feedback Fault (CPF23) 0355H Encoder Error (oFC54)
0099H Drive Unit Signal Fault (CPF24) 0356H Resolver Error (oFC55)
009AH Terminal board is not properly connected. (CPF25) – –
MEMOBUS/Modbus
Communications
 Alarm Register Contents

The table below shows the alarm codes that can be read out from MEMOBUS/Modbus register 007FH.
Table C.6 Alarm Register 007FH Contents
Alarm Code Fault Name Alarm Code Fault Name
0001H Undervoltage (Uv) 0022H Motor Overheat (oH3)
0002H Drive Overheat Warning (ov) 0027H PID Feedback Loss (FbL)
0003H Heatsink Overheat (oH) 0028H PID Feedback Loss (FbH)
0004H Drive Overheat Warning (oH2) 002AH Drive Disabled (dnE)
0005H Overtorque 1 (oL3) 002BH PG Disconnected (PGo)
0006H Overtorque 2 (oL4) 0031H MECHATROLINK Watchdog Timer Error (E5)
0007H Run commands input error (EF) 0032H Station Address Setting Error (AEr)
0008H Drive Baseblock (bb) 0033H MECHATROLINK Comm. Cycle Setting Error (CyC)
0009H External Fault 3, input terminal S3 (EF3) 0034H High Current Alarm (HCA)
000AH External Fault 4, input terminal S4 (EF4) 0035H Cooling Fan Maintenance Time (LT-1)
000BH External Fault 5, input terminal S5 (EF5) 0036H Capacitor Maintenance Time (LT-2)
000CH External Fault 6, input terminal S6 (EF6) 0038H SI-S EEPROM Error (EEP)
000DH External Fault 7, input terminal S7 (EF7) 0039H External Fault (input terminal S1) (EF1)
000EH External Fault 8, input terminal S8 (EF8) 003AH External Fault (input terminal S2) (EF2)
000FH Internal Fan Fault (FAn) 003BH Safe Disable Input (HbbF)
0010H Overspeed (oS) 003CH Safe Disable Input (Hbb)
0011H Speed Deviation (dEv) 003DH Mechanical Weakening Detection 1 (oL5)
0012H PG Disconnected (PGo) 003EH Mechanical Weakening Detection 2 (UL5)
0014H MEMOBUS/Modbus Communication Error (CE) 003FH PLC Alarm (PA1)
0015H Option Communication Error (bUS) 0040H PLC Alarm (PA2)
0016H Serial Communication Transmission Error (CALL) 0041H Output Voltage Detection Fault (voF)
0017H Motor Overload (oL1) 0042H IGBT Maintenance Time (90%) (TrPC)
0018H Drive Overload (oL2) 0043H Soft Charge Bypass Relay Maintenance Time (LT-3)
001AH Option Card External Fault (EF0) 0044H IGBT Maintenance Time (50%) (LT-4)
001BH Motor Switch command input during run (rUn) 0045H Braking Transistor Overload (boL)
001DH Serial Communication Transmission Error (CALL) 0048H Motor Overheat (NTC Input) (oH5)
001EH Undertorque Detection 1 (UL3) 0049H DriveWorksEZ Fault (dWAL)
001FH Undertorque Detection 2 (UL4) 004DH Thermistor Disconnect (THo)
0020H MEMOBUS/Modbus Communication Test Mode Error (SE) – –
C.10 Enter Command
C.10 Enter Command

When writing parameters to the drive from the PLC using MEMOBUS/Modbus communication, parameter H5-11
determines if an Enter command must be issued to enable these parameters or not. This sections the types of Enter
commands and how they work.
 Enter Command Types

The drive supports two types of Enter commands as shown in Table C.7. An Enter command is enabled by writing 0 to
register number 0900H or 0910H. These registers can only be written to. An error will occur if the user attempts to read
from these registers.
Table C.7 Enter Command Types
Register No. Description
Writes data into the EEPROM (non-volatile memory) of the drive and enables the data in RAM at the same time. Parameter changes remain even if the power
0900H
supply is cycled.
0910H Writes data in the RAM only. Parameter changes are lost when the drive is shut off.
Note: Because the EEPROM can be written to a maximum of 100,000 times, refrain from writing to the EEPROM too often. The Enter
command registers are write-only. Consequently, if these registers are read, then the register address will be invalid (Error code:
02H). An Enter command is not required if reference or broadcast data are sent to the drive.
 Enter Command Settings when Upgrading the Drive

When replacing earlier Yaskawa drive models with the A1000 and keeping the MEMOBUS/Modbus communications
settings, parameter H5-11 needs to be set in accordance with how the Enter command was set up in the older drive.
H5-11 determines if an Enter command is needed or not in order to activate parameter changes in the drive.
• If upgrading from a G7 or F7 series drive to an A1000, set parameter H5-11 to 0.
• If upgrading from a V7 series drive to an A1000, set parameter H5-11 to 1.
 H5-11 and the Enter Command
An Enter command is not required when writing registers 0000H to 001FH. Changes to those registers take effect
immediately, independent of the setting in parameter H5-11.
H5-11 Settings H5-11 = 0 H5-11 = 1

Drive being replaced G7, F7 V7
How parameter settings are enabled When the Enter command is received from the master. As soon as the value is changed.
Upper/lower limit check is performed, taking the settings of related Checks only the upper/lower limits of the parameters that were
Upper/lower limit check
parameters into account. changed.
Not affected. The settings of related parameters remain unchanged.
Default value of related parameters Default settings of related parameters are changed automatically.
They must be changed manually if needed.
Error handling when setting multiple Data is accepted even if one setting is invalid. The invalid setting will Error occurs if only one setting is invalid. All data that was sent are
parameters be discarded. No error message occurs. discarded.
MEMOBUS/Modbus
Communications
C.11 Communication Errors
C.11 Communication Errors

 MEMOBUS/Modbus Error Codes
A list of MEMOBUS/Modbus errors appears in Table C.8.
When an error occurs, remove whatever caused the error and restart communications.
Table C.8 MEMOBUS/Modbus Error Codes
Error Name
Error Code
Cause
Function Code Error
01H
• Attempted to set a function code from a PLC other than 03H, 08H, and 10H.
Register Number Error
02H • A register number specified in the command message does not exist.
• Attempted to send a broadcast message using other register numbers than 0001H or 0002H.
Bit Count Error
03H • Read data or write data is greater than 16 bits. Invalid command message quantity.
• In a write message, the “Number of Data Items” contained within the message does not equal twice the amount of data words (i.e., the total of Data 1+ Data
2, etc.).
Data Setting Error
21H • Control data or parameter write data is outside the allowable setting range.
• Attempted to write a contradictory parameter setting.
Write Mode Error
22H • During run, the user attempted to write a parameter that cannot be written to during run.
• During an EEPROM memory data error (CPF06), the master attempted to write to a parameter other than A1-00 to A1-05, E1-03, or o2-04.
• Attempted to write to read-only data.
DC Bus Undervoltage Write Error
23H
• During an undervoltage situation, the master attempted to write to parameters that cannot be written to during undervoltage.
Write Error During Parameter Process
24H
• Master attempted writing to the drive while the drive was processing parameter data.
Writing into EEPROM Disabled
25H An attempt was made to write data into EEPROM by MEMOBUS/Modbus communications when writing EEPROM is not possible. (If this error code occurs,
an error message is displayed and the drive continues operation.)
 Slave Not Responding

In the following situations, the slave drive will ignore the command message sent from the master, and not send a
response message:
• When a communications error (overrun, framing, parity, or CRC-16) is detected in the command message.
• When the slave address in the command message and the slave address in the drive do not match (remember to set the
slave address for the drive using H5-01).
• When the gap between two blocks (8 bit) of a message exceeds 24 bits.
• When the command message data length is invalid.
Note: If the slave address specified in the command message is 00H, all slaves execute the write function, but do not return response
messages to the master.
C.12 Self-Diagnostics
The drive has a built-in self-diagnosing function of the serial communication interface circuits. To perform the
self-diagnosis function, use the following procedure.
DANGER! 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. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc. To prevent electric shock, wait
at least one minute after all indicators are OFF and measure the DC bus voltage level to confirm safe level.
1. Turn on the power to the drive.

2. Note the present terminal S6 function selection setting (H1-06) and set it for the communications test mode
(H1-06 = 67).
3. Turn off the power to the drive.
4. With the power off, wire the drive as shown in Figure C.8, connecting terminals R+ and S+, R- and S-, and S6
and SN.
Figure C.8

V+ AC V- A1 A2 A3 FM AM AC MP RP AC
S1 S2 S3 S4 S5 S6 S7 S8 SN SC SP
Figure C.8 Terminal Connections for Communication Self-Diagnostics

5. Verify that terminals SC to SP are connected by wire jumper.
6. Turn the power to the drive back on.
7. During normal operation, the drive will display “PASS”. This indicates that the communications test mode is
operating normally.
When a fault occurs, the drive will display “CE” on the keypad display.
8. Turn off the power supply.
9. Remove the wire jumpers from terminal R+, R-, S+, S-, and S6-SN. Reset jumper SC to SP to its original
position and set terminal S6 to its original function.
10. Return to normal operation.
MEMOBUS/Modbus
Communications
Appendix: D
Standards Compliance
This appendix explains the guidelines and criteria for maintaining CE and UL standards.
D.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582

D.2 EUROPEAN STANDARDS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
D.3 UL STANDARDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600
D.4 SAFE DISABLE INPUT FUNCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614
D.1 Section Safety
D.1 Section Safety

DANGER
WARNING
work on the drive.
Fire Hazard
D.1 Section Safety
NOTICE
Do not use unshielded wire for control wiring.
Failure to comply may cause electrical interference resulting in poor system performance. Use shielded twisted-pair
Carefully review instruction manual TOBP C720600 00 or TOBP C720600 01 when connecting a braking option to the
drive.
Yaskawa is not responsible for modification of the product made by the user. This product must not be modified.
Check all the wiring to ensure that all connections are correct after installing the drive and connecting other
devices.
Contact Yaskawa or a Yaskawa representative if the cause cannot be identified after checking the above.
be identified.
Compliance
Standards
D
D.2 European Standards

Figure D.1
Figure D.1 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: 2014/35/EU
• EMC Guidelines: 2014/30/EU
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.
 EU Declaration of Conformity
Compliance
Standards
D
Compliance
Standards
D
Compliance
Standards
D
 CE Low Voltage Directive Compliance

This drive has been tested according to European standard IEC/EN 61800-5-1:2007, 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 degree 2 and overvoltage category III in accordance with IEC/EN
60664.
 Installing Fuses on the Input Side
A fuse complying to UL should be installed to the input side to protect drive wiring and prevent other secondary damage.
Select fuses according to Installing Input Fuses on page 436.
Refer to Three-Phase 200 V Class Drives on page 445 or Three-Phase 400 V Class Drives on page 446 for details on
the Drive Input Current and Rated Output Current.
NOTICE: If a fuse is blown or an equipment for residual current monitoring/detection (RCM/RCD) is tripped, check the wiring and the
selection of the peripheral devices. Check the wiring and the selection of peripheral devices to identify the cause. Contact Yaskawa or
a Yaskawa representative before restarting the drive or the peripheral devices if the cause cannot be identified.
 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 Yaskawa or a Yaskawa representative for instructions.
 CE Standards Compliance for DC Power Supply Input
To meet CE standards, the following fuses should be installed. For details, refer to Figure D.2.
Figure D.2
DC power supply
(converter)
Fuse U/ T1
+ +1
_ _ V/ T2 M
W/ T3
Drive
Fuse U/ T1
+1
_ V/ T2 M
W/ T3
Drive
Figure D.2 Example of DC Power Supply Input (two A1000 drives connected in series)
Note: 1. When connecting multiple drives together, make sure that each drive has its own fuse. If any one fuse blows, all fuses should be
replaced.
2. For an AC power supply, refer to Standard Connection Diagram on page 60.
3. The recommended fuses and fuse holders are made by Fuji Electric.
Compliance
Standards
D
Table D.1 Fuses and Fuse Holders

DC Power Supply Input DC Power Supply Input
Fuse Fuse Holder Fuse Fuse Holder
Drive Model Drive Model
CIMR-A Rated CIMR-A Rated
Short-circuit Short-circuit
Type Qty. Type Qty. Type Qty. Type Qty.
Breaking Breaking
Current (kA) Current (kA)
200 V Class 400 V Class
2A0004 4A0002 CR6L-20
CR2LS-30
2A0006 4A0004 CR6L-30
2A0010 2 CM-1A 1 4A0005
CR2LS-50 2 CMS-4 2
2A0012 4A0007
CR6L-50
2A0021 CR2LS-100 4A0009
2A0030 CR2L-125 4A0011
2A0040 CR2L-150 2 CM-2A 1 4A0018
CR6L-75
2A0056 CR2L-175 4A0023
100
2A0069 CR2L-225 4A0031 CR6L-100 100 2 CMS-5 2
2A0081 CR2L-260 4A0038
CR6L-150
2A0110 CR2L-300 4A0044
2A0138 CR2L-350 4A0058 CR6L-200
2A0169 CR2L-400 4A0072
2 <1> CR6L-250
2A0211 CR2L-450 4A0088
2A0250 4A0103 CR6L-300
CR2L-600
2A0312 4A0139 CR6L-350
2A0360 CS5F-800 4A0165 CR6L-400
200
2A0415 CS5F-1200 4A0208 2
4A0250 CS5F-600 <1>
4A0296
4A0362
CS5F-800
4A0414 200
4A0515 CS5F-1200
4A0675 CS5F-1500
4A0930 CS5F-1200
4
4A1200 CS5F-1500
<1> Manufacturer does not recommend a specific fuse holder for this fuse. Contact Yaskawa or a Yaskawa representative on fuse dimensions.
 Guarding Against Harmful Materials

When installing IP00 enclosure drives, use an enclosure that prevents foreign material from entering the drive from
above or below.
 Wiring Diagram
Refer to Figure D.3 for an example of this product wired to comply with the CE Low Voltage Directive.
Figure D.3
Terminals -, +1, +2, B1, B2 are

for connection options. Never
connect power supply lines to
these terminals
Main
Switch Fuse <1>
Three-phase R/L1 R/L1 +2 +1 B1 B2
power supply EMC S/L2
U Motor
S/L2 Main Circuit U/T1
200 to 400 V Filter V
T/L3 T/L3 V/T2 M
50/60 Hz
Drive W/T3
W
Control Circuit
Shielded
Ground Cable
Forward Run / Stop S1 Option card connectors
CN5-C
Reverse Run / Stop S2
CN5-B
External fault S3
CN5-A
Fault reset S4
Terminal board
jumpers and switches
Multi-function Multi-speed step 1 S5 <2>
digtial inputs V I
DIP Switch S1
(default setting) A2 Volt/Curr. Sel
Multi-speed step 2 S6
On
DIP Switch S2
Off
Term. Res. On/Off
Jog speed S7
Jumper S3
External Baseblock H1, H2
S8
Sink/Source Sel.
SN PTC DIP Switch S4

A3 Analog/PTC
Sink / Source mode SC Input Sel
AI
selection wire link
(default: Sink) SP
Jumper S5
V
+24 V AM/FM Volt./Curr.
I Selection
FM AM
N.O.
Slide Switch S6
DM+,DM-
N.C./N.O. Selection
N.C.
<3>
Shield ground terminal
MA Fault relay output
RP Pulse Train Input (max 32 kHz)
MB 250 Vac, max. 1 A
+V Power supply +10.5 Vdc, max. 20 mA
MC
30 Vdc, max 1 A
(min. 5 Vdc, 10 mA)
2 kΩ
-10 to +10 Vdc (20 kΩ) M1 Multi-function relay output (During Run)
Multi-function 250 Vac, max. 1 A
analog/ pulse M2 30 Vdc, max 1 A
train inputs
0 or 4 to 20 mA (250 Ω)
M3 Multi-function relay output (Zero Speed)
Analog Input 3 / PTC Input (Aux. frequency 250 Vac, max. 1 A
A3 M4 30 Vdc, max 1 A
reference)
AC
0V M5 Multi-function relay output (Speed Agree 1)
250 Vac, max. 1 A
−V Power supply, -10.5 Vdc, max. 20 mA M6 30 Vdc, max 1 A
(min. 5 Vdc, 10 mA)
Termination resistor
(120 Ω, 1/2 W) MP Multi-function pulse train output
(Output frequency)
AC 0 to 32 kHz (2.2 kΩ)
DIP
Switch S2
R+ 0V
R
MEMOBUS/Modbus S+ FM
comm. RS-422/RS-485 Multi-function analog output 1
+ (Output frequency)
max. 115.2 kBps S FM -10 to +10 Vdc (2mA) or 4 to 20 mA
Safety
Switch IG
AM
S2 Multi-function analog output 2
AC + (Output current)
Safe Disable inputs H1 AM
-10 to +10 Vdc (2mA) or 4 to 20 mA
S1 H2 0V
E (G)
Open Wire
jumper EDM (Safety Electronic Device Monitor)
Safety relay / DM+ shielded line
controller
HC twisted-pair shielded line
DM
control circuit terminal
main circuit terminal
Figure D.3 Wiring Diagram for CE Low Voltage Directive Compliance (example: 200 V Class)
<1> For circuit protection, the main circuit is separated from the surface case that can touch the main circuit.
<2> The control circuit is a Safety Extra-Low Voltage circuit. Separate this circuit from other circuits with reinforced insulation. Make sure that the
Safety Extra-Low Voltage circuit is connected as specified.
<3> Reinforced insulation separates the output terminals from other circuits. Users can also connect circuits that are not Safety Extra-Low Voltage
Compliance
circuits if the drive output is 250 Vac 1 A max. or 30 Vdc 1 A maximum.

Standards
D
 EMC Guidelines Compliance

This drive is tested according to European standards EN 61800-3:2004/A1:2012, and complies with EMC guidelines.
 EMC Filter Installation
The following conditions must be met to ensure continued compliance with guidelines. Refer to EMC Filters on
page 596 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 D.4
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 D.4 Installation Method
5. Make sure the protective earthing conductor complies with technical standards and local safety regulations.
WARNING! Electrical Shock Hazard.
Because the leakage current exceeds 3.5 mA in models CIMR-A40414 and larger, IEC/EN 61800-5-1 states that either the power
supply must be automatically disconnected in case of discontinuity of the protective earthing conductor or a protective earthing
conductor with a cross-section of at least 10 mm2 (Cu) or 16 mm2 (Al) must be used. Failure to comply may result in death or serious
injury.
Figure D.5
C B
A – Braided shield cable C – Cable clamp (conductive)
B – Metal panel
Figure D.5 Ground Area
6. Connect a DC reactor to minimize harmonic distortion. See page 599.
Three-Phase 200 V / 400 V Class

Figure D.6
L3
L2 Make sure the ground wire is grounded
L1
PE
Enclosure panel
Metal plate
Grounding surface
(remove any paint or sealant)
L3 L2 L1
Drive
EMC noise filter

Grounding surface
(remove any paint or sealant)
Ground plate
(scrape off any visible paint)
Cable clamp Motor cable (braided shield cable, max. 10 m)
Ground the cable shield

Motor
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 D.6 EMC Filter and Drive Installation for CE Compliance (Three-Phase 200 V / 400 V Class)
Compliance
Standards
D
 EMC Filters
The drive should be installed with the EMC filters listed in Table D.2 and Table D.3 in order to comply with the EN
61800-3:2004/A1:2012 requirements.
Manufacturer: Schaffner
Table D.2 EMC Filters
Filter Data (Manufacturer: Schaffner)
Model Dimensions
CIMR-A Weight
Type Rated Current (A) [W × H × D] Y×X Figure
(kg) (mm)
Three-Phase 200 V Class
2A0004
FS5972-10-07 10 1.2 141 × 330 × 46 115 × 313
2A0006
2A0010
FS5972-18-07 18 1.3 141 × 330 × 46 115 × 313
2A0012
1
2A0021
FS5972-35-07 35 2.1 206 × 355 × 50 175 × 336
2A0030
2A0040
FS5972-60-07 60 4.0 236 × 408 × 65 205 × 390
2A0056
2A0069
FS5972-100-35 100 3.4 90 × 330 × 150 65 × 255
2A0081
2A0110
FS5972-170-40 170 6.0 120 × 451 × 170 102 × 365 2
2A0138
2A0169
FS5972-250-37 250 11.7 130 × 610 × 240 90 × 498
2A0211
2A0250
FS5972-410-99 410 10.5 260 × 386 × 115 235 × 120
2A0312
3
2A0360
FS5972-600-99 600 11 260 × 386 × 135 235 × 120
2A0415
4A0002
4A0004
FS5972-10-07 10 1.2 141 × 330 × 46 115 × 313
4A0005
4A0007
4A0009
FS5972-18-07 18 1.3 141 × 330 × 46 115 × 313
4A0011
1
4A0018
4A0023 FS5972-35-07 35 2.1 206 × 355 × 50 175 × 336
4A0031
4A0038
4A0044 FS5972-60-07 60 4 236 × 408 × 65 202 × 390
4A0058
4A0072
FS5972-100-35 100 3.4 90 × 330 × 150 65 × 255
4A0088
4A0103
2
4A0139 FS5972-170-35 170 6.0 120 × 451 × 170 102 × 365
4A0165
4A0208 FS5972-250-37 250 11.7 130 × 610 × 240 90 × 498
4A0250
4A0296 FS5972-410-99 410 10.5 260 × 386 × 115 235 × 120
4A0362
3
4A0414
FS5972-600-99 600 11 260 × 386 × 135 235 × 120
4A0515
4A0675 FS5972-800-99 800 31.5 300 × 716 × 160 275 × 210
4A0930 FS5972-600-99 <1> 600 11 260 × 135 × 386 235 × 120
4
4A1200 FS5972-800-99 <1> 800 31.5 300 × 160 × 716 275 × 210
<1> Connect two of the same EMC filters in parallel.

Figure D.7
Filter Side (LINE) Filter Side (LINE)

W W
Y Y D
D
. . .
PE
Recommended torque: 26 - 30Nm / PE: 15 - 17Nm
L1 L2 L3
LINE
L1 L2 L3
LINE
ZSNFS5972-250-37
ZSN3x480/275V 50/60Hz
250A@45°C 25/100/21
LINE
FS 5972 - 60 - 07
3x480/275VAC 50/60Hz
60A@45°C 25/100/21
MADE IN ........
H
X
X
LOAD
ZSNHigh leakage current,

ZSNfirst connect to earth!
ZSN1234567 / 01 / 0840R
LOAD
L1' L2' L3'
LOAD
L1' L2' L3'
Recommended torque: 26 - 30Nm / PE: 15 - 17Nm
PE
L1
L2
L3
L1
L2
Drive Side (LOAD)
Figure 1 Drive Side (LOAD) Figure 2
Filter Side (LINE)

D
L3 L2 L1
X
LINE
PE
L3 L2 L1
LINE
3x520/300VAC 50/60Hz 600A@45??C 25/100/21
FS 5972 - 600 - 99
HIGH LEAKAGE CURRENT
first connect to earth!
MADE IN SWITZERLAND
R
H
YYWWR
Zuerst Erdleiter verbinden!

HOHER ABLEITSTROM
LOAD
X
PE
L3' L2' L1'
LOAD
L3' L2' L1'
Y
YEG W
Drive Side (LOAD)
Figure 3
Figure D.7 EMC Filter Dimensions (Manufacturer: Schaffner)

Compliance
Standards
D
Manufacturer: Block
Table D.3 EMC Filters
Filter Data (Manufacturer: Block)
Model Dimensions
CIMR-A Weight
Type Rated Current (A) [W × D × H] Y×X Figure
(kg) (mm)
2A0004
FB-40008A 8 2.3 140 × 50 × 301 120 × 285
2A0006
2A0010 1
FB-40014A 12 2.4 140 × 50 × 301 120 × 285
2A0012
2A0021 FB-40025A 25 3.0 140 × 55 × 301 120 × 285
2A0030
2A0040 FB-40060A 60 4.5 85 × 135 × 310 60 × 255
2A0056
2A0069 FB-40072A 72 4.7 85 × 135 × 310 60 × 255
2A0081 FB-40105A 105 5.3 95 × 150 × 325 65 × 255 2
2A0110
2A0138 FB-40170A 170 9.4 130 × 181 × 440 102 × 365
2A0169
2A0211 FB-40250A 250 12.4 155 × 220 × 525 125 × 435
2A0250
2A0312 FB-40414A 415 26.5 300 × 130 × 500 280 × 340 3
2A0360
2A0415 FB-40675A 675 28.5 300 × 130 × 500 280 × 340 4
4A0002
4A0004
FB-40008A 8 2.3 140 × 50 × 301 120 × 285
4A0005
4A0007
4A0009
FB-40014A 12 2.4 140 × 50 × 301 120 × 285 1
4A0011
4A0018
FB-40025A 25 3.0 140 × 55 × 301 120 × 285
4A0023
4A0031
FB-40044A 44 4.3 180 × 60 × 341 160 × 325
4A0038
4A0044
FB-40060A 60 4.5 85 × 135 × 310 60 × 255
4A0058
4A0072 FB-40072A 72 4.7 85 × 135 × 310 60 × 255
4A0088
FB-40105A 105 5.3 95 × 150 × 325 65 × 255
4A0103 2
4A0139
FB-40170A 170 9.4 130 × 181 × 440 102 × 365
4A0165
4A0208
FB-40250A 250 12.4 155 × 220 × 525 125 × 435
4A0250
4A0296
4A0362 FB-40414A 415 26.5 300 × 130 × 500 280 × 340 3
4A0414
4A0515
FB-40675A 675 28.5 300 × 130 × 500 280 × 340 4
4A0675
4A0930
FB-41200A <1> 1200 49.6 300 × 160 × 716 275 × 420 5
4A1200
<1> Connect two of the same EMC filters in parallel.

Figure D.8
W H W
D
H
X
Y Y
W
Y
X
Figure 1
Figure 2
H H
D
D
W W
Y
Y
X X
Figure 3 Figure 4
D
H W
X X
Y
YEG
Figure 5
Figure D.8 EMC Filter Dimensions (Manufacturer: Block)
 DC Reactors for IEC/EN 61000-3-2 Compliance

Table D.4 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
Compliance
Note: DC reactors are not required for other models to comply with EMC.
Standards
D
D.3 UL Standards
D.3 UL Standards
 UL Standards Compliance
Figure D.9
Figure D.9 UL/cUL Mark

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.
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 degree 2 (UL standard).
 Ambient Temperature
IP00 enclosure: -10 to +50°C
IP20/UL Type 1 enclosure: -10°C to +40°C
IP20/IP00 finless-type enclosure: -10°C to +45°C
 Main Circuit Terminal Wiring
Yaskawa recommends using closed-loop crimp terminals on all drive models. UL/cUL approval requires the use of UL
Listed closed-loop crimp terminals when wiring the drive main circuit terminals on models CIMR-A2A0110 to
2A0415 and 4A0058 to 4A1200. Use only the tools recommended by the terminal manufacturer for crimping.
The wire gauges listed in Table D.5 and Table D.6 are Yaskawa recommendations. Refer to local codes for proper wire
gauge selections.
Table D.5 Wire Gauge and Torque Specifications (Three-phase 200 V Class)
For Europe and China <1> For U.S.A. <2> For Asia <3>
Tightening
Model Recomm. Applicable Recomm. Applicable Recomm. Applicable Screw
Terminal Torque
CIMR-A Wire Size Wire Size Gauge Gauge Wire Size Wire Size Size Nm (lb.in.)
mm2 mm2 AWG, kcmil AWG, kcmil mm2 mm2
R/L1, S/L2, T/L3 2.5 2.5 to 6 14 14 to 10 2 2 to 5.5
2A0004 U/T1, V/T2, W/T3 2.5 2.5 to 6 14 14 to 10 2 2 to 5.5
2A0006 –, +1, +2 – 2.5 to 6 – 14 to 10 2 2 to 5.5 1.2 to 1.5
M4
2A0010 (10.6 to 13.3)
<4> B1, B2 – 2.5 to 6 – 14 to 10 2 2 to 5.5
2.5 2.5 to 6 10 14 to 10 2 2 to 5.5
R/L1, S/L2, T/L3 2.5 2.5 to 6 12 14 to 10 2 2 to 5.5
U/T1, V/T2, W/T3 2.5 2.5 to 6 14 14 to 10 2 2 to 5.5
2A0012 –, +1, +2 – 2.5 to 6 – 14 to 10 2 2 to 5.5 1.2 to 1.5
M4
<4> (10.6 to 13.3)
B1, B2 – 2.5 to 6 – 14 to 10 2 2 to 5.5
2.5 2.5 to 6 10 14 to 10 3.5 2 to 5.5
R/L1, S/L2, T/L3 4 2.5 to 6 10 12 to 10 5.5 3.5 to 5.5
U/T1, V/T2, W/T3 2.5 2.5 to 6 10 12 to 10 3.5 3.5 to 5.5
2A0021 –, +1, +2 – 4 to 6 – 12 to 10 5.5 3.5 to 5.5 1.2 to 1.5
M4
<4> (10.6 to 13.3)
B1, B2 – 2.5 to 6 – 14 to 10 2 2 to 5.5
4 4 to 6 10 12 to 10 3.5 3.5 to 5.5
R/L1, S/L2, T/L3 6 4 to 16 8 10 to 6 14 5.5 to 14
U/T1, V/T2, W/T3 6 4 to 16 8 10 to 6 8 5.5 to 14 2.1 to 2.3
M4
2A0030 –, +1, +2 – 6 to 16 – 10 to 6 14 5.5 to 14 (18.6 to 20.4)
<4>
B1, B2 – 4 to 6 – 14 to 10 3.5 2 to 5.5
2.0 to 2.5
6 6 to 10 8 10 to 8 5.5 5.5 to 8 M5
(17.7 to 22.1)
D.3 UL Standards
Tightening
Terminal Torque
CIMR-A Wire Size Wire Size Gauge Gauge Wire Size Wire Size Size
Nm (lb.in.)
R/L1, S/L2, T/L3 10 6 to 16 6 8 to 6 14 14
U/T1, V/T2, W/T3 10 6 to 16 8 8 to 6 14 8 to 14 2.1 to 2.3
M4
2A0040 –, +1, +2 – 16 – 6 14 14 (18.6 to 20.4)
<4>
B1, B2 – 4 to 6 – 12 to 10 5.5 3.5 to 5.5
2.0 to 2.5
10 6 to 10 8 10 to 8 5.5 5.5 to 8 M5
(17.7 to 22.1)
R/L1, S/L2, T/L3 16 16 to 25 4 6 to 4 22 14 to 22
5.4 to 6.0
U/T1, V/T2, W/T3 16 16 to 25 4 6 to 4 14 14 to 22 M6
(47.8 to 53.1)
–, +1, +2 – 16 to 25 – 6 to 4 22 14 to 22
2A0056 2.7 to 3.0
B1, B2 – 6 to 10 – 10 to 6 14 5.5 to 14 M5
(23.9 to 26.6)
5.4 to 6.0
16 10 to 16 6 8 to 6 8 8 to 14 M6
(47.8 to 53.1)
R/L1, S/L2, T/L3 25 16 to 25 3 4 to 3 30 22 to 30
9.9 to 11
U/T1, V/T2, W/T3 16 16 to 25 3 4 to 3 22 14 to 30 M8
(87.6 to 97.4)
–, +1, +2 – 25 – 4 to 3 30 22 to 30
2A0069 2.7 to 3.0
B1, B2 – 10 to 16 – 8 to 6 14 8 to 14 M5
(23.9 to 26.6)
5.4 to 6.0
16 16 to 25 6 6 to 4 8 8 to 22 M6
(47.8 to 53.1)
R/L1, S/L2, T/L3 35 25 to 35 2 3 to 2 38 30 to 38
9.9 to 11
U/T1, V/T2, W/T3 25 25 to 35 2 3 to 2 30 22 to 38 M8
(87.6 to 97.4)
–, +1, +2 – 25 to 35 – 3 to 2 38 30 to 38
2A0081 2.7 to 3.0
B1, B2 – 16 – 6 14 14 M5
(23.9 to 26.6)
5.4 to 6.0
16 16 to 25 6 6 to 4 14 14 to 22 M6
(47.8 to 53.1)
R/L1, S/L2, T/L3 35 25 to 50 1/0 3 to 1/0 38 30 to 50
U/T1, V/T2, W/T3 35 25 to 50 1/0 3 to 1/0 38 30 to 50
2A0110 –, +1 – 35 to 50 – 2 to 1/0 60 38 to 60 9.0 to 11
M8
<5> (79.7 to 97.4)
B1, B2 – 16 to 50 – 6 to 1/0 22 14 to 50
16 16 to 25 6 6 to 4 14 14 to 38
R/L1, S/L2, T/L3 50 35 to 70 2/0 1 to 2/0 60 50 to 60
U/T1, V/T2, W/T3 50 35 to 70 2/0 1 to 2/0 60 50 to 60 18 to 23
M10
2A0138 –, +1 – 50 to 70 – 1/0 to 3/0 80 60 to 80 (159 to 204)
<5>
B1, B2 – 25 to 70 – 4 to 2/0 30 22 to 60
9.0 to 11
25 25 4 4 22 22 to 38 M8
(79.7 to 97.4)
R/L1, S/L2, T/L3 70 50 to 95 4/0 2/0 to 4/0 80 60 to 100
U/T1, V/T2, W/T3 70 50 to 95 4/0 3/0 to 4/0 80 60 to 100
2A0169 –, +1 – 35 to 95 – 1 to 4/0 50 × 2P 50 to 100 18 to 23
M10
<5> (159 to 204)
+3 – 50 to 95 – 1/0 to 4/0 60 50 to 100
35 25 to 35 4 4 to 2 22 22 to 60
R/L1, S/L2, T/L3 95 70 to 95 1/0 × 2P 1/0 to 2/0 100 80 to 100
U/T1, V/T2, W/T3 95 70 to 95 1/0 × 2P 1/0 to 2/0 50 × 2P 50 to 60
2A0211 –, +1 – 35 to 95 – 1 to 4/0 50 × 2P 50 to 100 18 to 23
M10
<5> (159 to 204)
+3 – 50 to 95 – 1/0 to 4/0 80 60 to 100
50 25 to 50 4 4 to 1/0 22 22 to 60
R/L1, S/L2, T/L3 95 × 2P 95 to 150 3/0 × 2P 3/0 to 300 80 × 2P 38 to 150
32 to 40
U/T1, V/T2, W/T3 95 × 2P 95 to 150 3/0 × 2P 3/0 to 300 80 × 2P 38 to 150 M12
(283 to 354)
2A0250 –, +1 – 70 to 150 – 3/0 to 300 80 × 2P 80 to 150
<5>
18 to 23
+3 – 35 to 150 – 2 to 300 80 × 2P 30 to 150 M10
(159 to 204)
32 to 40
95 95 to 150 3 3 to 300 22 22 to 150 M12
(283 to 354)
32 to 40
U/T1, V/T2, W/T3 95 × 2P 95 to 150 3/0 × 2P 3/0 to 300 80 × 2P 70 to 200 M12
(283 to 354)
2A0312 –, +1 – 70 to 150 – 3/0 to 300 150 × 2P 80 to 150
<5>
18 to 23
+3 – 70 to 150 – 3/0 to 300 80 × 2P 80 to 150 M10
(159 to 204)
Compliance
32 to 40
Standards
95 95 to 150 2 2 to 300 38 38 to 150 M12

(283 to 354)
D
D.3 UL Standards
Model Screw Tightening
Terminal Recomm. Applicable Recomm. Applicable Recomm. Applicable Torque
CIMR-A Wire Size Wire Size Gauge Gauge Wire Size Wire Size Size
Nm (lb.in.)
R/L1, S/L2, T/L3 240 95 to 300 250 × 2P 4/0 to 600 100 × 2P 80 to 325
32 to 40
U/T1, V/T2, W/T3 240 95 to 300 4/0 × 2P 4/0 to 600 100 × 2P 80 to 325 M12
(283 to 354)
2A0360 –, +1 – 125 to 300 – 250 to 600 150 × 2P 125 to 325
<5>
18 to 23
+3 – 70 to 300 – 3/0 to 600 80 × 2P 80 to 325 M10
(159 to 204)
32 to 40
120 120 to 240 1 1 to 350 38 38 to 200 M12
(283 to 354)
R/L1, S/L2, T/L3 120 × 2P 95 to 300 350 × 2P 250 to 600 125 × 2P 100 to 325
32 to 40
U/T1, V/T2, W/T3 300 95 to 300 300 × 2P 300 to 600 125 × 2P 125 to 325 M12
(283 to 354)
2A0415 –, +1 – 150 to 300 – 300 to 600 200 × 2P 150 to 325
<5>
18 to 23
+3 – 70 to 300 – 3/0 to 600 100 × 2P 80 to 325 M10
(159 to 204)
32 to 40
120 120 to 240 1 1 to 350 60 60 to 200 M12
(283 to 354)
<1> Gauges listed here are for use in Europe and China.
<2> Gauges listed here are for use in the United States.
<3> Gauges listed here are for use in Asia except for China.
<4> When an EMC filter is installed, additional measures must be taken in order to comply with IEC/EN 61800-5-1. Refer to EMC Filter
Installation on page 594.
<5> Drive models CIMR-A2A0110 to 2A0415 require the use of closed-loop crimp terminals for UL/cUL compliance. Use only the tools
recommended by the terminal manufacturer for crimping.
Note: Use crimp insulated terminals or insulated tubing for wiring these connections. Wires should have a continuous maximum
allowable temperature of 75°C 600 V UL approved vinyl sheathed insulation. Ambient temperature should not exceed 40°C.
Table D.6 Wire Gauge and Torque Specifications (Three-Phase 400 V Class)
Tightening
Model Terminal Recomm. Applicable Recomm. Applicable Recomm. Applicable Screw
CIMR-A Size Torque
Wire Size Gauge Gauge Gauge Wire Size Gauge Nm (lb.in.)
R/L1, S/L2, T/L3 2.5 2.5 to 6 14 14 to 10 2 2 to 5.5
U/T1, V/T2, W/T3 2.5 2.5 to 6 14 14 to 10 2 2 to 5.5
4A0002 –, +1, +2 – 2.5 to 6 – 14 to 10 2 2 to 5.5 1.2 to 1.5
M4
4A0004 (10.6 to 13.3)
B1, B2 – 2.5 to 6 – 14 to 10 2 2 to 5.5
2.5 2.5 to 4 12 14 to 12 2 2 to 5.5
R/L1, S/L2, T/L3 2.5 2.5 to 6 14 14 to 10 2 2 to 5.5
U/T1, V/T2, W/T3 2.5 2.5 to 6 14 14 to 10 2 2 to 5.5
4A0005 1.2 to 1.5
4A0007 –, +1, +2 – 2.5 to 6 – 14 to 10 2 2 to 5.5 M4
4A0009 (10.6 to 13.3)
B1, B2 – 2.5 to 6 – 14 to 10 2 2 to 5.5
2.5 2.5 to 6 10 14 to 10 3.5 2 to 5.5
R/L1, S/L2, T/L3 2.5 2.5 to 6 12 14 to 10 2 2 to 5.5
U/T1, V/T2, W/T3 2.5 2.5 to 6 14 14 to 10 2 2 to 5.5
–, +1, +2 – 2.5 to 6 – 14 to 10 2 2 to 5.5 1.2 to 1.5
4A0011 M4
(10.6 to 13.3)
B1, B2 – 2.5 to 6 – 14 to 10 2 2 to 5.5
2.5 2.5 to 6 10 14 to 10 3.5 2 to 5.5
R/L1, S/L2, T/L3 2.5 2.5 to 16 10 12 to 6 3.5 2 to 14
U/T1, V/T2, W/T3 2.5 2.5 to 16 10 12 to 6 3.5 2 to 14 2.1 to 2.3
M4
–, +1, +2 – 4 to 16 – 12 to 6 3.5 2 to 14 (18.6 to 20.4)
4A0018
B1, B2 – 4 to 6 – 12 to 10 2 2 to 5.5
2.0 to 2.5
2.5 2.5 to 6 10 14 to 10 3.5 2 to 5.5 M5
(17.7 to 22.1)
R/L1, S/L2, T/L3 4 2.5 to 16 10 10 to 6 5.5 3.5 to 14
U/T1, V/T2, W/T3 4 2.5 to 16 10 10 to 6 5.5 3.5 to 14 2.1 to 2.3
M4
–, +1, +2 – 4 to 16 – 12 to 6 5.5 3.5 to 14 (18.6 to 20.4)
4A0023
B1, B2 – 4 to 6 – 12 to 10 2 2 to 5.5
2.0 to 2.5
4 4 to 6 10 12 to 10 3.5 3.5 to 5.5 M5
(17.7 to 22.1)
R/L1, S/L2, T/L3 6 6 to 16 8 8 to 6 14 5.5 to 14
3.6 to 4.0
U/T1, V/T2, W/T3 6 6 to 16 8 10 to 6 8 5.5 to 8 M5
(31.8 to 35.4)
–, +1, +2 – 6 to 16 – 10 to 6 14 5.5 to 14
4A0031 2.7 to 3.0
B1, B2 – 6 to 10 – 10 to 8 3.5 2 to 8 M5
(23.9 to 26.6)
5.4 to 6.0
6 6 to 10 8 10 to 8 5.5 5.5 to 8 M6
(47.8 to 53.1)
D.3 UL Standards
Tightening
Terminal Torque
CIMR-A Wire Size Gauge Gauge Gauge Wire Size Gauge Size
Nm (lb.in.)
R/L1, S/L2, T/L3 10 10 to 16 6 8 to 6 14 14
3.6 to 4.0
U/T1, V/T2, W/T3 6 6 to 16 8 8 to 6 14 8 to 14 M5
(31.8 to 35.4)
–, +1, +2 – 6 to 16 – 6 14 14
4A0038 2.7 to 3.0
B1, B2 – 6 to 10 – 10 to 8 5.5 3.5 to 8 M5
(23.9 to 26.6)
5.4 to 6.0
10 6 to 16 6 10 to 6 8 5.5 to 14 M6
(47.8 to 53.1)
R/L1, S/L2, T/L3 16 16 to 25 6 6 to 4 14 14 to 22
5.4 to 6.0
U/T1, V/T2, W/T3 16 16 to 25 6 6 to 4 14 14 to 22 M6
(47.8 to 53.1)
–, +1, +2 – 16 to 25 – 6 to 4 14 14 to 22
4A0044 2.7 to 3.0
B1, B2 – 6 to 10 – 10 to 8 8 5.5 to 8 M5
(23.9 to 26.6)
5.4 to 6.0
16 10 to 16 6 8 to 6 8 8 to 14 M6
(47.8 to 53.1)
R/L1, S/L2, T/L3 16 10 to 16 4 6 to 4 14 14
U/T1, V/T2, W/T3 16 10 to 16 4 6 to 4 14 14
4A0058 –, +1 – 16 to 35 – 6 to 1 22 14 to 38 9.0 to 11
M8
<4> (79.7 to 97.4)
B1, B2 – 10 to 16 – 8 to 4 14 8 to 14
16 10 to 16 6 8 to 6 8 8 to 14
R/L1, S/L2, T/L3 16 16 to 25 3 4 to 3 22 14 to 22
U/T1, V/T2, W/T3 25 16 to 25 3 4 to 3 22 14 to 22
4A0072 –, +1 – 25 to 35 – 4 to 1 30 22 to 38 9.0 to 11
M8
<4> (79.7 to 97.4)
B1, B2 – 16 to 25 – 6 to 3 14 14 to 22
16 16 to 25 6 6 14 14 to 22
R/L1, S/L2, T/L3 25 16 to 50 2 3 to 1/0 30 22 to 60
U/T1, V/T2, W/T3 25 25 to 50 2 3 to 1/0 30 22 to 60
4A0088 –, +1 – 25 to 50 – 3 to 1/0 38 30 to 60 9.0 to 11
M8
<4> (79.7 to 97.4)
+3 – 16 to 50 – 6 to 1/0 22 14 to 60
16 16 to 25 4 6 to 4 22 14 to 22
R/L1, S/L2, T/L3 35 25 to 50 1/0 2 to 1/0 38 30 to 60
U/T1, V/T2, W/T3 35 25 to 50 1 2 to 1/0 38 30 to 60
4A0103 –, +1 – 25 to 50 – 3 to 1/0 60 30 to 60 9.0 to 11
M8
<4> (79.7 to 97.4)
+3 – 25 to 50 – 4 to 1/0 30 22 to 60
16 16 to 25 4 6 to 4 22 14 to 22
R/L1, S/L2, T/L3 50 35 to 95 3/0 1/0 to 4/0 60 38 to 100
U/T1, V/T2, W/T3 50 35 to 95 2/0 1/0 to 4/0 60 50 to 100
4A0139 –, +1 – 50 to 95 – 1/0 to 4/0 100 60 to 100 18 to 23
M10
<4> (159 to 204)
+3 – 25 to 95 – 3 to 4/0 50 30 to 100
25 25 4 4 22 22
R/L1, S/L2, T/L3 70 50 to 95 4/0 3/0 to 4/0 80 60 to 100
U/T1, V/T2, W/T3 70 70 to 95 4/0 3/0 to 4/0 80 80 to 100
4A0165 18 to 23
–, +1 – 35 to 95 – 1 to 4/0 50 × 2P 50 to 100 M10
<4> (159 to 204)
+3 – 50 to 95 – 1/0 to 4/0 60 50 to 100
35 25 to 35 4 4 to 2 22 22 to 30
R/L1, S/L2, T/L3 95 35 to 95 300 2 to 300 150 30 to 150
U/T1, V/T2, W/T3 95 35 to 95 300 2 to 300 150 30 to 150
4A0208 18 to 23
–, +1 – 35 to 150 – 1 to 250 80 × 2P 38 to 150 M10
<4> (159 to 204)
+3 – 25 to 70 – 3 to 3/0 80 22 to 80
50 50 to 150 4 4 to 300 22 22 to 150
R/L1, S/L2, T/L3 120 95 to 300 400 1 to 600 150 38 to 325
U/T1, V/T2, W/T3 120 95 to 300 400 1/0 to 600 150 38 to 325
4A0250 18 to 23
–, +1 – 70 to 300 – 3/0 to 600 200 80 to 325 M10
<4> (159 to 204)
+3 – 35 to 300 – 1 to 325 125 38 to 325
70 70 to 240 2 2 to 350 22 22 to 200
Compliance
Standards
D
D.3 UL Standards
Model Screw Tightening
Terminal Recomm. Applicable Recomm. Applicable Recomm. Applicable Torque
CIMR-A Wire Size Gauge Gauge Gauge Wire Size Gauge Size
Nm (lb.in.)
R/L1, S/L2, T/L3 185 95 to 300 500 2/0 to 600 200 80 to 325
32 to 40
U/T1, V/T2, W/T3 185 95 to 300 500 2/0 to 600 200 80 to 325 M12
(283 to 354)
4A0296 –, +1 – 70 to 300 – 3/0 to 600 325 80 to 325
<4>
18 to 23
+3 – 35 to 300 – 1 to 325 150 38 to 325 M10
(159 to 204)
32 to 40
95 95 to 240 2 2 to 350 30 30 to 200 M12
(283 to 354)
R/L1, S/L2, T/L3 240 95 to 300 4/0 × 2P 3/0 to 600 250 80 to 325
32 to 40
U/T1, V/T2, W/T3 240 95 to 300 4/0 × 2P 3/0 to 600 250 80 to 325 M12
(283 to 354)
4A0362 –, +1 – 95 to 300 – 4/0 to 600 325 100 to 325
<4>
18 to 23
+3 – 70 to 300 – 3/0 to 600 200 80 to 325 M10
(159 to 204)
32 to 40
120 120 to 240 1 1 to 350 30 30 to 200 M12
(283 to 354)
R/L1, S/L2, T/L3 95 × 2P 95 to 150 300 × 2P 4/0 to 300 100 × 2P 80 to 150
U/T1, V/T2, W/T3 95 × 2P 95 to 150 300 × 2P 4/0 to 300 125 × 2P 80 to 150
4A0414 32 to 40
–, +1 – 70 to 150 – 3/0 to 300 150 × 2P 80 to 150 M12
<4> <5> (283 to 354)
+3 – 70 to 150 – 3/0 to 300 80 × 2P 80 to 150
95 35 to 95 1 1 to 3/0 38 38 to 100
U/T1, V/T2, W/T3 150 × 2P 95 to 150 4/0 × 4P 3/0 to 300 150 × 2P 80 to 150
4A0515 32 to 40
–, +1 – 70 to 150 – 1/0 to 300 60 × 4P 60 to 150 M12
<4> <5> (283 to 354)
+3 – 70 to 150 – 1/0 to 300 100 × 2P 60 to 150
150 50 to 150 1/0 1/0 to 300 60 50 to 150
R/L1, S/L2, T/L3 95 × 4P 95 to 150 300 × 4P 4/0 to 300 80 × 4P 80 to 150
U/T1, V/T2, W/T3 95 × 4P 95 to 150 300 × 4P 4/0 to 300 80 × 4P 80 to 150

4A0675 32 to 40
–, +1 – 70 to 150 – 1/0 to 300 125 × 4P 60 to 150 M12
<4> <5> (283 to 354)
+3 – 70 to 150 – 1/0 to 300 60 × 4P 60 to 150
95 × 2P 60 to 150 2/0 2/0 to 300 60 70 to 150

R/L1, S/L2, T/L3,
R1/L11, S1/L21, 120 × 4P 95 to 150 (4/0 × 4P) × 2 3/0 to 300 150 × 4P 125 to 150
T1/L31
U/T1, V/T2, W/T3 120 × 4P 95 to 150 (4/0 × 4P) × 2 3/0 to 300 150 × 4P 125 to 150
4A0930 32 to 40
M12
<4> <5> –, +1 – 95 to 150 – 4/0 to 300 (125 × 4P) × 2 100 to 150 (283 to 354)
+3 – 95 to 150 – 4/0 to 300 125 × 4P 100 to 150
120 × 2P 70 to 120 3/0 3/0 to 250 100 80 to 125

R/L1, S/L2, T/L3,
R1/L11, S1/L21, (95 × 4P) × 2 95 to 150 (300 × 4P) × 2 4/0 to 300 (125 × 4P) × 2 100 to 150
T1/L31
U/T1, V/T2, W/T3 (95 × 4P) × 2 95 to 150 (300 × 4P) × 2 4/0 to 300 (125 × 4P) × 2 100 to 150
4A1200 32 to 40
M12
<4> <5> –, +1 – 120 to 150 – 250 to 300 (150 × 4P) × 2 125 to 150 (283 to 354)
+3 – 95 to 150 – 4/0 to 300 (100 × 4P) × 2 100 to 150
95 × 4P 95 to 120 4/0 4/0 to 250 125 100 to 125
<1> Gauges listed here are for use in Europe and China.
<2> Gauges listed here are for use in the United States.
<3> Gauges listed here are for use in Asia except for China.
<4> Drive models CIMR-A4A0058 to 4A1200 require the use of closed-loop crimp terminals for UL/cUL compliance. Use only the tools
recommended by the terminal manufacturer for crimping.
<5> When an EMC filter is installed, additional measures must be taken in order to comply with IEC/EN 61800-5-1. Refer to EMC Filter
Installation on page 594.
Note: Use crimp insulated terminals or insulated tubing for wiring these connections. Wires should have a continuous maximum
allowable temperature of 75°C 600 V UL approved vinyl sheathed insulation. Ambient temperature should not exceed 40°C.
D.3 UL Standards
Closed-Loop Crimp Terminal Recommendations

Yaskawa recommends using closed-loop crimp terminals on all drive models. UL approval requires the use of UL Listed
crimp terminals when wiring the drive main circuit terminals on models CIMR-A2A0110 to 2A0415 and 4A0058 to
4A1200. Use only crimping tools as specified by the crimp terminal manufacturer. Yaskawa recommends crimp
terminals made by JST and Tokyo DIP (or equivalent) for the insulation cap.
Table D.7 matches the wire gauges and terminal screw sizes with Yaskawa - recommended crimp terminals, tools, and
insulation caps. Refer to the appropriate Wire Gauge and Torque Specifications table for the wire gauge and screw size
for your drive model. Place orders with Yaskawa or a Yaskawa representative.
Table D.7 Closed-Loop Crimp Terminal Size
Wire Gauge (AWG, kcmil) Screw Crimp Terminal Tool Insulation Cap
Drive Model Code <2>
R/L1S/L2T/L3 U/T1V/T2W/T3 Size Model Number Machine No. Die Jaw Model No.
200 V Class Three-Phase Drives
2A0004 14 <1> R2-4 TP-003 100-054-028
2A0006 12 M4 YA-4 AD-900
2A0008 R5.5-4 TP-005 100-054-029
2A0010 10
14 14 <1> R2-4 TP-003 100-054-028
2A0012 12 <1> 12 M4 YA-4 AD-900
R5.5-4 TP-005 100-054-029
10
– 14 R2-4 TP-003 100-054-028
2A0018 12 M4 YA-4 AD-900
R5.5-4 TP-005 100-054-029
10 <1>
12
2A0021 M4 R5.5-4 YA-4 AD-900 TP-005 100-054-029
10 <1>
10 R5.5-4 AD-900 TP-005 100-054-029
2A0030 8 <1> M4 8-4 YA-4 AD-901 TP-008 100-054-031
6 14-NK4 AD-902 TP-014 100-054-033
8 8 <1> 8-4 AD-901 TP-008 100-054-031
2A0040 M4 YA-4
6 <1> 6 14-NK4 AD-902 TP-014 100-054-033
6 R14-6 AD-952 TP-014 100-051-261
2A0056 M6 YA-5
4 <1> R22-6 AD-953 TP-022 100-051-262
4 R22-8 AD-953 TP-022 100-051-263
2A0069 M8 YA-5
3 <1> R38-8 AD-954 TP-038 100-051-264
3
2A0081 M8 R38-8 YA-5 AD-954 TP-038 100-051-264
2 <1>
3
R38-8 YA-5 AD-954 TP-038 100-051-264
2
2A0110 M8
1
R60-8 YA-5 AD-955 TP-060 100-051-265
1/0 <1>
1 TD-321,
R60-10 TP-060 100-051-266
1/0 YF-1 TD-311
2A0138 M10
YET-300-1 TD-323,
2/0 <1> R80-10 TP-080 100-051-267
TD-312
2/0 – TD-323,
R80-10 TP-080 100-051-267
3/0 YF-1 TD-312
2A0169 M10
YET-300-1 TD-324,
4/0 <1> R100-10 TP-100 100-051-269
TD-312
TD-321,
1/0 × 2P <1> R60-10 TP-060 100-051-266
YF-1 TD-311
2A0211 M10
YET-300-1 TD-323,
2/0 × 2P R80-10 TP-080 100-051-267
TD-312
TD-323,
3/0 × 2P <1> 80-L12 TP-080 100-051-558
TD-312
TD-324,
4/0 × 2P 100-L12 YF-1 TP-100 100-051-560
2A0250 M12 TD-312
YET-300-1
– 250 × 2P 150-L12 TP-150 100-051-562
TD-325,
250 –
R150-12 TD-313 TP-150 100-051-273
300
TD-323,
3/0 × 2P 3/0 × 2P <1> 80-L12 TP-080 100-051-558
TD-312
YF-1 TD-324,
2A0312 4/0 × 2P <1> 4/0 × 2P M12 100-L12 TP-100 100-051-560
YET-300-1 TD-312
Compliance
Standards
250 × 2P TD-325,
150-L12 TP-150 100-051-562
300 × 2P TD-313
D
D.3 UL Standards
TD-324,
4/0 × 2P 4/0 × 2P <1> 100-L12 TP-100 100-051-560
TD-312
250 × 2P <1> 250 × 2P TD-325,
150-L12 TP-150 100-051-562
300 × 2P TD-313
YF-1
2A0360 M12
350 × 2P YET-300-1 TD-327,
200-L12 TP-200 100-051-564
400 × 2P TD-314
500 × 2P TD-328,
325-12 TP-325 100-051-277
600 600 × 2P TD-315
250 × 2P – TD-325,
150-L12 TP-150 100-051-562
300 × 2P 300 × 2P <1> TD-313
350 × 2P <1> 350 × 2P YF-1 TD-327,
2A0415 M12 200-L12 TP-200 100-051-564
400 × 2P YET-300-1 TD-314
500 × 2P TD-328,
325-12 TP-325 100-051-277
600 × 2P TD-315
400 V Class Three-Phase Drives
4A0002 14 <1> R2-4 TP-003 100-054-028
4A0004
4A0005 12 M4 YA-4 AD-900
4A0007 R5.5-4 TP-005 100-054-029
4A0009 10
14 14 <1> R2-4 TP-003 100-054-028

4A0011 12 <1> 12 M4 YA-4 AD-900
R5.5-4 TP-005 100-054-029
10
12
R5.5-4 AD-900 TP-005 100-054-029
10 <1>
4A0018 M4 YA-4
8 8-4 AD-901 TP-008 100-054-031
6 14-NK4 AD-902 TP-014 100-054-033
10 <1> R5.5-4 AD-900 TP-005 100-054-029
4A0023 8 M4 8-4 YA-4 AD-901 TP-008 100-054-031
6 14-NK4 AD-902 TP-014 100-054-033
– 10 R5.5-5 AD-900 TP-005 100-054-030
4A0031 8 <1> M5 R8-5 YA-4 AD-901 TP-008 100-054-032
6 R14-5 AD-902 TP-014 100-054-034
8 8 <1> R8-5 AD-901 TP-008 100-054-032
4A0038 M5 YA-4
6 <1> 6 R14-5 AD-902 TP-014 100-054-034
6 <1> R14-6 AD-952 TP-014 100-051-261
4A0044 M6 YA-5
4 R22-6 AD-953 TP-022 100-051-262
6 R14-8 AD-952 TP-014 100-054-035
4A0058 M8 YA-5
4 <1> R22-8 AD-953 TP-022 100-051-263
4 R22-8 AD-953 TP-022 100-051-263
4A0072 M8 YA-5
3 <1> R38-8 AD-954 TP-038 100-051-264
3
R38-8 AD-954 TP-038 100-051-264
2 <1>
4A0088 M8 YA-5
1
R60-8 AD-955 TP-060 100-051-265
1/0
2 R38-8 AD-954 TP-038 100-051-264
4A0103 1 1 <1> M8 YA-5
R60-8 AD-955 TP-060 100-051-265
1/0 <1> 1/0
TD-321,
1/0 R60-10 TP-060 100-051-266
TD-311
2/0 2/0 <1> YF-1 TD-323,
4A0139 M10 R80-10 TP-080 100-051-267
3/0 <1> 3/0 YET-300-1 TD-312
TD-324,
4/0 R100-10 TP-100 100-051-269
TD-312
TD-323,
3/0 R80-10 TP-080 100-051-267
YF-1 TD-312
4A0165 M10
YET-300-1 TD-324,
4/0 <1> R100-10 TP-100 100-051-269
TD-312
2 × 2P TD-224,
38-L10 TP-038 100-051-556
1 × 2P TD-212
TD-227,
3/0 × 2P 80-L10 TP-080 100-051-557
YF-1 TD-214
4A0208 M10
YET-150-1 TD-228,
4/0 R100-10 TP-100 100-051-269
TD-214
250 TD-229,
R150-10 TP-150 100-051-272
300 <1> TD-215
D.3 UL Standards
TD-224,
1 × 2P – 38-L10 TP-038 100-051-556
TD-212
TD-227,
3/0 × 2P 80-L10 TP-080 100-051-557
YF-1 TD-214
YET-150-1 TD-228,
4/0 × 2P 100-L10 TP-100 100-051-559
TD-214
4A0250 250 × 2P M10 150-L10 TD-229, TP-150 100-051-561
300 R150-10 TD-215 TP-150 100-051-272
350 TD-327,
200-10 TP-200 100-051-563
400 <1> YF-1 TD-314
500 YET-300-1 TD-328,
325-10 TP-325 100-051-565
600 TD-315
TD-323,
3/0 × 2P 80-L12 TP-080 100-051-558
TD-312
TD-324,
4/0 × 2P 100-L12 TP-100 100-051-560
TD-312
250 × 2P TD-325,
150-L12 TP-150 100-051-562
300 × 2P YF-1 TD-313
4A0296 M12
YET-300-1
– 350 × 2P 200-L12 100-051-564
TD-327,
350 – TP-200
R200-12 TD-314 100-051-275
400
500 <1> TD-328,
325-12 TP-325 100-051-277
600 TD-315
TD-323,
3/0 × 2P 80-L12 TP-080 100-051-558
TD-312
TD-324,
4/0 × 2P <1> 100-L12 TP-100 100-051-560
TD-312
250 × 2P TD-325,
150-L12 YF-1 TP-150 100-051-562
4A0362 300 × 2P M12 TD-313
YET-300-1
350 × 2P TD-327,
200-L12 TP-200 100-051-564
400 × 2P TD-314
500 TD-328,
325-12 TP-325 100-051-277
600 TD-315
TD-324,
4/0 × 2P 100-L12 TP-100 100-051-560
YF-1 TD-312
4A0414 M12
250 × 2P YET-300-1 TD-325,
150-L12 TP-150 100-051-562
300 × 2P <1> TD-313
TD-323,
3/0 × 4P <1> 3/0 × 4P 80-L12 TP-080 100-051-558
TD-312
YF-1 TD-324,
4A0515 4/0 × 4P 4/0× 4P <1> M12 100-L12 TP-100 100-051-560
YET-300-1 TD-312
250 × 4P TD-325,
150-L12 TP-150 100-051-562
300 × 2P TD-313
TD-324,
4/0 × 4P 100-L12 TP-100 100-051-560
YF-1 TD-312
4A0675 M12
250 × 4P YET-300-1 TD-325,
150-L12 TP-150 100-051-562
300 × 4P <1> TD-313
TD-323,
3/0 × 8P 80-L12 TP-080 100-051-558
TD-312
YF-1 TD-324,
4A0930 4/0 × 8P <1> M12 100-L12 TP-100 100-051-560
YET-300-1 TD-312
250 × 8P TD-325,
150-L12 TP-150 100-051-562
300 × 8P TD-313
TD-324,
4/0 × 8P 100-L12 TP-100 100-051-560
YF-1 TD-312
4A1200 M12
250 × 8P YET-300-1 TD-325,
150-L12 TP-150 100-051-562
300 × 8P <1> TD-313
<1> Recommended wire gauges.

<2> Codes refer to a set of three crimp terminals and three insulation caps. Prepare input and output wiring using two sets for each
connection.
Example 1: Models with 300 kcmil for both input and output require one set for input terminals and one set for output terminals, so the
user should order two sets of [100-051-272].
Example 2: Models with 4/0 AWG × 2P for both input and output require two sets for input terminals and two sets for output terminals,
so the user should order four sets of [100-051-560].
Note: Use crimp insulated terminals or insulated shrink tubing for wiring connections. Wires should have a continuous maximum
Compliance
Standards
allowable temperature of 75°C 600 Vac UL-approved vinyl-sheathed insulation.
D
D.3 UL Standards
 Installing Input Fuses

NOTICE: If a fuse is blown or equipment for residual current monitoring/detection (RCM/RCD) is tripped, check the wiring and the
selection of the peripheral devices. Check the wiring and the selection of peripheral devices to identify the cause. Contact Yaskawa or
a Yaskawa representative before restarting the drive or the peripheral devices if the cause cannot be identified.
 Factory Recommended Branch Circuit Protection

Yaskawa recommends installing one of the following types of branch circuit protection to maintain compliance with
UL508C. Semiconductor protective type fuses are preferred. Alternate branch circuit protection devices are also listed in
Table D.8 and Table D.9.
Table D.8 Factory Recommended A1000 AC Drive Branch Circuit Protection (Normal Duty)
A1000 in Normal Duty Mode (C6-01 = 1)
Drive Model Bussmann
Time Delay Fuse Rating Non-time Delay Fuse
AC Drive Input Amps MCCB Rating Amps <1> Semiconductor Fuse
Amps <2> Rating Amps <3> Rating (Fuse Ampere) <4>
2A0004 3.9 15 6.25 10 FWH-70B (70)
2A0006 7.3 15 12 20 FWH-70B (70)
2A0010 10.8 20 17.5 30 FWH-70B (70)
2A0012 13.9 25 20 40 FWH-70B (70)
2A0021 24 45 40 70 FWH-90B (90)
2A0030 37 60 60 110 FWH-100B (100)
2A0040 52 100 90 150 FWH-200B (200)
2A0056 68 125 110 200 FWH-200B (200)
2A0069 80 150 125 225 FWH-200B (200)
2A0081 96 175 150 275 FWH-300A (300)
2A0110 111 200 175 300 FWH-300A (300)
2A0138 136 250 225 400 FWH-350A (350)
2A0169 164 300 250 450 FWH-400A (400)
2A0211 200 400 350 600 FWH-400A (400)
2A0250 271 500 450 800 FWH-600A (600)
2A0312 324 600 500 800 FWH-700A (700)
2A0360 394 700 600 1000 <5> FWH-800A (800)
2A0415 471 900 800 1400 <5> FWH-1000A (1000)
4A0002 2.1 15 3.5 6 FWH-40B (40)
4A0004 4.3 15 7.5 12 FWH-50B (50)
4A0005 5.9 15 10 17.5 FWH-70B (70)
4A0007 8.1 15 12 20 FWH-70B (70)
4A0009 9.4 15 15 25 FWH-90B (90)
4A0011 14 25 20 40 FWH-90B (90)
4A0018 20 40 35 60 FWH-80B (80)
4A0023 24 45 40 70 FWH-100B (100)
4A0031 38 75 60 110 FWH-125B (125)
4A0038 44 75 75 125 FWH-200B (200)
4A0044 52 100 90 150 FWH-250A (250)
4A0058 58 100 100 150 FWH-250A (250)
4A0072 71 125 110 200 FWH-250A (250)
4A0088 86 150 150 250 FWH-250A (250)
4A0103 105 200 175 300 FWH-250A (250)
4A0139 142 250 225 400 FWH-350A (350)
4A0165 170 300 250 500 FWH-400A (400)
4A0208 207 400 350 600 FWH-500A (500)
4A0250 248 450 400 700 FWH-600A (600)
4A0296 300 600 500 800 FWH-700A (700)
4A0362 346 600 600 1000 <5> FWH-800A (800)
4A0414 410 800 700 1200 <5> FWH-800A (800)
4A0515 465 900 800 1350 <5> FWH-1000A (1000)
4A0675 657 1200 1100 <5> 1800 <5> FWH-1200A (1200)
4A0930 922 FWH-1200A (1200)
–
4A1200 1158 FWH-1600A (1600)
<1> Maximum MCCB Rating is 15 A, or 200% of drive input current rating, whichever is larger. MCCB voltage rating must be 600 VAC or greater.
<2> Maximum Time Delay fuse is 175% of drive input current rating. This covers any Class CC, J or T class fuse.
<3> Maximum Non-time Delay fuse is 300% of drive input current rating. This covers any CC, J or T class fuse.
<4> When using semiconductor fuses, Bussmann FWH is required for UL compliance.
<5> This covers Class L fuse.
D.3 UL Standards
Table D.9 Factory Recommended A1000 AC Drive Branch Circuit Protection (Heavy Duty)
A1000 in Heavy Duty Mode (C6-01 = 0)
Drive Model Bussmann
Time Delay Fuse Rating Non-time Delay Fuse
AC Drive Input Amps MCCB Rating Amps <1> Semiconductor Fuse
Amps <2> Rating Amps <3> Rating (Fuse Ampere) <4>
2A0004 2.9 15 5 8 FWH-70B (70)
2A0006 5.8 15 10 15 FWH-70B (70)
2A0010 7.5 15 12 20 FWH-70B (70)
2A0012 11 20 17.5 30 FWH-70B (70)
2A0021 18.9 35 30 50 FWH-90B (90)
2A0030 28 50 40 75 FWH-100B (100)
2A0040 37 60 60 100 FWH-200B (200)
2A0056 52 100 90 150 FWH-200B (200)
2A0069 68 125 110 200 FWH-200B (200)
2A0081 80 150 125 225 FWH-300A (300)
2A0110 82 150 125 225 FWH-300A (300)
2A0138 111 200 175 250 FWH-350A (350)
2A0169 136 250 225 350 FWH-400A (400)
2A0211 164 300 250 450 FWH-400A (400)
2A0250 200 400 350 600 FWH-600A (600)
2A0312 271 500 450 800 FWH-700A (700)
2A0360 324 600 500 900 <5> FWH-800A (800)
2A0415 394 700 600 1100 <5> FWH-1000A (1000)
4A0002 1.8 15 3 5 FWH-40B (40)
4A0004 3.2 15 5 9 FWH-50B (50)
4A0005 4.4 15 7 12 FWH-70B (70)
4A0007 6 15 10 17.5 FWH-70B (70)
4A0009 8.2 15 12 20 FWH-90B (90)
4A0011 10.4 20 17.5 30 FWH-90B (90)
4A0018 15 30 25 40 FWH-80B (80)
4A0023 20 40 35 60 FWH-100B (100)
4A0031 29 50 50 80 FWH-125B (125)
4A0038 39 75 60 110 FWH-200B (200)
4A0044 47 75 75 125 FWH-250A (250)
4A0058 43 75 75 125 FWH-250A (250)
4A0072 58 100 100 150 FWH-250A (250)
4A0088 71 125 110 200 FWH-250A (250)
4A0103 86 150 150 250 FWH-250A (250)
4A0139 105 175 175 300 FWH-350A (350)
4A0165 142 225 225 400 FWH-400A (400)
4A0208 170 250 250 500 FWH-500A (500)
4A0250 207 350 350 600 FWH-600A (600)
4A0296 248 400 400 700 FWH-700A (700)
4A0362 300 500 500 800 FWH-800A (800)
4A0414 346 600 600 1000 <5> FWH-800A (800)
4A0515 410 700 700 1200 <5> FWH-1000A (1000)
4A0675 584 1000 1000 <5> 1600 <5> FWH-1200A (1200)
4A0930 830 FWH-1200A (1200)
–
4A1200 1031 FWH-1600A (1600)
<1> Maximum MCCB Rating is 15 A, or 200% of drive input current rating, whichever is larger. MCCB voltage rating must be 600 VAC or greater.
<2> Maximum Time Delay fuse is 175% of drive input current rating. This covers any Class CC, J or T class fuse.
<3> Maximum Non-time Delay fuse is 300% of drive input current rating. This covers any CC, J or T class fuse.
<4> When using semiconductor fuses, Bussmann FWH and FWP are required for UL compliance. Select FWH for 200 V Class and 400 V Class
models and FWP fuses for 600 V models.
<5> This covers Class L fuse.
Compliance
Standards
D
D.3 UL Standards
Wiring Fuses for Models 4A0930 and 4A1200

NOTICE: If a fuse is blown or equipment for residual current monitoring/detection (RCM/RCD) is tripped, check the wiring and the
Install a fuse on the input side to protect drive wiring and prevent other secondary damage. Wire the fuse so that leakage
current in the upper controller power supply will trigger the fuse and shut off the power supply.
Select the appropriate fuse from Table D.10.
Table D.10 Input Fuses for Models 4A0930 and 4A1200
Selection Input Fuse (Example)
Voltage Class Model Input Voltage Pre-arc Pre-arc
Current (A) Model Manufacturer Rating
(V) I2t (A2s) I2t (A2s)
140000 to CS5F-1200 Fuji Electric AC500 V, 1200 A 276000
4A0930 480 1500
3100000 FWH-1200A Bussmann AC500 V, 1200 A –
Three-Phase
400 V Class CS5F-1500 Fuji Electric AC500 V, 1500 A 351000
320000 to
4A1200 480 1500
3100000 FWH-1600A Bussmann AC500 V, 1600 A –
 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. If external
power supply used, it shall be UL Listed Class 2 power source only or equivalent. Refer to NEC Article 725 Class 1,
Class 2, and Class 3 Remote-Control, Signaling, and Power Limited Circuits for requirements concerning class 1 circuit
conductors and class 2 power supplies.
Table D.11 Control Circuit Terminal Power Supply
Input/Output Terminal Signal Power Supply Specifications
Open Collector Outputs DM+, DM- Requires class 2 power supply.
Digital inputs S1-S8, SN, SC, SP, HC, H1, H2 Use the internal LVLC power supply of the drive. Use class 2 for external power supply.
Analog inputs/outputs +V, -V, A1, A2, A3, AC, AM, FM Use the internal LVLC power supply of the drive. Use class 2 for external power supply.
 Drive Short-Circuit Rating

This drive is suitable for use on a circuit capable of delivering not more than 100,000 RMS symmetrical amperes, 600 V
ac maximum (Up to 240 V in 200 V class drives, up to 480 V for 400 V class drives), when protected by Bussmann Type
FWH fuses as specified in Table D.8.
 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.
D.3 UL Standards
 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 D.12 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.
Selects protection characteristics for a standard self cooled motor with limited cooling capabilities when running below
6 Standard fan cooled motor (50 Hz) the rated speed. The motor overload detection level (oL1) is automatically reduces when running below the motor rated
speed.
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 6) 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 50 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 D.10
Operation time (minutes)
10
7
3
Cold start
1
0.4
Hot start
0.1
Motor current (%)
0 100 150 200 E2-01 = 100% motor current
Figure D.10 Motor Overload Protection Time

Compliance
Standards
D
D.3 UL Standards
 Precautionary Notes on External Heatsink (IP00 Enclosure)

When using an external heatsink, UL compliance requires that exposed capacitors in the main circuit are covered to
prevent injury to surrounding personnel.
The portion of the external heatsink that projects out can either be protected with the enclosure, or with the appropriate
capacitor cover after drive installation is complete. Use the table below to match drive models and capacitor cover.
Capacitor covers can be ordered from Yaskawa or a Yaskawa representative. Table D.13 lists available capacitor covers.
Table D.13 Capacitor Cover
Drive Model
Code Number Figure
CIMR-A
2A0110 100-061-273
2A0138 100-061-274
2A0169
100-061-275
2A0211
2A0250
100-061-277
2A0312
2A0360
100-061-278
2A0415
4A0058 100-061-273
4A0072 100-061-274
4A0088 Figure D.11

100-061-276
4A0103
4A0139
100-061-275
4A0165
4A0208 100-061-277
4A0250
4A0296 100-061-278
4A0362
4A0414 100-061-279
4A0515
100-061-280
4A0675
4A0930
100-061-281 Figure D.12
4A1200
D.3 UL Standards
Figure D.11
Drive (outside panel)
Opening to capacitors
Drive (inside panel)
Capacitor cover Installation screw
Figure D.11 Capacitor Cover

Figure D.12
Drive (outside panel)
Opening to capacitors
Drive (inside panel)

Capacitor cover
Installation screw
Figure D.12 Capacitor Cover (4A0930, 4A1200)
Compliance
Standards
D
D.4 Safe Disable Input Function

 Specifications
Inputs/Outputs Two Safe Disable inputs and one EDM output according to ISO/EN 13849-1 Cat. 3 PLd, IEC/EN 61508 SIL2.
Operation Time Time from input open to drive output stop is less than 1 ms.
Demand Rate Low PFD = 5.15E-5
Failure Probability Demand Rate High/
PFH = 1.2E-9
Continuous
The Safe Disable Inputs satisfy all requirements of Performance Level (PL) d according to ISO/EN 13849-1. (Note:
Performance Level
DC from EDM considered.)
 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., ISO/EN 13849, IEC/EN 61508, IEC/EN 62061,...).
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.
DANGER! 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.
DANGER! 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.
DANGER! 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.
NOTICE: 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; an EMC filter must be used. Use only the EMC filters recommended in EMC
Filters on page 596.
 Using the Safe Disable Function

The Safe Disable inputs provide a stop function in compliance with “Safe Torque Off” as defined in the
IEC/EN 61800-5-2. Safe Disable inputs have been designed to meet the requirements of the ISO/EN 13849-1, Category
3 PLd, and IEC/EN 61508, SIL2.
A Safe Disable Status Monitor for error detection in the safety circuit is also provided.
 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 Selection for Safe Disable Inputs on page 85.
The Safe Disable Monitor uses a single channel photocoupler output. Refer to Output Terminals on page 81 for signal
specifications when using this output. Figure D.13 shows an example of wiring the Safe Disable inputs.

Figure D.13
Main Power
24 Vdc 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-
N.O.
Drive
N.C.
Slide Switch S6 <1>
Motor
Figure D.13 Safe Disable Function Wiring Example (Source Mode)

N.O. N.O.
N.C. N.C.
ETC740310 ETC740311
 Disabling and Enabling the Drive Output (“Safe Torque Off”)

Figure D.14 illustrates the Safe Disable input operation.
Figure D.14
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 D.14 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.
Compliance
Standards
D
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 D.14 explains the drive output and Safe Disable monitor state depending on the Safe Disable inputs.
Table D.14 Safety Input and EDM Terminal Status
Safe Disable Status Monitor,
Safe Disable Input Status
DM+ - DM-
Drive Output Status Digital Operator Display
S6 Selected S6 Selected
Input 1, H1-HC Input 2, H2-HC
N.C. N.O.
OFF OFF OFF ON Safely disabled, “Safe Torque Off” Hbb (flashes)
ON OFF ON OFF Safely disabled, “Safe Torque Off” HbbF (flashes)
OFF ON ON OFF Safely disabled, “Safe Torque Off” HbbF (flashes)
ON ON ON OFF 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 352 to resolve
possible errors.
Appendix: E
Quick Reference Sheet

This section provides tables to keep record of the drive specification, motor specification and
drive settings. Fill in the data after commissioning the application and have them ready when
contacting Yaskawa or a Yaskawa representative for technical assistance.
E.1 DRIVE AND MOTOR SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618

E.2 BASIC PARAMETER SETTINGS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
E.3 USER SETTING TABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620
E.1 Drive and Motor Specifications
E.1 Drive and Motor Specifications

 Drive Specifications
Normal Duty Amps / Heavy Duty Amps
AC drive model MODEL : CIMR-AC2A0110AAA

MAX APPLI. MOTOR : 30kW / 22kW REV : B
Input specifications INPUT : AC3PH 200-240V 50/60Hz 111A/82A
IND.CONT.EQ.
Output specifications OUTPUT : AC3PH 0-240V 0-400Hz 110A/85A 7J48
MASS : 21 kg PRG : 1010 Software version
Lot number O/N :
Serial number S/N : GI-COMPLIANT
FILE NO : E131457 IP00

TYPE 1 ENCLOSURE PASS
YASKAWA ELECTRIC CORPORATION MADE IN JAPAN
2-1 Kurosaki-shiroishi, Yahatanishi-Ku, Kitakyushu 806-0004 Japan
Enclosure type
Items Value
Model CIMR-A
Serial Number
Software Version (PRG)
Options used
(Option cards, braking transistor,etc.)
 Motor Specifications
 Induction Motor
Items Value Items Value
Manufacturer Motor Rated Current A
Model Motor Base Frequency Hz
Motor Rated Power kW Number of Motor Poles
Motor Rated Voltage V Motor Rated Speed (T1-07) min-1
 Permanent Magnet Motor

Manufacturer Induction Voltage Constant mVs/rad
Model Induction Voltage Constant mV/(min-1)
PM Motor Rated Power kW PM Motor Rated Current A
PM Motor Rated Voltage V PM Motor Base Frequency Hz
d-Axis Inductance mH Number of PM Motor Poles
q-Axis Inductance mH PM Motor Base Speed min-1
 Motor Speed Encoder (if used)

Manufacturer Resolution
Interface
E.2 Basic Parameter Settings
E.2 Basic Parameter Settings

Use these tables to keep record of the most important parameters. Have these data available when contacting the
technical support.
 Basic Setup
Item Setting Value Memo Item Setting Value Memo
Control Mode A1-02 = Frequency Reference Source b1-01 =
Drive Duty Mode Selection C6-01 = Run Command Source b1-02 =
 V/f Pattern Setup

V/f Pattern Selection E1-03 = Middle Output Frequency E1-07 =
Max. Output Frequency E1-04 = Mid. Output Freq. Voltage E1-08 =
Maximum Voltage E1-05 = Min. Output Frequency E1-09 =
Base Frequency E1-06 = Min. Output Freq. Voltage E1-10 =
 Motor Setup
Motor Rated Current E2-01 = Number of Motor Poles E2-04 =
Induction
Motor Rated Slip E2-02 = Line-to-Line Resistance E2-05 =
Motor
Motor No-Load Current E2-03 = Motor Leakage Inductance E2-06 =
Motor Code Selection E5-01 = Motor d-Axis Inductance E5-06 =
Motor Rated Power E5-02 = Motor q-Axis Inductance E5-07 =
PM Motor Motor Rated Current E5-03 = Induction Volt. Const.1 E5-09 =
Number of Motor Poles E5-04 = Encoder Z-pulse Offset E5-11 =
Motor Stator Resistance E5-05 = Induction Volt. Const. 2 E5-24 =
 Multi-Function Digital Inputs

Input Setting Value and Function Input Setting Value and Function
Terminal Memo Terminal Memo
Used Name Used Name
S1 H1-01 = S5 H1-05 =
S2 H1-02 = S6 H1-06 =
S3 H1-03 = S7 H1-07 =
S4 H1-04 = S8 H1-08 =
 Pulse Train Input/Analog Inputs

Terminal Input Used Setting Value and Function Name Memo
RP H6-01 =
A1 H3-02 =
A2 H3-10 =
A3 H3-06 =
 Multi-Function Digital Outputs

Terminal Output Used Setting Value and Function Name Memo
M1-M2 H2-01 =
M3-M4 H2-02 =
M5-M6 H2-03 =
 Monitor Outputs
Terminal Output Used Setting Value and Function Name Memo
FM H4-01 =
Quick Reference
AM H4-04 =
MP H6-06 =
Sheet
YASKAWA ELECTRIC SIEP C710616 27J YASKAWA AC Drive A1000 Technical Manual 619 E
E.3 User Setting Table

Use the Verify Menu to see which parameters have been changed from their original default settings.
• The diamond below the parameter number indicates that the parameter setting can be changed during run.
• Parameter names in boldface type are included in the Setup Group of parameters which can be set by A1-06 = 0.
No. Name User No. Name User

Setting Setting
A1-00 Language Selection b4-02 Timer Function Off-Delay Time
A1-01 Access Level Selection b4-03 <1> H2-01 ON Delay Time
A1-02 Control Method Selection b4-04 <1> H2-01 OFF Delay Time
A1-03 Initialize Parameters b4-05 <1> H2-02 ON Delay Time
A1-04 Password b4-06 <1> H2-02 OFF Delay Time
A1-05 Password Setting b4-07 <1> H2-03 ON Delay Time
A1-06 Application Preset b4-08 <1> H2-03 OFF Delay Time
A1-07 DriveWorksEZ Function Selection b5-01 PID Function Setting
A2-01 to b5-02 Proportional Gain Setting (P)
User Parameters 1 to 32
A2-32 b5-03 Integral Time Setting (I)
A2-33 User Parameter Automatic Selection b5-04 Integral Limit Setting
b1-01 Frequency Reference Selection 1 b5-05 Derivative Time (D)
b1-02 Run Command Selection 1 b5-06 PID Output Limit
b1-03 Stopping Method Selection b5-07 PID Offset Adjustment
b1-04 Reverse Operation Selection b5-08 PID Primary Delay Time Constant
b1-05 Action Selection below Minimum Output Frequency b5-09 PID Output Level Selection
b1-06 Digital Input Reading b5-10 PID Output Gain Setting
b1-07 LOCAL/REMOTE Run Selection b5-11 PID Output Reverse Selection
b1-08 Run Command Selection while in Programming Mode b5-12 PID Feedback Loss Detection Selection
b1-14 Phase Order Selection b5-13 PID Feedback Loss Detection Level
b1-15 Frequency Reference Selection 2 b5-14 PID Feedback Loss Detection Time
b1-16 Run Command Selection 2 b5-15 PID Sleep Function Start Level
b1-17 Run Command at Power Up b5-16 PID Sleep Delay Time
b1-21 <1> Start Condition Selection at Closed Loop Vector Control b5-17 PID Accel/Decel Time
b2-01 DC Injection Braking Start Frequency b5-18 PID Setpoint Selection
b2-02 DC Injection Braking Current b5-19 PID Setpoint Value
b2-03 DC Injection Braking Time at Start b5-20 PID Setpoint Scaling
b2-04 DC Injection Braking Time at Stop b5-34 PID Output Lower Limit
b2-08 Magnetic Flux Compensation Value b5-35 PID Input Limit
b2-12 Short Circuit Brake Time at Start b5-36 PID Feedback High Detection Level
b2-13 Short Circuit Brake Time at Stop b5-37 PID Feedback High Detection Time
b2-18 Short Circuit Braking Current b5-38 PID Setpoint User Display
b3-01 Speed Search Selection at Start b5-39 PID Setpoint Display Digits
b3-02 Speed Search Deactivation Current b5-40 Frequency Reference Monitor Content during PID
b3-03 Speed Search Deceleration Time b5-47 PID Output Reverse Selection 2
b3-04 V/f Gain during Speed Search b6-01 Dwell Reference at Start
b3-05 Speed Search Delay Time b6-02 Dwell Time at Start
b3-06 Output Current 1 during Speed Search b6-03 Dwell Reference at Stop
Output Current 2 during Speed Search (Speed Estimation b6-04 Dwell Time at Stop
b3-07
Type)
b7-01 Droop Control Gain
b3-08 b7-02 Droop Control Delay Time
Estimation Type)
Current Control Integral Time during Speed Search (Speed b7-03 Droop Control Limit Selection
b3-09
Estimation Type) b8-01 Energy Saving Control Selection
b3-10 Speed Search Detection Compensation Gain b8-02 Energy Saving Gain
b3-12 Minimum Current Detection Level during Speed Search b8-03 Energy Saving Control Filter Time Constant
b3-14 Bi-Directional Speed Search Selection b8-04 Energy Saving Coefficient Value
b3-17 Speed Search Restart Current Level b8-05 Power Detection Filter Time
b3-18 Speed Search Restart Detection Time b8-06 Search Operation Voltage Limit
b3-19 Number of Speed Search Restarts b8-16 Energy Saving Parameter (Ki) for PM Motors
b3-24 Speed Search Method Selection b8-17 Energy Saving Parameter (Kt) for PM Motors
b3-25 Speed Search Wait Time q-Axis Current Compensation Method when Output
b8-27 <1>
b3-26 Direction Determining Level Voltage is Limited
b3-27 Start Speed Search Select b9-01 Zero Servo Gain
b3-29 <1> Speed Search Induced Voltage Level b9-02 Zero Servo Completion Width
Speed Search Selection when Driving Instruction is Input C1-01 Acceleration Time 1
b3-33 <1>
in Uv C1-02 Deceleration Time 1
b4-01 Timer Function On-Delay Time C1-03 Acceleration Time 2
User User
No. Name No. Name
Setting Setting
C1-04 Deceleration Time 2 d1-05 Frequency Reference 5
C1-05 Acceleration Time 3 (Motor 2 Accel Time 1) d1-06  Frequency Reference 6
C1-06 Deceleration Time 3 (Motor 2 Decel Time 1) d1-07 Frequency Reference 7
C1-07 Acceleration Time 4 (Motor 2 Accel Time 2) d1-08 Frequency Reference 8
C1-08 Deceleration Time 4 (Motor 2 Decel Time 2) d1-09  Frequency Reference 9
C1-09 Fast-Stop Time d1-10 Frequency Reference 10
C1-10 Accel/Decel Time Setting Units d1-11 Frequency Reference 11
C1-11 Accel/Decel Time Switching Frequency d1-12 Frequency Reference 12
C2-01 S-Curve Characteristic at Accel Start d1-13 Frequency Reference 13
C2-02 S-Curve Characteristic at Accel End d1-14 Frequency Reference 14
C2-03 S-Curve Characteristic at Decel Start d1-15 Frequency Reference 15
C2-04 S-Curve Characteristic at Decel End d1-16 Frequency Reference 16
C3-01 Slip Compensation Gain d1-17 Jog Frequency Reference
C3-02 Slip Compensation Primary Delay Time d2-01 Frequency Reference Upper Limit
C3-03 Slip Compensation Limit d2-02 Frequency Reference Lower Limit
C3-04 Slip Compensation Selection during Regeneration d2-03 Master Speed Reference Lower Limit
C3-05 Output Voltage Limit Operation Selection d3-01 Jump Frequency 1
Output Voltage Limit Operation Start Level (Percentage d3-02 Jump Frequency 2
C3-16
Modulation) d3-03 Jump Frequency 3
Maximum Output Voltage Limit Level (Percentage d3-04 Jump Frequency Width
C3-17
Modulation)
d4-01 Frequency Reference Hold Function Selection
C3-18 Output Voltage Limit Level
d4-03 Frequency Reference Bias Step (Up/Down 2)
C3-21 Motor 2 Slip Compensation Gain
d4-04 Frequency Reference Bias Accel/Decel (Up/Down 2)
C3-22 Motor 2 Slip Compensation Primary Delay Time
Frequency Reference Bias Operation Mode Selection (Up/
C3-23 Motor 2 Slip Compensation Limit d4-05
Down 2)
C3-24 Motor 2 Slip Compensation Selection during Regeneration d4-06 Frequency Reference Bias (Up/Down 2)
C4-01 Torque Compensation Gain Analog Frequency Reference Fluctuation Limit (Up/Down
d4-07
C4-02 Torque Compensation Primary Delay Time 2)
C4-03 Torque Compensation at Forward Start d4-08 Frequency Reference Bias Upper Limit (Up/Down 2)
C4-04 Torque Compensation at Reverse Start d4-09 Frequency Reference Bias Lower Limit (Up/Down 2)
C4-05 Torque Compensation Time Constant d4-10 Up/Down Frequency Reference Limit Selection
C4-06 Torque Compensation Primary Delay Time 2 d4-11 Bi-directional Output Selection
C4-07 Motor 2 Torque Compensation Gain d4-12 Stop Position Gain
C5-01 ASR Proportional Gain 1 d5-01 Torque Control Selection
C5-02 ASR Integral Time 1 d5-02 Torque Reference Delay Time
C5-03 ASR Proportional Gain 2 d5-03 Speed Limit Selection
C5-04 ASR Integral Time 2 d5-04 Speed Limit
C5-05 ASR Limit d5-05 Speed Limit Bias
C5-06 ASR Primary Delay Time Constant d5-06 Speed/Torque Control Switchover Time
C5-07 ASR Gain Switching Frequency d5-08 Unidirectional Speed Limit Bias
C5-08 ASR Integral Limit d6-01 Field Weakening Level
C5-12 Integral Operation during Accel/Decel d6-02 Field Weakening Frequency Limit
C5-17 Motor Inertia d6-03 Field Forcing Selection
C5-18 Load Inertia Ratio d6-06 Field Forcing Limit
C5-21 Motor 2 ASR Proportional Gain 1 d7-01 Offset Frequency 1
C5-22 Motor 2 ASR Integral Time 1 d7-02 Offset Frequency 2
C5-23 Motor 2 ASR Proportional Gain 2 d7-03 Offset Frequency 3
C5-24 Motor 2 ASR Integral Time 2 E1-01 Input Voltage Setting
C5-25 Motor 2 ASR Limit E1-03 V/f Pattern Selection
C5-26 Motor 2 ASR Primary Delay Time Constant E1-04 Maximum Output Frequency
C5-27 Motor 2 ASR Gain Switching Frequency E1-05 Maximum Voltage
C5-28 Motor 2 ASR Integral Limit E1-06 Base Frequency
C5-32 Integral Operation during Accel/Decel for Motor 2 E1-07 Middle Output Frequency
C5-37 Motor 2 Inertia E1-08 Middle Output Frequency Voltage
C5-38 Motor 2 Load Inertia Ratio E1-09 Minimum Output Frequency
C5-39 <1> ASR Primary Delay Time Constant 2 E1-10 Minimum Output Frequency Voltage
C6-01 Drive Duty Mode Selection E1-11 Middle Output Frequency 2
C6-02 Carrier Frequency Selection E1-12 Middle Output Frequency Voltage 2
C6-03 Carrier Frequency Upper Limit E1-13 Base Voltage
C6-04 Carrier Frequency Lower Limit E2-01 Motor Rated Current
C6-05 Carrier Frequency Proportional Gain E2-02 Motor Rated Slip
C6-09 <1> Carrier Frequency during Rotational Auto-Tuning E2-03 Motor No-Load Current
Quick Reference
d1-01 Frequency Reference 1 E2-04 Number of Motor Poles

d1-02 Frequency Reference 2 E2-05 Motor Line-to-Line Resistance
d1-03 Frequency Reference 3 E2-06 Motor Leakage Inductance
d1-04 Frequency Reference 4 E2-07 Motor Iron-Core Saturation Coefficient 1
Sheet
User User
No. Name No. Name
Setting Setting
E2-08 Motor Iron-Core Saturation Coefficient 2 F1-52 <1> Communication Speed of Serial Encoder Selection
E2-09 Motor Mechanical Loss F2-01 Analog Input Option Card Operation Selection
E2-10 Motor Iron Loss for Torque Compensation F2-02 Analog Input Option Card Gain
E2-11 Motor Rated Power F2-03 Analog Input Option Card Bias
E3-01 Motor 2 Control Mode Selection F3-01 Digital Input Option Card Input Selection
E3-04 Motor 2 Maximum Output Frequency F3-03 Digital Input Option DI-A3 Data Length Selection
E3-05 Motor 2 Maximum Voltage F4-01 Terminal V1 Monitor Selection
E3-06 Motor 2 Base Frequency F4-02 Terminal V1 Monitor Gain
E3-07 Motor 2 Mid Output Frequency F4-03 Terminal V2 Monitor Selection
E3-08 Motor 2 Mid Output Frequency Voltage F4-04 Terminal V2 Monitor Gain
E3-09 Motor 2 Minimum Output Frequency F4-05 Terminal V1 Monitor Bias
E3-10 Motor 2 Minimum Output Frequency Voltage F4-06 Terminal V2 Monitor Bias
E3-11 Motor 2 Mid Output Frequency 2 F4-07 Terminal V1 Signal Level
E3-12 Motor 2 Mid Output Frequency Voltage 2 F4-08 Terminal V2 Signal Level
E3-13 Motor 2 Base Voltage F5-01 Terminal P1-PC Output Selection
E4-01 Motor 2 Rated Current F5-02 Terminal P2-PC Output Selection
E4-02 Motor 2 Rated Slip F5-03 Terminal P3-PC Output Selection
E4-03 Motor 2 Rated No-Load Current F5-04 Terminal P4-PC Output Selection
E4-04 Motor 2 Motor Poles F5-05 Terminal P5-PC Output Selection
E4-05 Motor 2 Line-to-Line Resistance F5-06 Terminal P6-PC Output Selection
E4-06 Motor 2 Leakage Inductance F5-07 Terminal M1-M2 Output Selection
E4-07 Motor 2 Motor Iron-Core Saturation Coefficient 1 F5-08 Terminal M3-M4 Output Selection
E4-08 Motor 2 Motor Iron-Core Saturation Coefficient 2 F5-09 DO-A3 Output Mode Selection
E4-09 Motor 2 Mechanical Loss F6-01 Communications Error Operation Selection
E4-10 Motor 2 Iron Loss F6-02 External Fault from Comm. Option Detection Selection
E4-11 Motor 2 Rated Power F6-03 External Fault from Comm. Option Operation Selection
E5-01 Motor Code Selection (for PM Motors) F6-04 bUS Error Detection Time
E5-02 Motor Rated Power (for PM Motors) Torque Reference/Torque Limit Selection from Comm.
F6-06
E5-03 Motor Rated Current (for PM Motors) Option
E5-04 Number of Motor Poles (for PM Motors) Multi-Step Speed Enable/Disable Selection when NetRef/
F6-07
ComRef is Selected
E5-05 Motor Stator Resistance (for PM Motors)
F6-08 Reset Communication Parameters
E5-06 Motor d-Axis Inductance (for PM Motors)
F6-10 CC-Link Node Address
E5-07 Motor q-Axis Inductance (for PM Motors)
F6-11 CC-Link Communications Speed
E5-09 Motor Induction Voltage Constant 1 (for PM Motors)
F6-14 bUS Error Auto Reset
E5-11 Encoder Z-pulse Offset (for PM Motors)
F6-20 MECHATROLINK Station Address
E5-24 Motor Induction Voltage Constant 2 (for PM Motors)
F6-21 MECHATROLINK Frame Size
Polarity Switch for Initial Polarity Estimation (for PM
E5-25 F6-22 MECHATROLINK Link Speed
Motors)
F1-01 PG 1 Pulses Per Revolution F6-23 MECHATROLINK Monitor Selection (E)
F1-02 Operation Selection at PG Open Circuit (PGo) F6-24 MECHATROLINK Monitor Selection (F)
F1-03 Operation Selection at Overspeed (oS) Operation Selection at MECHATROLINK Watchdog

F6-25
Timer Error (E5)
F1-04 Operation Selection at Deviation
F6-26 MECHATROLINK bUS Errors Detected
F1-05 PG 1 Rotation Selection
F6-30 PROFIBUS-DP Node Address
F1-06 PG 1 Division Rate for PG Pulse Monitor
F6-31 PROFIBUS-DP Clear Mode Selection
F1-08 Overspeed Detection Level
F6-32 PROFIBUS-DP Data Format Selection
F1-09 Overspeed Detection Delay Time
F6-35 CANopen Node ID Selection
F1-10 Excessive Speed Deviation Detection Level
F6-36 CANopen Communication Speed
F1-11 Excessive Speed Deviation Detection Delay Time
F6-50 DeviceNet MAC Address
F1-12 PG 1 Gear Teeth 1
F6-51 DeviceNet Communication Speed
F6-52 DeviceNet PCA Setting
F1-14 PG Open-Circuit Detection Time
F6-53 DeviceNet PPA Setting
F1-18 dv3 Detection Selection
F6-54 DeviceNet Idle Mode Fault Detection
F1-19 dv4 Detection Selection
F6-55 DeviceNet Baud Rate Monitor
F1-20 PG Option Card Disconnect Detection 1
F6-56 DeviceNet Speed Scaling
F1-21 PG 1 Signal Selection
F6-57 DeviceNet Current Scaling
F1-30 PG Option Card Port for Motor 2 Selection
F6-58 DeviceNet Torque Scaling
F1-31 PG 2 Pulses Per Revolution
F6-59 DeviceNet Power Scaling
F1-32 PG 2 Rotation Selection
F6-60 DeviceNet Voltage Scaling
F6-61 DeviceNet Time Scaling
F6-62 DeviceNet Heartbeat Interval
F1-35 PG 2 Division Rate for PG Pulse Monitor
F6-63 DeviceNet Network MAC ID
F1-36 PG Option Card Disconnect Detection 2
F6-64 to
F1-37 PG2 Signal Selection Reserved
F6-71
F1-50 <1> Encoder Selection F7-01 IP Address 1
F1-51 <1> PGoH Detection Level F7-02 IP Address 2
User User
No. Name No. Name
Setting Setting
F7-03 IP Address 3 H2-09 <1> Memobus Regs2 Address Select
F7-04 IP Address 4 H2-10 <1> Memobus Regs2 Bit Select
F7-05 Subnet Mask 1 H3-01 Terminal A1 Signal Level Selection
F7-06 Subnet Mask 2 H3-02 Terminal A1 Function Selection
F7-07 Subnet Mask 3 H3-03 Terminal A1 Gain Setting
F7-08 Subnet Mask 4 H3-04 Terminal A1 Bias Setting
F7-09 Gateway Address 1 H3-05 Terminal A3 Signal Level Selection
F7-10 Gateway Address 2 H3-06 Terminal A3 Function Selection
F7-11 Gateway Address 3 H3-07 Terminal A3 Gain Setting
F7-12 Gateway Address 4 H3-08 Terminal A3 Bias Setting
F7-13 Address Mode at Startup H3-09 Terminal A2 Signal Level Selection
F7-14 Duplex Mode Selection H3-10 Terminal A2 Function Selection
F7-15 Communication Speed Selection H3-11 Terminal A2 Gain Setting
F7-16 Communication Loss Time Out H3-12 Terminal A2 Bias Setting
F7-17 EtherNet/IP Speed Scaling Factor H3-13 Analog Input Filter Time Constant
F7-18 EtherNet/IP Current Scaling Factor H3-14 Analog Input Terminal Enable Selection
F7-19 EtherNet/IP Torque Scaling Factor H3-16 Terminal A1 Offset
F7-20 EtherNet/IP Power Scaling Factor H3-17 Terminal A2 Offset
F7-21 EtherNet/IP Voltage Scaling Factor H3-18 Terminal A3 Offset
F7-22 EtherNet/IP Time Scaling Multi-Function Analog Output Terminal FM Monitor
H4-01
F7-23 to Selection
Dynamic Output Assembly Parameters
F7-32 H4-02 Multi-Function Analog Output Terminal FM Gain
F7-33 to H4-03 Multi-Function Analog Output Terminal FM Bias
Dynamic Input Assembly Parameters
F7-42 Multi-Function Analog Output Terminal AM Monitor
H4-04
F7-60 PZD1 Write Selection
F7-61 PZD2 Write H4-05 Multi-Function Analog Output Terminal AM Gain
F7-62 PZD3 Write H4-06 Multi-Function Analog Output Terminal AM Bias
F7-63 Multi-Function Analog Output Terminal FM Signal Level

PZD4 Write H4-07
Selection
F7-64 PZD5 Write Multi-Function Analog Output Terminal AM Signal Level
H4-08
F7-65 PZD6 Write Selection
F7-66 PZD7 Write H5-01 Drive Node Address
F7-67 PZD8 Write H5-02 Communication Speed Selection
F7-68 PZD9 Write H5-03 Communication Parity Selection
H5-04 Stopping Method After Communication Error (CE)
F7-69 PZD10 Write
H5-05 Communication Fault Detection Selection
F7-70 PZD1 Read
H5-06 Drive Transmit Wait Time
F7-71 PZD2 Read
H5-07 RTS Control Selection
F7-72 PZD3 Read
H5-09 CE Detection Time
F7-73 PZD4 Read H5-10 Unit Selection for MEMOBUS/Modbus Register 0025H
F7-74 PZD5 Read H5-11 Communications ENTER Function Selection
F7-75 PZD6 Read H5-12 Run Command Method Selection
F7-76 PZD7 Read H5-17 Operation Selection when Unable to Write into EEPROM
F7-77 PZD8 Read H5-18 <1> Filter Time Constant for Motor Speed Monitoring
F7-78 PZD9 Read H6-01 Pulse Train Input Terminal RP Function Selection
F7-79 PZD10 Read H6-02 Pulse Train Input Scaling
Multi-Function Digital Input Terminal S1 Function H6-03 Pulse Train Input Gain
H1-01
Selection H6-04 Pulse Train Input Bias
Multi-Function Digital Input Terminal S2 Function H6-05 Pulse Train Input Filter Time
H1-02
Selection H6-06 Pulse Train Monitor Selection
Multi-Function Digital Input Terminal S3 Function H6-07 Pulse Train Monitor Scaling
H1-03
Selection
H6-08 Pulse Train Input Minimum Frequency
Multi-Function Digital Input Terminal S4 Function
H1-04 L1-01 Motor Overload Protection Selection
Selection
Multi-Function Digital Input Terminal S5 Function L1-02 Motor Overload Protection Time
H1-05
Selection L1-03 Motor Overheat Alarm Operation Selection (PTC input)
Multi-Function Digital Input Terminal S6 Function L1-04 Motor Overheat Fault Operation Selection (PTC input)
H1-06
Selection
L1-05 Motor Temperature Input Filter Time (PTC input)
H1-07 L1-08 <1> OL1 Current Lvl
Selection
L1-09 <1> OL1 Current Lvl (for 2nd motor)
H1-08 L1-13 Continuous Electrothermal Operation Selection
Selection
H2-01 Terminal M1-M2 Function Selection (relay) L1-15 Motor 1 Thermistor Selection (NTC)
H2-02 Terminal M3-M4 Function Selection (Relay) L1-16 Motor 1 Overheat Temperature
H2-03 Terminal M5-M6 Function Selection (Relay) L1-17 Motor 2 Thermistor Selection (NTC)
Quick Reference
H2-06 Watt Hour Output Unit Selection L1-18 Motor 2 Overheat Temperature
H2-07 <1> Memobus Regs1 Address Select L1-19 Operation at Thermistor Disconnect (THo) (NTC)
H2-08 <1> Memobus Regs1 Bit Select L1-20 Operation at Motor Overheat (oH5)
Sheet
User User
No. Name No. Name
Setting Setting
L2-01 Momentary Power Loss Operation Selection L8-07 Output Phase Loss Protection Selection
L2-02 Momentary Power Loss Ride-Thru Time L8-09 Output Ground Fault Detection Selection
L2-03 Momentary Power Loss Minimum Baseblock Time L8-10 Heatsink Cooling Fan Operation Selection
L2-04 Momentary Power Loss Voltage Recovery Ramp Time L8-11 Heatsink Cooling Fan Off Delay Time
L2-05 Undervoltage Detection Level (Uv1) L8-12 Ambient Temperature Setting
L2-06 KEB Deceleration Time L8-15 oL2 Characteristics Selection at Low Speeds
L2-07 KEB Acceleration Time L8-18 Software Current Limit Selection
L2-08 Frequency Gain at KEB Start L8-19 Frequency Reduction Rate during Overheat Pre-Alarm
L2-10 KEB Detection Time (Minimum KEB Time) L8-27 Overcurrent Detection Gain
L2-11 DC Bus Voltage Setpoint during KEB L8-29 Current Unbalance Detection (LF2)
L2-29 KEB Method Selection L8-32 Cooling Fan Failure Selection
L3-01 Stall Prevention Selection during Acceleration L8-35 Installation Method Selection
L3-02 Stall Prevention Level during Acceleration L8-38 Carrier Frequency Reduction Selection
L3-03 Stall Prevention Limit during Acceleration L8-40 Carrier Frequency Reduction Off-Delay Time
L3-04 Stall Prevention Selection during Deceleration L8-41 High Current Alarm Selection
L3-05 Stall Prevention Selection during Run L8-55 <1> Internal Braking Transistor Protection
L3-06 Stall Prevention Level during Run L8-78 Power Unit Output Phase Loss Protection
L3-11 Overvoltage Suppression Function Selection L8-93 LSo Detection Time at Low Speed
Target DC Bus Voltage for Overvoltage Suppression and L8-94 LSo Detection Level at Low Speed
L3-17
Stall Prevention L8-95 Average LSo Frequency at Low Speed
L3-20 DC Bus Voltage Adjustment Gain L9-03 <1> Carrier Frequency Reduction Level Selection
L3-21 Accel/Decel Rate Calculation Gain n1-01 Hunting Prevention Selection
L3-22 Deceleration Time at Stall Prevention during Acceleration n1-02 Hunting Prevention Gain Setting
Automatic Reduction Selection for Stall Prevention during n1-03 Hunting Prevention Time Constant
L3-23
Run
n1-05 Hunting Prevention Gain while in Reverse
L3-24 Motor Acceleration Time for Inertia Calculations
n2-01 Speed Feedback Detection Control (AFR) Gain
L3-25 Load Inertia Ratio
n2-02 Speed Feedback Detection Control (AFR) Time Constant 1
L3-26 Additional DC Bus Capacitors
n2-03 Speed Feedback Detection Control (AFR) Time Constant 2
L3-27 Stall Prevention Detection Time
n3-01 High Slip Braking Deceleration Frequency Width
L3-34 <1> Torque Limit Delay Time
n3-02 High Slip Braking Current Limit
Speed Agree Width at Intelligent Stall Prevention during
L3-35 <1> n3-03 High Slip Braking Dwell Time at Stop
Deceleration
L4-01 Speed Agreement Detection Level n3-04 High Slip Braking Overload Time
L4-02 Speed Agreement Detection Width n3-13 Overexcitation Deceleration Gain
L4-03 Speed Agreement Detection Level (+/-) High Frequency Injection during Overexcitation
n3-14
Deceleration
L4-04 Speed Agreement Detection Width (+/-)
n3-21 High Slip Suppression Current Level
L4-05 Frequency Reference Loss Detection Selection
n3-23 Overexcitation Operation Selection
L4-06 Frequency Reference at Reference Loss
n5-01 Feed Forward Control Selection
L4-07 Speed Agree Detection Selection
n5-02 Motor Acceleration Time
L5-01 Number of Auto Restart Attempts
n5-03 Feed Forward Control Gain
L5-02 Auto Restart Fault Output Operation Selection
n6-01 Online Tuning Selection
L5-04 Fault Reset Interval Time
n6-05 Online Tuning Gain
L5-05 Fault Reset Operation Selection
n8-01 Initial Rotor Position Estimation Current
L6-01 Torque Detection Selection 1
n8-02 Pole Attraction Current
L6-02 Torque Detection Level 1
n8-03 <1> Current Startup Time
L6-03 Torque Detection Time 1
n8-04 <1> Pole Attraction Time
L6-04 Torque Detection Selection 2
n8-11 <1> Induction Voltage Estimation Gain 2
L6-05 Torque Detection Level 2
n8-14 <1> Polarity Compensation Gain 3
L6-06 Torque Detection Time 2
n8-15 <1> Polarity Compensation Gain 4
L6-08 Mechanical Weakening Detection Operation
n8-21 <1> Motor Ke Gain
L6-09 Mechanical Weakening Detection Speed Level
n8-35 Initial Rotor Position Detection Selection
L6-10 Mechanical Weakening Detection Time
n8-36 <1> High Frequency Injection Level
L6-11 Mechanical Weakening Detection Start Time
n8-37 <1> High Frequency Injection Amplitude
L7-01 Forward Torque Limit
Low Pass Filter Cutoff Frequency for High Frequency
L7-02 Reverse Torque Limit n8-39 <1>
Injection
L7-03 Forward Regenerative Torque Limit n8-41 <1> HFI Overlap Pole Detection Pgain
L7-04 Reverse Regenerative Torque Limit n8-45 Speed Feedback Detection Control Gain (for PM Motors)
L7-06 Torque Limit Integral Time Constant Pull-In Current Compensation Time Constant (for PM
n8-47
Torque Limit Control Method Selection during Accel/ Motors)
L7-07
Decel n8-48 Pull-In Current (for PM Motors)
L7-16 Torque Limit Process at Start d-Axis Current for High Efficiency Control (for PM
n8-49
Internal Dynamic Braking Resistor Protection Selection Motors)
L8-01 <1>
(ERF type) n8-51 Acceleration/Deceleration Pull-In Current (for PM Motors)
L8-02 Overheat Alarm Level n8-54 Voltage Error Compensation Time Constant
L8-03 Overheat Pre-Alarm Operation Selection n8-55 Load Inertia
L8-05 Input Phase Loss Protection Selection n8-57 High Frequency Injection
User User
No. Name No. Name
Setting Setting
n8-62 Output Voltage Limit (for PM Motors) T2-17 Encoder Z-Pulse Offset
Speed Feedback Detection Control Gain during ov T3-01 Test Signal Frequency
n8-65
Suppression T3-02 Test Signal Amplitude
n8-69 Speed Calculation Gain T3-03 Motor Inertia
n8-72 <1> Speed Estimation Method Selection T3-04 System Response Frequency
n8-84 Polarity Judge Current
<1> Not available in models CIMR-A4A0930 and 4A1200.
o1-01 Drive Mode Unit Monitor Selection
o1-02 User Monitor Selection After Power Up
o1-03 Digital Operator Display Selection
o1-04 V/f Pattern Display Unit
o1-05 LCD Contrast Control
o1-10 User-Set Display Units Maximum Value
o1-11 User-Set Display Units Decimal Display
o2-01 LO/RE Key Function Selection
o2-02 STOP Key Function Selection
o2-03 User Parameter Default Value
o2-04 Drive Model Selection
o2-05 Frequency Reference Setting Method Selection
Operation Selection when Digital Operator is
o2-06
Disconnected
o2-07 Motor Direction at Power Up when Using Operator
o2-19 Selection of Parameter Write During UV
o3-01 Copy Function Selection
o3-02 Copy Allowed Selection
o4-01 Cumulative Operation Time Setting
o4-02 Cumulative Operation Time Selection
o4-03 Cooling Fan Maintenance Operation Time Setting
o4-05 Capacitor Maintenance Setting
o4-07 DC Bus Pre-charge Relay Maintenance Setting
o4-09 IGBT Maintenance Setting
o4-11 U2, U3 Initialize Selection
o4-12 kWh Monitor Initialization
o4-13 Number of Run Commands Counter Initialization
q1-01 to
DriveWorksEZ Parameters
q6-07
r1-01 to DriveWorksEZ Connection Parameter 1 to 20 (upper/
r1-40 lower)
T1-00 Motor 1/Motor 2 Selection
T1-01 Auto-Tuning Mode Selection
T1-02 Motor Rated Power
T1-03 Motor Rated Voltage
T1-04 Motor Rated Current
T1-05 Motor Base Frequency
T1-06 Number of Motor Poles
T1-07 Motor Base Speed
T1-08 PG Number of Pulses Per Revolution
T1-09 Motor No-Load Current (Stationary Auto-Tuning)
T1-10 Motor Rated Slip (Stationary Auto-Tuning)
T1-11 Motor Iron Loss
T2-01 PM Motor Auto-Tuning Mode Selection
T2-02 PM Motor Code Selection
T2-03 PM Motor Type
T2-04 PM Motor Rated Power
T2-05 PM Motor Rated Voltage
T2-06 PM Motor Rated Current
T2-07 PM Motor Base Frequency
T2-08 Number of PM Motor Poles
T2-09 PM Motor Base Speed
T2-10 PM Motor Stator Resistance
T2-11 PM Motor d-Axis Inductance
T2-12 PM Motor q-Axis Inductance
T2-13 Induced Voltage Constant Unit Selection
T2-14 PM Motor Induced Voltage Constant
Quick Reference
T2-15 Pull-In Current Level for PM Motor Tuning

PG Number of Pulses Per Revolution for PM Motor
T2-16
Tuning
Sheet
Index Analog Frequency Reference Fluctuation Limit . . . . . . . . . . . .205

Analog Frequency Reference Sample/Hold. . . . . . . . . . . . . . . .241
Analog Input Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . .228
Analog Input Filter Time Constant . . . . . . . . . . . . . . . . . . . . . .259
Symbols
Analog Input Option Card Bias . . . . . . . . . . . . . . . . . . . . . . . . .229
-. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Analog Input Option Card Gain. . . . . . . . . . . . . . . . . . . . . . . . .229
+1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Analog Input Option Card Operation Selection. . . . . . . . . . . . .228
+2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Analog Input Terminal Enable Selection . . . . . . . . . . . . . . . . . .259
+3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Analog Inputs / Pulse Train Input . . . . . . . . . . . . . . . . . . . . . . . .80
+V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Analog Monitor Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . .230
Numerics AO-A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .416
1800 min-1 Type Yaskawa SMRA Series SPM Motor AO-A3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .230
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536 Application Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
24 V Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417 Application Presets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .112
2-Wire Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 Application Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .112
3-Wire Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 Applications with Specialized Motors . . . . . . . . . . . . . . . . . . . . .24
3-Wire Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236 ASR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .190
3-Wire Sequence Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . 236 ASR Gain Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122
5th Most Recent Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520 ASR Gain Switching Frequency . . . . . . . . . . . . . . . . . . . . . . . .193
A ASR Integral Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193
ASR Integral Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192
A/D Conversion Error . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 337
ASR Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193
A1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
ASR Primary Delay Time Constant . . . . . . . . . . . . . . . . . . . . . .193
A1000 Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
ASR Proportional Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192
A1-02 (Motor 1 Control Mode) Dependent Parameters . . . . . 525
ASR Response Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . .133
A2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Attachment for External Heatsink . . . . . . . . . . . . . . . . . . .417, 436
A2 Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Auto Restart Fault Output Operation Selection . . . . . . . . . . . . .290
A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Auto Restart Operation Selection . . . . . . . . . . . . . . . . . . . . . . .504
A3 Analog/PTC Input Selection. . . . . . . . . . . . . . . . . . . . . . . . . 84
Automatic Reduction Selection for Stall Prevention
AC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80, 81
during Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .287, 502
AC Reactor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
Automatic Speed Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . .190
Accel/Decel Rate Calculation Gain . . . . . . . . . . . . . . . . . . . . . 286
Auto-Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .118, 123, 127
Accel/Decel Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329, 447
Auto-Tuning Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .362
Accel/Decel Time Setting Units. . . . . . . . . . . . . . . . . . . . . . . . 185
Auto-Tuning Error Displays . . . . . . . . . . . . . . . . . . . . . . . . . . .334
Accel/Decel Time Switching Frequency . . . . . . . . . . . . . . . . . 185
Auto-Tuning Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334
Acceleration Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335, 363
Auto-Tuning Fault Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125
Acceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Auto-Tuning Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . .362
Acceleration Time Pull-In Current. . . . . . . . . . . . . . . . . . . . . . 510
Auto-Tuning Fault Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . .362
Acceleration/Deceleration Pull-In Current (for PM Motors) . . 311
Auto-Tuning for Induction Motors . . . . . . . . . . . . . . . . . . . . . .118
Access Level Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . 137, 142
Auto-Tuning for Permanent Magnet Motors . . . . . . . . . . . . . . .119
Action Selection below Minimum Output Frequency . . . . . . . 154
Auto-Tuning Input Data. . . . . . . . . . . . . . . . . . . . . . .118, 120, 123
Additional DC Bus Capacitors. . . . . . . . . . . . . . . . . . . . . . . . . 288
Auto-Tuning Interruption and Fault Codes . . . . . . . . . . . . . . . .125
Adjusted Slip Calculation Error . . . . . . . . . . . . . . . . . . . . . . . . 362
Auto-Tuning Mode Selection. . . . . . . . . . . . . . . . . . . . . . .128, 513
Adjusting the ASR Parameters. . . . . . . . . . . . . . . . . . . . . . . . . 190
Average Pull-Out Frequency at Low Speed. . . . . . . . . . . . . . . .301
AEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
AFR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303 B
AFR Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326 B1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72
AFR Time Constant 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326 B2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72
AFR Time Constant 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326 Backing Up Parameter Values . . . . . . . . . . . . . . . . . . . . . . . . . .137
AI-A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416 Base Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216
AI-A3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 Base Voltage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216
Air Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407 Baseblock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .352
Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335 Baseblock Signal Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .333
ALARM (ALM) LED Displays . . . . . . . . . . . . . . . . . . . . . . . . . 97 Basic Auto-Tuning Preparations . . . . . . . . . . . . . . . . . . . . . . . .123
Alarm Outputs for Maintenance Monitors . . . . . . . . . . . . . . . . 384 Basic Start-up and Motor Tuning. . . . . . . . . . . . . . . . . . . . . . . .105
Alarm Register 007FH Contents . . . . . . . . . . . . . . . . . . . . . . . 576 bb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .333, 352
Alarms and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330 Before Auto-Tuning the Drive . . . . . . . . . . . . . . . . . . . . . . . . . .123
Allowable Frequency Fluctuation . . . . . . . . . . . . . . . . . . 445, 446 Bi-Directional Output Selection. . . . . . . . . . . . . . . . . . . . . . . . .206
Allowable Voltage Fluctuation. . . . . . . . . . . . . . . . . . . . . 445, 446 Bi-Directional Speed Search Selection . . . . . . . . . . . . . . . . . . .165
ALM LED Light. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 boL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .336, 352
Altitude. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Bottom Cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
AM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Braking Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .429
AM/FM Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 Braking Resistor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .416, 429
Ambient Temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Braking Resistor Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .348
Ambient Temperature and Installation Method Derating. . . . . 454 Braking Resistor Overheat . . . . . . . . . . . . . . . . . . . . . . . . . . . . .348
Ambient Temperature Setting . . . . . . . . . . . . . . . . . 298, 453, 505 Braking Resistor Overheat Protection . . . . . . . . . . . . . . . . . . . .447
Analog Filter Time Constant . . . . . . . . . . . . . . . . . . . . . . . . . . 329 Braking Resistor Overload Protection . . . . . . . . . . . . . . . . . . . .430
Braking Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447 Control Circuit Input Terminals . . . . . . . . . . . . . . . . . . . . . . . . . 80

Braking Transistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447 Control Circuit Output Terminals. . . . . . . . . . . . . . . . . . . . . . . . 81
Braking Transistor Overload Fault . . . . . . . . . . . . . . . . . . 336, 352 Control Circuit Terminal Arrangement . . . . . . . . . . . . . . . . . . . 81
Braking Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416 Control Circuit Terminal Block Functions. . . . . . . . . . . . . . . . . 80
Broadcast Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574 Control Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
bUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 333, 336, 352 Control Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 336
Buzzing Sound from Motor at 2 kHz . . . . . . . . . . . . . . . . . . . . 375 Control I/O Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
C Control Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Control Method Selection Error. . . . . . . . . . . . . . . . . . . . . . . . 360
Cable Length Between Drive and Motor . . . . . . . . . . . . . . . . . . 78
Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143, 516
CALL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333, 353
Control Mode Dependent Parameter Default Values . . . . . . . . 525
Cannot Change Parameter Settings . . . . . . . . . . . . . . . . . . . . . 370
Control Mode Mismatch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Cannot Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333, 353
Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
CANopen Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Control Modes and their Features . . . . . . . . . . . . . . . . . . . . . . . 30
Capacitor Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Control Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524
Capacitor Maintenance Setting. . . . . . . . . . . . . . . . . . . . . 319, 512
Control Power Supply Undervoltage . . . . . . . . . . . . . . . . . . . . 332
Capacitor Maintenance Time . . . . . . . . . . . . . . . . . . . . . . . . . . 355
Control Power Supply Voltage Fault . . . . . . . . . . . . . . . . . . . . 350
Carrier Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . 195, 445, 446
Conveyor Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Carrier Frequency and Current Derating . . . . . . . . . . . . . . . . . 450
Cooling Fan . . . . . . . . . . . . . . . . . . . . . . 35, 36, 37, 38, 39, 40, 41
Carrier Frequency Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
Cooling Fan Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Carrier Frequency during Rotational Auto-Tuning . . . . . . . . . 197
Cooling Fan Maintenance Setting (Operation Time) . . . . . . . . 512
Carrier Frequency Lower Limit . . . . . . . . . . . . . . . . . . . . . . . . 197
Cooling Fan Maintenance Time . . . . . . . . . . . . . . . . . . . . . . . . 355
Carrier Frequency Proportional Gain . . . . . . . . . . . . . . . . . . . . 197
Cooling Fan Operation Time . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Carrier Frequency Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . 506
Cooling Fan Operation Time Setting . . . . . . . . . . . . . . . . . . . . 319
Carrier Frequency Reduction Off-Delay Time. . . . . . . . . . . . . 300
Cooling Fan Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
Carrier Frequency Reduction Selection . . . . . . . . . . . . . . . . . . 300
CoPy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Carrier Frequency Selection . . . . . . . . . . . . . . . . . . . 196, 326, 327
Copy Allowed Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
Carrier Frequency Setting Error . . . . . . . . . . . . . . . . . . . . 334, 361
Copy Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Carrier Frequency Upper Limit . . . . . . . . . . . . . . . . . . . . . . . . 197
Copy Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138, 318
CC-Link Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Copy Function Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
CE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 333, 336, 353
Copy Function Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
CE Detection Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557
Copy Unit Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
CE Low Voltage Directive Compliance . . . . . . . . . . . . . . . . . . 591
CopyUnitManager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
CE mark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
CPEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
CF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 336
CPF02. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Changing Parameter Settings or Values . . . . . . . . . . . . . . . . . . 101
CPF03. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Circulation fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38, 39, 40, 41
CPF06. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Closed Loop Vector control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
CPF07. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Closed Loop Vector Control for PM Motors . . . . . . . . . . . . . . . 30
CPF08. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Coast to stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
CPF11 to CPF14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Coast to Stop with Timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
CPF20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 338
Command Messages from Master to Drive . . . . . . . . . . . . . . . 560
CPF21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 338
Communication Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
CPF22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 338
Communication Fault Detection Selection. . . . . . . . . . . . . . . . 557
CPF23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 338
Communication Option Card . . . . . . . . . . . . . . . . . . . . . . . . . . 231
CPF24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 338
Communication Option Card Reference . . . . . . . . . . . . . . . . . 521
CPF25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 338
Communication Parity Selection . . . . . . . . . . . . . . . . . . . . . . . 556
CPyE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Communication Speed of Serial Encoder Selection. . . . . . . . . 228
CRC-16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561
Communication Speed Selection . . . . . . . . . . . . . . . . . . . . . . . 556
CRC-16 Checksum Calculation Example . . . . . . . . . . . . . . . . 562
Communications Enter Function Selection . . . . . . . . . . . . . . . 558
CrST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333, 353
Communications Error Operation Selection . . . . . . . . . . . . . . 232
CSEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Communications Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
Cumulative Operation Time . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Comparing Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . 367
Cumulative Operation Time at 5th Most Recent Fault . . . . . . 520
Component Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Cumulative Operation Time at Most Recent Fault . . . . . . . . . 520
Compressor Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Cumulative Operation Time at Previous Fault. . . . . . . . . . . . . 519
Conducted Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
Cumulative Operation Time Selection . . . . . . . . . . . . . . . 318, 512
Connected Machinery Vibrates When Motor Rotates . . . . . . . 374
Cumulative Operation Time Setting. . . . . . . . . . . . . . . . . 318, 512
Connecting a DC Reactor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
Current Alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333, 355
Connecting an AC Reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
Current Detection Error . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 364
Connecting Braking Units in Parallel. . . . . . . . . . . . . . . . . . . . 431
Current Detection Speed Search . . . . . . . . . . . . . . . . . . . . . . . 160
Connecting Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . 418
Current Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
Connecting to a PC (USB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Current Imbalance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
Connection of a Motor PTC . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Current Unbalance Detection (LF2). . . . . . . . . . . . . . . . . 299, 506
Continuous Electrothermal Operation Selection . . . . . . . . . . . 272
Cyclic Redundancy Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561
Control Board Connection Error . . . . . . . . . . . . . . . . . . . 337, 338
Control Circuit Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337, 338
Control Circuit Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
D DM+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
D Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 dnE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .333, 353
d References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472 DO-A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .416
Daily Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380 DO-A3 Output Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . .231
d-Axis ACR Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522 DO-A3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .231
d-Axis Current for High Efficiency Control Drive Baseblock. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .333
(for PM Motors) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311 Drive Capacity Setting Fault . . . . . . . . . . . . . . . . . . . . . . . . . . .359
DC Bus Overvoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357 Drive Capacity Signal Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . .331
DC Bus Pre-Charge Relay Maintenance Setting . . . . . . . . . . . 319 Drive Cooling Fans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .385
DC Bus Undervoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350 Drive Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36, 37, 38
DC Bus Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516 Drive Cover 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39, 40, 41
DC Bus Voltage Adjustment Gain . . . . . . . . . . . . . . . . . . . . . . 286 Drive cover 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
DC Bus Voltage at Previous Fault . . . . . . . . . . . . . . . . . . . . . . 519 Drive Derating Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .450
DC Bus Voltage Setpoint during KEB . . . . . . . . . . . . . . . . . . . 280 Drive Disabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .333, 353
DC Injection Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374 Drive Does Not Allow Selection of Rotational
DC Injection Braking at Stop . . . . . . . . . . . . . . . . . . . . . . . . . . 375 Auto-Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .372
DC Injection Braking Current . . . . . . . . . . . . . . . . . . . . . 159, 375 Drive Duty Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . .195
DC Injection Braking Input Timing Diagram . . . . . . . . . . . . . 243 Drive Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99, 100
DC Injection Braking Start Frequency. . . . . . . . . . . . . . . . . . . 158 Drive Mode Unit Monitor Selection . . . . . . . . . . . . . . . . .314, 511
DC Injection Braking Time at Start . . . . . . . . . . . . . . . . . . . . . 159 Drive Model Mismatch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .366
DC Injection Braking Time at Stop . . . . . . . . . . . . . . . . . . . . . 159 Drive Model Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .316
DC Injection Braking to Stop. . . . . . . . . . . . . . . . . . . . . . . . . . 152 Drive Models and Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
DC Reactor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416 Drive Motor Overload Protection . . . . . . . . . . . . . . . . . . . . . . .610
DC Reactors for IEC/EN 61000-3-2 Compliance . . . . . . . . . . 599 Drive Operation Status at Previous Fault. . . . . . . . . . . . . . . . . .519
Deceleration Rate Calculation Gain. . . . . . . . . . . . . . . . . . . . . 502 Drive Overheat. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .333
Deceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 Drive Overheat Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .356
Deceleration Time at Stall Prevention during Drive Overload. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332, 346
Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286, 502 Drive Ready . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90
Defaults by Drive Model Selection (o2-04) and Drive Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .409
ND/HD (C6-01) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529 Drive Short-Circuit Rating. . . . . . . . . . . . . . . . . . . . . . . . . . . . .610
Delay Timers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 Drive Slave Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .556
Derivative Time (D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 Drive Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .447
Desired DC Bus Voltage during KEB . . . . . . . . . . . . . . . . . . . 501 Drive Standard Connection Diagram. . . . . . . . . . . . . . . . . . . . . .61
dEv . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 333, 338, 353 Drive Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .517
DeviceNet Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234 Drive Transmit Wait Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . .557
dFPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366 Drive Unit Setting Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334
DI-A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416 Drive Unit Signal Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .338
DI-A3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229 Drive Watt Loss Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .449
Diagnosing and Resetting Faults . . . . . . . . . . . . . . . . . . . . . . . 368 Drive/kVA Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .512
Digital Input Card Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . 229 DriveWizard Plus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .138, 417
Digital Input Option Card Input Selection . . . . . . . . . . . . . . . . 229 DriveWorksEZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .417
Digital Input Option DI-A3 Data Length Selection . . . . . . . . . 229 DriveWorksEZ Connection Parameters . . . . . . . . . . . . . . . . . . .320
Digital Input Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 DriveWorksEZ Custom Monitor 1 to 10 . . . . . . . . . . . . . . . . . .524
Digital Input Sink / Source / External Power Supply DriveWorksEZ Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .339
Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 DriveWorksEZ Function Selection . . . . . . . . . . . . . . . . . . . . . .147
Digital Operator . . . . . . . . . . . . . . . . 35, 36, 37, 38, 39, 40, 41, 95 DriveWorksEZ Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .322
Digital Operator Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 DriveWorksEZ Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . .320
Digital Operator Display Selection . . . . . . . . . . . . . . . . . 314, 511 Droop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .178
Digital Operator Installation Methods and Required Tools . . . . 50 Droop Control Delay Time . . . . . . . . . . . . . . . . . . . . . . . . . . . .179
Digital Operator Keypad Functions . . . . . . . . . . . . . . . . . . . . . 315 Droop Control Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .179
Digital Operator Menu and Screen Structure. . . . . . . . . . . . . . . 98 Droop Control Limit Selection . . . . . . . . . . . . . . . . . . . . . . . . .179
Digital Operator Remote Installation . . . . . . . . . . . . . . . . . . . . . 50 During Frequency Output Time Chart . . . . . . . . . . . . . . . . . . . .254
Digital Operator Remote Usage . . . . . . . . . . . . . . . . . . . . . . . . . 50 During Run 2, Motor Switch Command Input . . . . . . . . . . . . .334
Digital Output Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . 231 During Run Time Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .246
Digital Output Option Card Terminal Function Selection . . . . 231 dv1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .339
Dimensions for IP00 Enclosure dv2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .339
200 V Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 dv3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .339
400 V Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 dv3 Detection Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .227
Dimensions for IP20/UL Type 1 Enclosure dv4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .339
200 V Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 dv4 Detection Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .227
400 V Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 dv7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .339
DIP Switch S1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42, 84 dWAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .333, 339
DIP Switch S1 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Dwell Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .178, 329
DIP Switch S2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42, 84 Dwell Reference at Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .178
DIP Switch S4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 Dwell Reference at Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .178
DIP Switch S4 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Dwell Time at Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .178
DM- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Dwell Time at Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .178
DWEZ Connection Parameters . . . . . . . . . . . . . . . . . . . . . . . . 513 Er-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364

DWEZ Version Control Monitor 1 to 3 . . . . . . . . . . . . . . . . . . 524 Er-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
dWF1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339 Er-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
dWFL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339 Er-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
Dynamic Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332 Err. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 340
Dynamic Braking Transistor. . . . . . . . . . . . . . . . . . . . . . . 332, 348 Error Reading Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
E Error Writing Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Errors and Displays When Using the Copy Function . . . . . . . 335
E (G) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
European Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
E3-01 (Motor 2 Control Mode) Dependent Parameters . . . . . . 527
Excessive Motor Oscillation and Erratic Rotation. . . . . . . . . . 373
EEPROM Memory Data Error . . . . . . . . . . . . . . . . . . . . . . . . . 337
Excessive PID Feedback . . . . . . . . . . . . . . . . . 331, 333, 340, 354
EEPROM Write Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 340
Excessive Speed Deviation Detection Delay Time . . . . . . . . . 226
EF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333, 354
Excessive Speed Deviation Detection Level . . . . . . . . . . . . . . 226
EF0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 340, 354
Excessive V/f Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 362
EF1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340, 354
Exhaust Fan Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
EF1 to EF7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 333
Exterior and Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . 52
EF2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340, 354
External 24 Vdc Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . 85
EF3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340, 354
External Digital Operator Connection Fault . . . . . . . . . . . . . . 347
EF4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340, 354
External Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340, 354
EF5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340, 354
External Fault (input terminal S1 to S7) . . . . . . . . . . . . . 331, 333
EF6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340, 354
External Fault from Comm. Option Detection Selection. . . . . 232
EF7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340, 354
External Fault from Comm. Option Operation Selection . . . . 232
EF8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340, 354
External Interlock. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
EMC Filter and Drive Installation for CE Compliance . . . . . . 595 F
EMC Filter Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594 FAn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340, 354
EMC Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596 Fan Connector Cable (CN6). . . . . . . . . . . . . . . . . . . . . . . . . . . 393
EMC Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584 Fan Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35, 36, 386
EMC Guidelines Compliance. . . . . . . . . . . . . . . . . . . . . . . . . . 594 Fan Guard. . . . . . . . . . . . . . . . . . . . . . . . . . 37, 38, 39, 40, 41, 394
Enclosure Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Fan Relay Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
Encoder Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 Fan Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
Encoder Z-Pulse Offset . . . . . . . . . . . . . . . . . . . . . . . . . . 132, 224 Fan Unit Case . . . . . . . . . . . . . . . . . . . . . . . . . . . 37, 38, 39, 40, 41
End . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366 Fast Stop Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
End1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 362 Fast Stop Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
End2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 362 Fault Causes and Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
End3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 362 Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
End4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362 Fault Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 332, 336
End5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362 Fault History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321, 368, 520
End6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362 Fault Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
End7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362 Fault Reset Interval Time . . . . . . . . . . . . . . . . . . . . . . . . . 290, 504
Energy Saving. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 Fault Reset Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
Energy Saving Coefficient Value . . . . . . . . . . . . . . . . . . . . . . . 180 Fault Reset Operation Selection. . . . . . . . . . . . . . . . . . . . 291, 504
Energy Saving Control Filter Time Constant . . . . . . . . . . . . . . 180 Fault Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
Energy Saving Control Selection . . . . . . . . . . . . . . . . . . . . . . . 179 Fault Trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321, 368, 518
Energy Saving Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 Fault Trace / History Register Contents . . . . . . . . . . . . . . . . . . 574
Enter Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577 Fault Trace Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
Enter command necessary . . . . . . . . . . . . . . . . . . . . . . . . . . . . 558 Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330, 331
Enter command not necessary . . . . . . . . . . . . . . . . . . . . . . . . . 558 FbH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 333, 340, 354
Enter Command Settings when Upgrading the Drive . . . . . . . 577 FbL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 333, 341, 355
Enter Command Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577 Feed Forward Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Enter Data from the Motor Nameplate. . . . . . . . . . . . . . . . . . . 126 Feed Forward Control Diagram . . . . . . . . . . . . . . . . . . . . . . . . 306
Er-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 363 Feed Forward Control Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Er-02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335, 363 Feed Forward Control Selection . . . . . . . . . . . . . . . . . . . . . . . 306
Er-03 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335, 363 Ferrule Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Er-04 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335, 363 Ferrule Terminal Types and Sizes . . . . . . . . . . . . . . . . . . . . . . . 82
Er-05 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335, 363 Ferrule-Type Wire Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Er-08 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335, 363 Field Forcing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Er-09 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335, 363 Field Forcing Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Er-10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364 Field Forcing Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Er-11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 364 Field Weakening. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Er-12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 364 Field Weakening Frequency Limit . . . . . . . . . . . . . . . . . . . . . . 210
Er-13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364 Field Weakening Level. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Er-14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364 Fine-Tuning Advanced Open Loop Vector Control for PM
Er-15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
Er-16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364 Fine-Tuning Closed Loop Vector Control . . . . . . . . . . . . . . . . 327
Er-17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364 Fine-Tuning Closed Loop Vector Control for PM Motors. . . . 329
Er-18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364 Fine-Tuning Open Loop Vector Control . . . . . . . . . . . . . . . . . 326
Fine-Tuning Open Loop Vector Control for PM Motors . . . . . 327 H2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
Fine-Tuning V/f Control and V/f Control with PG . . . . . . . . . 326 H3 Multi-Function Analog Input Settings . . . . . . . . . . . . . . . . .496
FJOG/RJOG Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239 Hbb. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .333, 355
FM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 HbbF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .333, 355
Formula to calculate the amount of voltage drop. . . . . . . . . . . . 73 HC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
Forward Regenerative Torque Limit . . . . . . . . . . . . . . . . 294, 505 HCA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .333, 355
Forward Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . 294, 505 HD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195
Forward/Reverse Run Command Input Error . . . . . . . . . . . . . 354 HD and ND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .444
Frequency Accuracy (Temperature Fluctuation) . . . . . . . . . . . 447 Heatsink . . . . . . . . . . . . . . . . . . . . . . . . . .35, 36, 37, 38, 39, 40, 41
Frequency Control Range. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447 Heatsink Cooling Fan Off-Delay Time . . . . . . . . . . . . . . . . . . .298
Frequency Detection 1 Time Chart . . . . . . . . . . . . . . . . . . . . . 248 Heatsink Cooling Fan Operation Delay Time . . . . . . . . . . . . . .505
Frequency Detection 2 Time Chart . . . . . . . . . . . . . . . . . . . . . 249 Heatsink Cooling Fan Operation Selection . . . . . . . . . . . .297, 505
Frequency Detection 3 Example with a Positive L3-04 Heatsink Overheat . . . . . . . . . . . . . . . . . . . . . . .332, 333, 345, 356
Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252 Heatsink Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .520
Frequency Detection 4 Example with Positive L3-04 Heavy Duty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33, 195, 444
Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252 Heavy Duty Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .444
Frequency Gain at KEB Start. . . . . . . . . . . . . . . . . . . . . . . . . . 280 HFI Overlap Pole Detection Pgain. . . . . . . . . . . . . . . . . . . . . . .310
Frequency Reduction Rate during Overheat High Current Alarm Selection . . . . . . . . . . . . . . . . . . . . . . . . . .300
Pre-Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296, 506 High Frequency Injection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .312
Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198, 516 High Frequency Injection Amplitude. . . . . . . . . . . . . . . . . . . . .310
Frequency Reference at Previous Fault . . . . . . . . . . . . . . . . . . 518 High Frequency Injection during Overexcitation
Frequency Reference at Reference Loss . . . . . . . . . . . . . 289, 503 Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .305
Frequency Reference Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 High Frequency Injection Level . . . . . . . . . . . . . . . . . . . . . . . .310
Frequency Reference Bias (Up/Down 2) . . . . . . . . . . . . . . . . . 523 High Performance Operation Using OLV or CLV. . . . . . . . . . .107
Frequency Reference Bias Accel/Decel . . . . . . . . . . . . . . . . . . 204 High Slip Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .303
Frequency Reference Bias Lower Limit . . . . . . . . . . . . . . . . . 205 High Slip Braking Current Limit . . . . . . . . . . . . . . . . . . . . . . . .304
Frequency Reference Bias Operation Mode Selection . . . . . . 204 High Slip Braking Deceleration Frequency Width . . . . . . . . . .303
Frequency Reference Bias Step . . . . . . . . . . . . . . . . . . . . . . . . 203 High Slip Braking Dwell Time at Stop . . . . . . . . . . . . . . . . . . .304
Frequency Reference Bias Upper Limit. . . . . . . . . . . . . . . . . . 205 High Slip Braking oL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332
Frequency Reference from MEMOBUS/Modbus Comm.. . . . 521 High Slip Braking Overload Time . . . . . . . . . . . . . . . . . . . . . . .304
Frequency Reference Hold. . . . . . . . . . . . . . . . . . . . . . . . . . . . 201 High Slip Suppression Current Level . . . . . . . . . . . . . . . . . . . .305
Frequency Reference Hold Function Selection . . . . . . . . . . . . 201 High-slip Braking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .346
Frequency Reference Loss Detection Selection. . . . . . . . 289, 503 High-Slip Braking Current Limit. . . . . . . . . . . . . . . . . . . . . . . .508
Frequency Reference Lower Limit . . . . . . . . . . . . . . . . . . . . . 200 High-Slip Braking Deceleration Frequency Width . . . . . . . . . .508
Frequency Reference Monitor Content During PID . . . . . . . . 176 High-Slip Braking Dwell Time at Stop . . . . . . . . . . . . . . . . . . .508
Frequency Reference Selection . . . . . . . . . . . . . . . . . . . . . . . . 460 High-slip Braking oL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .346
Frequency Reference Selection 1. . . . . . . . . . . . . . . . . . . 148, 371 High-Slip Braking Overload Time. . . . . . . . . . . . . . . . . . .346, 508
Frequency Reference Selection 2. . . . . . . . . . . . . . . . . . . . . . . 157 High-Slip Suppression Current Level . . . . . . . . . . . . . . . . . . . .508
Frequency Reference Setting / Decimal Display . . . . . . . . . . . 511 Hoist Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .114
Frequency Reference Setting and User-Set Display . . . . . . . . 511 HSB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .303
Frequency Reference Setting Hierarchy . . . . . . . . . . . . . . . . . 198 Humidity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
Frequency Reference Setting Method Selection . . . . . . . 317, 512 Hunting Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .302
Frequency Reference Source Selection . . . . . . . . . . . . . . . . . . 521 Hunting Prevention Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .326
Frequency Reference Upper Limit. . . . . . . . . . . . . . . . . . . . . . 200 Hunting Prevention Gain Setting . . . . . . . . . . . . . . . . . . . .302, 507
Frequency Setting Resolution . . . . . . . . . . . . . . . . . . . . . . . . . 447 Hunting Prevention Gain while in Reverse . . . . . . . . . . . .302, 507
Frequency Setting Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447 Hunting Prevention Selection . . . . . . . . . . . . . . . . . . . . . .302, 507
Front Cover . . . . . . . . . . . . . . . . . . . . . . . . . 36, 37, 38, 39, 40, 41 Hunting Prevention Time Constant . . . . . . . . . . . . . . . . . .302, 507
Front cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 HVAC Fan Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .113
Front Cover Screw . . . . . . . . . . . . . . . . . . . . 36, 37, 38, 39, 40, 41 I
Function Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561
I Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168
Function Key (F1, F2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
IEC/EN 61800-3 C2 Filters . . . . . . . . . . . . . . . . . . . . . . . .596, 598
Function Key 1 (F1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
iFEr. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .366
Function Key 2 (F2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
IG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
Functions for Terminals S1 to S8 . . . . . . . . . . . . . . . . . . . . . . . 235
IGBT Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .520
Fuse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436
IGBT Maintenance Setting . . . . . . . . . . . . . . . . . . . . . . . .319, 513
Fuses and Fuse Holders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592
IGBT Maintenance Time (50%) . . . . . . . . . . . . . . . . . . . . . . . .356
G IGBT Maintenance Time (90%) . . . . . . . . . . . . . . . . . . . . . . . .358
General Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Induced Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .434
GF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 341 Induced Voltage Constant Unit Selection . . . . . . . . . . . . . . . . .132
Ground Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 341 Induction Voltage Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .364
Ground Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Inertia Detection Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .364
Ground Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Inertia Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122
H Inertia Tuning Frequency Reference . . . . . . . . . . . . . . . . . . . . .133
Inertia Tuning Reference Amplitude . . . . . . . . . . . . . . . . . . . . .133
H1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Initial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .105
H1 Multi-Function Digital Input Selections. . . . . . . . . . . . . . . 489
Initial Rotor Position Detection Selection . . . . . . . . . . . . . . . . .309
H1/H2 Sink/Source Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Initial Rotor Position Estimation Current. . . . . . . . . . . . . . . . . 308 KEB Ride-Thru End Detection . . . . . . . . . . . . . . . . . . . . . . . . 276
Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 KEB Ride-Thru Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Initialization required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359 KEB Ride-Thru Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
Initialize Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137, 143 KEB Start Output Frequency Reduction . . . . . . . . . . . . . . . . . 501
Input Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445, 446 Keys and Displays on the Digital Operator . . . . . . . . . . . . . . . . 95
Input Fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436 kWh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Input Phase Loss. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 348 kWh Monitor Initial Value Selection . . . . . . . . . . . . . . . . . . . . 513
Input Phase Loss Protection Selection . . . . . . . . . . . . . . . 297, 505 kWh Monitor Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
Input Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445, 446 kWh, Lower 4 Digits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Input Pulse Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518 kWh, Upper 5 Digits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Input Terminal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517 L
Input Terminal Status at Previous Fault . . . . . . . . . . . . . . . . . . 519
L Protection Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
Input Terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Language Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Input Voltage Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
LCD Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Inrush Prevention Circuit Fault . . . . . . . . . . . . . . . . . . . . . . . . 350
LCD Operator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
Inrush Prevention Relay Maintenance Setting . . . . . . . . . . . . . 513
Leakage Inductance Alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380, 381
Leakage Inductance Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
LED Check. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Installation Method Selection. . . . . . . . . . . . . . . . . . . . . . . . . . 299
LF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 341
Installation Orientation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
LF2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 341
Installation Orientation and Spacing . . . . . . . . . . . . . . . . . . . . . 46
LF3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
Installation Spacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Line-to-Line Motor Resistance Online Tuning . . . . . . . . . . . . 509
Installing a Braking Resistor Unit: LKEB type . . . . . . . . . . . . 430
Line-to-Line Resistance Error . . . . . . . . . . . . . . . . . . . . . 335, 363
Installing a Braking Resistor: ERF type. . . . . . . . . . . . . . . . . . 429
LO/RE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97, 104, 134
Installing a Braking Unit: CDBR Type . . . . . . . . . . . . . . . . . . 431
LO/RE (LOCAL/REMOTE) Key Function Selection . . . . . . . 315
Installing a Leakage Breaker . . . . . . . . . . . . . . . . . . . . . . . . . . 432
LO/RE LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Installing a Molded Case Circuit Breaker (MCCB) . . . . . . . . . 432
LO/RE Light. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Installing a Motor Thermal Overload (oL) Relay on the
Load Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
Drive Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437
Load Falls When Brake is Applied . . . . . . . . . . . . . . . . . . . . . 374
Installing Other Types of Braking Resistors. . . . . . . . . . . . . . . 430
Load Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311, 510
Installing Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . 429
Load Inertia Ratio. . . . . . . . . . . . . . . . . . . . . . . 194, 287, 347, 502
Installing the Cooling Fan . . . . . . . . . . . . . . . . . . . . 388, 390, 396
LOCAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Insulation Barrier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
LOCAL/REMOTE Key Function Selection . . . . . . . . . . . . . . 512
Insulation Cap. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
LOCAL/REMOTE Run Selection . . . . . . . . . . . . . . . . . . . . . . 156
Integral Limit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Locations of Jumpers and Switches on the Terminal Board . . . 84
Integral Operation during Accel/Decel. . . . . . . . . . . . . . . . . . . 193
Loopback Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
Integral Operation during Accel/Decel for Motor 2 . . . . . . . . . 195
Loss of Reference Function . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
Integral Time Setting (I) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Low Voltage Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
Interlock Circuit Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Low Voltage Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610
Internal Braking Transistor Protection . . . . . . . . . . . . . . . . . . . 300
Low Voltage Wiring for Control Circuit Terminals . . . . . . . . . 610
Internal Dynamic Braking Resistor Protection Selection
LSo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 342
(ERF type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295, 505
LT-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
Internal Fan Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340, 354
LT-2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
Inversion Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
LT-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
Inversion Prevention Detection . . . . . . . . . . . . . . . . . . . . . . . . 339
LT-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
IP00 Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
IP20/UL Type 1 Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 M
M1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
J
M2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Jog Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
M3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Jump Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200, 329
M4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Jump Frequency Width. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
M5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Jumper S3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
M6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Jumper S5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
MA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Jumper S5 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Magnetic Flux Compensation Value . . . . . . . . . . . . . . . . . . . . 159
K Main Circuit Connection Diagram. . . . . . . . . . . . . . . . . . . . 63, 79
KEB Acceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . . 280, 501 Main Circuit Terminal and Motor Wiring . . . . . . . . . . . . . . . . . 78
KEB Deceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . . 280, 501 Main Circuit Terminal Block Configuration . . . . . . . . . . . . . . . 65
KEB Detection Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280 Main Circuit Terminal Functions . . . . . . . . . . . . . . . . . . . . . . . . 72
KEB Function Related Adjustments. . . . . . . . . . . . . . . . . . . . . 279 Main Circuit Terminal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . 79
KEB Method Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
KEB Operation Using a KEB Input . . . . . . . . . . . . . . . . . . . . . 276 Main Power Circuit Voltage Adjustment Gain. . . . . . . . . . . . . 502
KEB Operation Using L2-02 and KEB Input. . . . . . . . . . . . . . 277 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383, 384
KEB Operation Using L2-02, Without KEB Input . . . . . . . . . 276 Maintenance Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
KEB Operation Using L2-10 and KEB Input. . . . . . . . . . . . . . 278 Maintenance Monitor Settings . . . . . . . . . . . . . . . . . . . . . . . . . 318
KEB Operation Using L2-10, Without KEB Input . . . . . . . . . 277 Maintenance Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . 321, 520
KEB Operation Wiring Example . . . . . . . . . . . . . . . . . . . . . . . 278 Master Speed Reference Lower Limit . . . . . . . . . . . . . . . . . . . 200
Max. Motor Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Motor 2 ASR Primary Delay Time Constant . . . . . . . . . . . . . . .194
Maximum Applicable Motor Capacity. . . . . . . . . . . . . . . 445, 446 Motor 2 ASR Proportional Gain . . . . . . . . . . . . . . . . . . . . . . . .194
Maximum Output Frequency . . . . . . . . . . . . . . . . . . 216, 445, 446 Motor 2 Base Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220
Maximum Output Voltage . . . . . . . . . . . . . . . . . . . . . . . . 445, 446 Motor 2 Base Voltage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220
Maximum Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216 Motor 2 Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . .219
MB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Motor 2 Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195
MC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Motor 2 Iron Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .222
Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Motor 2 Leakage Inductance . . . . . . . . . . . . . . . . . . . . . . . . . . .221
Mechanical Weakening Detection . . . . . . . . . . . . . . . . . . . . . . 293 Motor 2 Line-to-Line Resistance . . . . . . . . . . . . . . . . . . . . . . . .221
Mechanical Weakening Detection 1. . . . . . . . . 332, 333, 346, 357 Motor 2 Load Inertia Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . .195
Mechanical Weakening Detection 2. . . . . . . . . . . . . . . . . . . . . 350 Motor 2 Max Output Frequency . . . . . . . . . . . . . . . . . . . . . . . .220
Mechanical Weakening Detection Operation. . . . . . . . . . 293, 504 Motor 2 Max Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220
Mechanical Weakening Detection Speed Level . . . . . . . . 293, 504 Motor 2 Mechanical Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . .222
Mechanical Weakening Detection Start Time . . . . . . . . . 294, 504 Motor 2 Mid Output Frequency . . . . . . . . . . . . . . . . . . . . . . . . .220
Mechanical Weakening Detection Time. . . . . . . . . . . . . . 293, 504 Motor 2 Mid Output Frequency 2 . . . . . . . . . . . . . . . . . . . . . . .220
MECHATROLINK Parameters . . . . . . . . . . . . . . . . . . . . . . . . 233 Motor 2 Mid Output Frequency Voltage . . . . . . . . . . . . . . . . . .220
MEMOBUS/Modbus Comm. Test Mode Complete . . . . . . . . 357 Motor 2 Mid Output Frequency Voltage 2. . . . . . . . . . . . . . . . .220
MEMOBUS/Modbus Communication. . . . . . . . . . . . . . . . . . . . 81 Motor 2 Minimum Output Frequency . . . . . . . . . . . . . . . . . . . .220
MEMOBUS/Modbus Communication Motor 2 Minimum Output Frequency Voltage. . . . . . . . . . . . . .220
Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 333, 336, 353 Motor 2 Motor Iron-Core Saturation Coefficient 1 . . . . . . . . . .221
MEMOBUS/Modbus Communication Test Mode Error . . . . . 358 Motor 2 Motor Iron-Core Saturation Coefficient 2 . . . . . . . . . .222
MEMOBUS/Modbus Communications . . . . . . . . . . . . . . . . . . 551 Motor 2 Motor Poles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .221
MEMOBUS/Modbus Communications Reference . . . . . . . . . 521 Motor 2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220
MEMOBUS/Modbus Data Table . . . . . . . . . . . . . . . . . . . . . . . 565 Motor 2 Rated Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220
MEMOBUS/Modbus Error Code. . . . . . . . . . . . . . . . . . . . . . . 518 Motor 2 Rated No-Load Current . . . . . . . . . . . . . . . . . . . . . . . .221
MEMOBUS/Modbus Error Codes . . . . . . . . . . . . . . . . . . . . . . 578 Motor 2 Rated Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .222
MEMOBUS/Modbus Setup Parameters. . . . . . . . . . . . . . . . . . 556 Motor 2 Rated Slip. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .221
MEMOBUS/Modbus Specifications . . . . . . . . . . . . . . . . . . . . 553 Motor 2 Slip Compensation Gain . . . . . . . . . . . . . . . . . . . . . . .188
MEMOBUS/Modbus Switch Settings . . . . . . . . . . . . . . . . . . . . 88 Motor 2 Slip Compensation Limit . . . . . . . . . . . . . . . . . . . . . . .188
MEMOBUS/Modbus Termination . . . . . . . . . . . . . . . . . . . . . . . 88 Motor 2 Slip Compensation Primary Delay Time . . . . . . . . . . .188
MEMOBUS/Modbus Test Mode Complete . . . . . . . . . . . . . . . 334 Motor 2 Slip Compensation Selection during
Menu Structure for Digital Operator . . . . . . . . . . . . . . . . . . . . . 98 Regeneration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .188
Message Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561 Motor 2 Torque Compensation Gain . . . . . . . . . . . . . . . . . . . . .190
Mid Output Voltage A . . . . . . . . . . . . . . . . . . . . . . . . . . . 326, 327 Motor Acceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .306
Middle Output Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216 Motor Acceleration Time for Inertia Calculations . . . . . . .287, 502
Middle Output Frequency 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . 216 Motor Base Frequency . . . . . . . . . . . . . . . . . . . . . . . .126, 128, 514
Middle Output Frequency Voltage . . . . . . . . . . . . . . . . . . . . . . 216 Motor Base Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129, 514
Middle Output Frequency Voltage 2 . . . . . . . . . . . . . . . . . . . . 216 Motor Code Selection (for PM Motors). . . . . . . . . . . . . . .223, 536
Minimum KEB Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280 Motor Data Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334, 363
Minimum Output Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . 216 Motor d-Axis Current at Previous Fault . . . . . . . . . . . . . . . . . .519
Minimum Output Frequency Voltage. . . . . . . . . . . . . . . . . . . . 216 Motor d-Axis Inductance (for PM Motors) . . . . . . . . . . . . . . . .223
Minimum Output Voltage. . . . . . . . . . . . . . . . . . . . . . . . . 326, 327 Motor Direction at Power Up when Using Operator . . . . .317, 512
Minimum Wait Time for Sending Messages . . . . . . . . . . . . . . 560 Motor Direction Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .364
Minor Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333 Motor Does Not Rotate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .371
Minor Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363 Motor Excitation Current (ld) . . . . . . . . . . . . . . . . . . . . . . . . . .522
Minor Fault and Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . 333 Motor Feedback Resolver Interface. . . . . . . . . . . . . . . . . . . . . .416
Minor Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333 Motor Hunting and Oscillation Control Parameters . . . . . . . . .329
Minor Faults and Alarms . . . . . . . . . . . . . . . . . . . . . . . . . 330, 333 Motor Induction Voltage Constant 1 (for PM Motors) . . . . . . .224
Model Number and Nameplate Check . . . . . . . . . . . . . . . . . . . . 32 Motor Induction Voltage Constant 2 (for PM Motors) . . . . . . .224
Model, Voltage Class, Capacity Mismatch . . . . . . . . . . . . . . . 366 Motor Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .133, 194
Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 Motor Iron Core Saturation Coefficient Error . . . . . . . . . . . . . .334
Momentary Overcurrent Protection . . . . . . . . . . . . . . . . . . . . . 447 Motor Iron Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129, 514
Momentary Power Loss Minimum Baseblock Time . . . . 279, 501 Motor Iron Loss for Torque Compensation . . . . . . . . . . . . . . . .218
Momentary Power Loss Operation Selection. . . . . . . . . . 274, 501 Motor Iron-Core Saturation Coefficient . . . . . . . . . . . . . . . . . .362
Momentary Power Loss Ride-Thru . . . . . . . . . . . . . . . . . 274, 447 Motor Iron-Core Saturation Coefficient 1 . . . . . . . . . . . . . . . . .218
Momentary Power Loss Ride-Thru Time. . . . . . . . . . . . . 279, 501 Motor Iron-Core Saturation Coefficient 2 . . . . . . . . . . . . . . . . .218
Momentary Power Loss Voltage Recovery Ramp Motor is Too Hot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .372
Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279, 501 Motor Leakage Inductance. . . . . . . . . . . . . . . . . . . . . . . . . . . . .217
Monitor Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Motor Line-to-Line Resistance . . . . . . . . . . . . . . . . . . . . . . . . .217
Monitor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321, 516 Motor Mechanical Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .218
Most Recent Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520 Motor No-Load Current . . . . . . . . . . . . . . . . . . . . . . . . . . .129, 217
Motor 1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216 Motor Overheat . . . . . . . . . . . . . . . . . . . . . . . . . . . . .333, 345, 356
Motor 1/Motor 2 Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 Motor Overheat 1 (PTC input). . . . . . . . . . . . . . . . . . . . . . . . . .332
Motor 2 ASR Gain Switching Frequency . . . . . . . . . . . . . . . . 194 Motor Overheat 2 (PTC input). . . . . . . . . . . . . . . . . . . . . . . . . .332
Motor 2 ASR Integral Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . 194 Motor Overheat Alarm (PTC Input). . . . . . . . . . . . . . . . . . . . . .345
Motor 2 ASR Integral Time . . . . . . . . . . . . . . . . . . . . . . . . . . . 194 Motor Overheat Alarm Operation Selection . . . . . . . . . . .271, 500
Motor 2 ASR Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194 Motor Overheat Fault (PTC Input) . . . . . . . . . . . . . . . . . . . . . .345
Motor Overheat Fault Operation Selection . . . . . . . . . . . 271, 500 N

Motor Overload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 345 n Advanced Performance Set Up . . . . . . . . . . . . . . . . . . . . . . . 507
Motor Overload Estimate (oL1) . . . . . . . . . . . . . . . . . . . . . . . . 521 n2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
Motor Overload Protection Selection. . . . . . . . . . . . 267, 500, 611 Nameplate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Motor Overload Protection Time . . . . . . . . . . . . . . . 269, 500, 611 Navigating the Drive and Programming Modes . . . . . . . . . . . . 99
Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212 ND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Motor Performance Fine-Tuning . . . . . . . . . . . . . . . . . . . . . . . 326 ndAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Motor PG Feedback Line Driver Interface. . . . . . . . . . . . . . . . 416 NetRef/ComRef Function Selection . . . . . . . . . . . . . . . . . . . . 232
Motor PG Feedback Open Collector Interface . . . . . . . . . . . . . 416 Network Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555
Motor Poles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 Noise Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
Motor Produces Insufficient Torque. . . . . . . . . . . . . . . . . . . . . 375 Noise From the Drive or Output Lines When the Drive
Motor Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267 is Powered On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
Motor Protection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346 No-Load Current Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
Motor Protection Using a Positive Temperature No-Load Current Error. . . . . . . . . . . . . . . . . . . . . . . . . . . 335, 363
Coefficient . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270 No-Load Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Motor PTC Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270 No-Load Operation Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Motor Pull Out or Step Out Detection . . . . . . . . . . . . . . . . . . . 349 Normal Duty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33, 195, 444
Motor q-Axis Current at Previous Fault. . . . . . . . . . . . . . . . . . 519 Normal Duty Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
Motor q-Axis Inductance (for PM Motors) . . . . . . . . . . . . . . . 224 Notes on Controlling the Brake when Using the Hoist
Motor Rated Current. . . . . . . . . . . . . 126, 128, 216, 223, 514, 610 Application Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Motor Rated Power. . . . . . . . . . . . . . . . . . . . . . 128, 218, 223, 513 Notes on Inertia Tuning and ASR Gain Auto-Tuning . . . . . . . 125
Motor Rated Slip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129, 217 Notes on Motor Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Motor Rated Voltage. . . . . . . . . . . . . . . . . . . . . . . . . 126, 128, 513 Notes on Rotational Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . 123
Motor Rotates After the Drive Output is Shut Off . . . . . . . . . . 375 Notes on Stationary Auto-Tuning. . . . . . . . . . . . . . . . . . . . . . . 124
Motor Rotates Faster Than the Frequency Reference . . . . . . . 373 nSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
Motor Rotates in One Direction Only . . . . . . . . . . . . . . . . . . . 372 Number of Auto Restart Attempts . . . . . . . . . . . . . . . . . . 290, 504
Motor Secondary Current (Iq) . . . . . . . . . . . . . . . . . . . . . . . . . 522 Number of Motor Poles . . . . . . . . . . . . . . . . . . 129, 217, 223, 514
Motor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240 Number of PM Motor Poles . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Motor Selection 1/2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513 Number of Run Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Motor Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516 Number of Run Commands Counter Initialization . . . . . . . . . 320
Motor Speed at Previous Fault . . . . . . . . . . . . . . . . . . . . . . . . . 518 Number of Speed Search Restarts . . . . . . . . . . . . . . . . . . . . . . 165
Motor Speed Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Motor Speed Error 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
O
Motor Speed Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364 oC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 342
Motor Stalls During Acceleration or With Large Loads. . . . . . 373 oFA00 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 343
Motor Stator Resistance (for PM Motors) . . . . . . . . . . . . . . . . 223 oFA01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 343
Motor Switch during Run. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357 oFA03 to oFA06 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Motor Temperature Input Filter Time. . . . . . . . . . . . . . . . 271, 500 oFA10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Motor Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 oFA11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Mounting Hole . . . . . . . . . . . . . . . . . . . . 35, 36, 37, 38, 39, 40, 41 oFA12 to oFA17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
MP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 oFA30 to oFA43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331, 343
Multi-Function Analog Input Selection Error . . . . . . . . . 334, 360 oFb00 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Multi-Function Analog Input Terminal Settings . . . . . . . . . . . 260 oFb01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Multi-Function Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . 257 oFb02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Multi-Function Analog Output Terminal AM Bias . . . . . . . . . 263 oFb03 to oFb11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Multi-Function Analog Output Terminal AM Gain . . . . . . . . . 263 oFb12 to oFb17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Multi-Function Analog Output Terminal AM Monitor oFC00 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262 oFC01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Multi-Function Analog Output Terminal AM Signal oFC02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Level Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264 oFC03 to oFC11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Multi-Function Analog Output Terminal FM Bias. . . . . . . . . . 263 oFC12 to oFC17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Multi-Function Analog Output Terminal FM Gain . . . . . . . . . 263 Offset Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211, 523
Multi-Function Analog Output Terminal FM Monitor oH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 333, 345, 356
Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262 oH1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 345
Multi-Function Analog Output Terminal FM Signal oH2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333, 356
Level Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264 oH3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 333, 345, 356
Multi-Function Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . 262 oH4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 345
Multi-Function Digital Input Terminal Settings. . . . . . . . . . . . 235 oH5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 333, 345, 356
Multi-Function Digital Inputs. . . . . . . . . . . . . . . . . . . . . . . 80, 235 oL1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 345
Multi-Function Digital Output . . . . . . . . . . . . . . . . . . . . . . . . . . 81 oL2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 346, 375
Multi-Function Digital Output Terminal Settings . . . . . . . . . . 246 oL2 Characteristics Selection at Low Speeds . . . . . . . . . 298, 506
Multi-Function Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . 246 oL3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 333, 346, 356
Multi-Function Input Selection Error. . . . . . . . . . . . . . . . . . . . 359 oL4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 333, 346, 356
Multi-Function Input Setting Error . . . . . . . . . . . . . . . . . . . . . 334 oL5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 333, 346, 357
Multiple Drive Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 oL7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 346
Multiple Drive Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Online Tuning Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Multi-Step Speed Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . 198 Online Tuning Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
oPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359 Output Frequency after Soft Start . . . . . . . . . . . . . . . . . . . . . . .517

oPE Fault Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517 Output Frequency at Previous Fault. . . . . . . . . . . . . . . . . . . . . .518
oPE01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 359 Output Frequency is not as High as Frequency Reference . . . .375
oPE02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 359 Output Frequency Reduction During Overheat Alarm . . . . . . .296
oPE03 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 359 Output Frequency Resolution . . . . . . . . . . . . . . . . . . . . . . . . . .447
oPE04 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 359 Output Ground Fault Detection Selection . . . . . . . . . . . . .297, 505
oPE05 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 360 Output of speed control (ASR) (for Simple V/f PG) . . . . . . . . .522
oPE06 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 360 Output Phase Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .331, 341
oPE07 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 360 Output Phase Loss Protection Selection . . . . . . . . . . . . . .297, 505
oPE08 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 360 Output Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .516
oPE09 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 360 Output Power at Previous Fault . . . . . . . . . . . . . . . . . . . . . . . . .519
oPE10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 360 Output Terminal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .517
oPE11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 361 Output Terminal Status at Previous Fault . . . . . . . . . . . . . . . . .519
oPE13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 361 Output Voltage at Previous Fault . . . . . . . . . . . . . . . . . . . . . . . .519
oPE15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361 Output Voltage Detection Fault . . . . . . . . . . . . . . . . . . . . . . . . .358
oPE18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334 Output Voltage Limit (for PM Motors) . . . . . . . . . . . . . . . . . . .312
oPE20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361 Output Voltage Limit Operation Selection. . . . . . . . . . . . . . . . .187
Open Loop Vector Control . . . . . . . . . . . . . 30, 327, 336, 373, 375 Output Voltage Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . .516
Open Loop Vector Control for IPM Motors. . . . . . . . . . . . . . . . 30 Output Voltage Reference (Vd) . . . . . . . . . . . . . . . . . . . . . . . . .522
Open Loop Vector Control for PM Motors . . . . . . . . . . . . . . . . 30 Output Voltage Reference (Vq) . . . . . . . . . . . . . . . . . . . . . . . . .522
Open Loop Vector Control Mode Tuning. . . . . . . . . . . . . . . . . 326 ov . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332, 334, 347, 357
Open Loop Vector Control Mode Tuning ov Suppression Function Selection . . . . . . . . . . . . . . . . . . . . . .502
Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326, 327, 328 Overcurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .331, 342
Open Loop Vector Control Mode Tuning Parameters . . . 327, 329 Overcurrent Detection Gain . . . . . . . . . . . . . . . . . . . . . . . .298, 506
Operating with the Load Connected. . . . . . . . . . . . . . . . . . . . . 136 Overexcitation Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . .304
Operation Error Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334 Overexcitation Deceleration Gain . . . . . . . . . . . . . . .305, 342, 508
Operation Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330, 334 Overexcitation Operation Selection . . . . . . . . . . . . . . . . . .305, 508
Operation Selection at Deviation (dEv) . . . . . . . . . . . . . . . . . . 226 Overheat 1 (Heatsink Overheat) . . . . . . . . . . . . . . . . . . . . . . . .345
Operation Selection at Overspeed (oS) . . . . . . . . . . . . . . . . . . 225 Overheat Alarm Level . . . . . . . . . . . . . . . . . . . . . . . . . . . .295, 505
Operation Selection at PG Open Circuit (PGo) . . . . . . . . . . . . 225 Overheat Pre-Alarm Operation Selection . . . . . . . . . . . . .296, 505
Operation Selection when Digital Operator is Overload Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .447
Disconnected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317, 512 Overload Tolerance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .445, 446
Operation Status Monitors . . . . . . . . . . . . . . . . 321, 322, 516, 522 Overspeed (for Control Mode with PG) . . . . . . . . . . . . . .347, 357
Operation with Permanent Magnet Motors . . . . . . . . . . . . . . . 108 Overspeed (for Simple V/f with PG) . . . . . . . . . . . . . . . . . . . . .334
Operator Connection Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332 Overspeed Detection Delay Time . . . . . . . . . . . . . . . . . . . . . . .225
Operator Programming Errors . . . . . . . . . . . . . . . . . . . . . . . . . 359 Overspeed Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . .225
Operator Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 511 Overtorque 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .333, 356
Operator Related Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314 Overtorque 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .333, 356
oPr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 347 Overtorque Detection 1 . . . . . . . . . . . . . . . . . . . . . . . . . . .332, 346
Option Card Communications Error . . . . . . . . . . . . . . . . . . . . 333 Overtorque Detection 2 . . . . . . . . . . . . . . . . . . . . . . . . . . .332, 346
Option Card Connection Error at Option Port CN5-A. . . . . . . 343 Overtorque Detection Operation . . . . . . . . . . . . . . . . . . . . . . . .291
Option Card Connection Error at Option Port CN5-C. . . . . . . 344 Overvoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332, 334, 347
Option card connector (CN5-A). . . . . . . . . . . . . . . . . . . . . . . . . 42 Overvoltage Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .447
Option card connector (CN5-B). . . . . . . . . . . . . . . . . . . . . . . . . 42 Overvoltage Suppression Function . . . . . . . . . . . . . . . . . . . . . .285
Option card connector (CN5-C). . . . . . . . . . . . . . . . . . . . . . . . . 42 Overvoltage Suppression Function Selection . . . . . . . . . . . . . .285
Option card error occurred at option port CN5-A . . . . . . . . . . 343 P
Option card error occurred at option port CN5-B . . . . . . . . . . 344
P Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .167
Option card error occurred at option port CN5-C . . . . . . . . . . 344
Parameter Access Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137
Option Card External Fault . . . . . . . . . . . . . . . . . . . 331, 340, 354
Parameter Range Setting Error . . . . . . . . . . . . . . . . . . . . . . . . .359
Option Card Fault at Option Port CN5-A . . . . . . . . . . . . . . . . 343
Parameter Selection Error . . . . . . . . . . . . . . . . . . . . . . . . .334, 360
Option Card Fault at Option Port CN5-B. . . . . . . . . . . . . 343, 344
Parameter Setting Range Error . . . . . . . . . . . . . . . . . . . . . . . . .334
Option Card Fault at Option Port CN5-C. . . . . . . . . . . . . . . . . 344
Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101
Option Card Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
Parameters for KEB Ride-Thru . . . . . . . . . . . . . . . . . . . . . . . . .279
Option Communication Error. . . . . . . . . . . . . . . . . . 331, 336, 352
Parameters that Change with the Motor Code Selection
Option Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . 521
(for PM Motors) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .536
Option Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Parameters to Minimize Motor Hunting and Oscillation. . . . . .329
Option Unit Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
PASS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334, 357
Optional 24 V DC Power Supply Connector Cover. . . . . . . 35, 36
Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137, 144
Optional 24 V DC power supply connector cover . . . . . 37, 38, 39
Password Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413
Password Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137
oS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 334, 347, 357
Peak Hold Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .520
Oscillation or Hunting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
Peak Hold Output Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . .521
Output Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
Performance Life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .383
Output Current 1 During Speed Search . . . . . . . . . . . . . . . . . . 164
Performance Life Monitors Maintenance Monitors. . . . . . . . . .383
Output Current at Previous Fault . . . . . . . . . . . . . . . . . . . . . . . 518
Periodic Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .381
Output Current Imbalance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Periodic Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .383
Output Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413 PID Setpoint Display Digits. . . . . . . . . . . . . . . . . . . . . . . . . . . 176

Permanent Magnet Motor Control . . . . . . . . . . . . . . . . . . . . . . 108 PID Setpoint Input Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . 168
PF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 348 PID Setpoint Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
PG 1 Division Rate for PG Pulse Monitor . . . . . . . . . . . . . . . . 226 PID Setpoint Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
PG 1 Gear Teeth 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226 PID Setpoint User Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
PG 1 Gear Teeth 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226 PID Setpoint Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
PG 1 Pulses Per Revolution . . . . . . . . . . . . . . . . . . . . . . . . . . . 225 PID Sleep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
PG 1 Rotation Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226 PID Sleep Delay Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
PG 1 Signal Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 PID Sleep Function Start Level . . . . . . . . . . . . . . . . . . . . . . . . 175
PG 2 Division Rate for PG Pulse Monitor . . . . . . . . . . . . . . . . 226 PM Inductance Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
PG 2 Gear Teeth 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226 PM Motor Auto-Tuning Mode Selection . . . . . . . . . . . . . . . . . 130
PG 2 Gear Teeth 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226 PM Motor Base Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
PG 2 Pulses Per Revolution . . . . . . . . . . . . . . . . . . . . . . . . . . . 225 PM Motor Base Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
PG 2 Rotation Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226 PM Motor Code Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
PG 2 Signal Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 PM Motor Control Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
PG Disconnect (for any control modes using a PG option PM Motor d-Axis Inductance. . . . . . . . . . . . . . . . . . . . . . . . . . 131
card) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348 PM Motor Induced Voltage Constant. . . . . . . . . . . . . . . . . . . . 132
PG Disconnect (for Control Mode with PG) . . . . . . . . . . . . . . 357 PM Motor Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . 119
PG Disconnect (for Simple V/f with PG). . . . . . . . . . . . . 332, 334 PM Motor q-Axis Inductance. . . . . . . . . . . . . . . . . . . . . . . . . . 131
PG Hardware Fault (detected when using a PG-X3 option PM Motor Rated Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
card) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348, 357 PM Motor Rated Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
PG Number of Pulses Per Revolution . . . . . . . . . . . . . . . . . . . 129 PM Motor Rated Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
PG Number of Pulses Per Revolution for PM Motor PM Motor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 PM Motor Stator Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . 131
PG Open-Circuit Detection Time . . . . . . . . . . . . . . . . . . . . . . . 225 PM Motor Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
PG Option Card Disconnection Detection 1 . . . . . . . . . . . . . . 227 PM Speed Feedback Detection Suppression Gain . . . . . . . . . . 348
PG Option Card Disconnection Detection 2 . . . . . . . . . . . . . . 227 PM Stationary Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
PG Option Card Port for Motor 2 Selection. . . . . . . . . . . . . . . 227 PM Stationary Auto-Tuning for Stator Resistance. . . . . . . . . . 119
PG Speed Control Card Settings . . . . . . . . . . . . . . . . . . . . . . . 225 Pole Attraction Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
PG-B3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416 Power Detection Filter Time . . . . . . . . . . . . . . . . . . . . . . . . . . 180
PG-B3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225 Power Ratings (Three-Phase 200 V Class) . . . . . . . . . . . . . . . 445
PG-F3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416 Power Ratings (Three-Phase 400 V Class) . . . . . . . . . . . . . . . 446
PGo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 334, 348, 357 Powerboard Failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
PGoH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348, 357 Powering Up the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
PGoH Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 Predefined V/f Patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
PG-RT3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416 Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
PG-X3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416 Preparing the Ends of Shielded Cables . . . . . . . . . . . . . . . . . . . 83
PG-X3 Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225 Preset Reference Timing Diagram . . . . . . . . . . . . . . . . . . . . . . 199
Phase Order Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 Previous Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
PID Accel/Decel Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 PROFIBUS-DP Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
PID Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 Programming Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99, 100
PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 Proportional Gain Setting (P). . . . . . . . . . . . . . . . . . . . . . . . . . 171
PID Control Selection Error . . . . . . . . . . . . . . . . . . . . . . . . . . . 334 Protecting cover to prevent miswiring . . . . . . . . . . . . . . . . . . . . 42
PID Control Selection Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . 360 PTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
PID Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522 Pull-In Current (for PM Motors) . . . . . . . . . . . . . . . . . . . 311, 510
PID Feedback High Detection Level . . . . . . . . . . . . . . . . . . . . 174 Pull-In Current Compensation Time Constant
PID Feedback High Detection Time. . . . . . . . . . . . . . . . . . . . . 174 (for PM Motors) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 348, 510
PID Feedback Input Methods. . . . . . . . . . . . . . . . . . . . . . . . . . 169 Pull-In Current during Accel/Decel for PM . . . . . . . . . . . . . . . 349
PID Feedback Loss. . . . . . . . . . . . . . . . . . . . . . 331, 333, 341, 355 Pull-In Current Level for PM Motor Tuning . . . . . . . . . . . . . . 132
PID Feedback Loss Detection Selection . . . . . . . . . . . . . . . . . 173 Pull-Out Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301, 332
PID Feedback Low Detection Level . . . . . . . . . . . . . . . . . . . . 174 Pull-Out Detection Level at Low Speed . . . . . . . . . . . . . . . . . 301
PID Feedback Low Detection Time . . . . . . . . . . . . . . . . . . . . . 174 Pull-Out Detection Time at Low Speed . . . . . . . . . . . . . . . . . . 301
PID Fine Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 Pull-Out Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
PID Function Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 Pull-put . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
PID Input (feedback) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522 Pulse Monitor Selection Error . . . . . . . . . . . . . . . . . . . . . . . . . 361
PID Input Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 Pulse Output Connection Using External Voltage Supply . . . . . 86
PID Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321, 522 Pulse Output Connection Using Internal Voltage Supply . . . . . 86
PID Offset Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 Pulse Train Input Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
PID Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522 Pulse Train Input Filter Time . . . . . . . . . . . . . . . . . . . . . . . . . . 266
PID Output Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375 Pulse Train Input Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
PID Output Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 Pulse Train Input Minimum Frequency . . . . . . . . . . . . . . . . . . 266
PID Output Level Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 Pulse Train Input Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
PID Output Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 Pulse Train Input Terminal RP Function Selection . . . . . . . . . 264
PID Output Lower Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 Pulse Train Input/Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
PID Output Reverse Selection . . . . . . . . . . . . . . . . . . . . . . . . . 172 Pulse Train Monitor Scaling. . . . . . . . . . . . . . . . . . . . . . . . . . . 266
PID Primary Delay Time Constant. . . . . . . . . . . . . . . . . . . . . . 172 Pulse Train Monitor Selection . . . . . . . . . . . . . . . . . . . . . . . . . 266
PID Setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522 PZD1 Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487, 623
PZD1 Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487, 623 Reverse Regenerative Torque Limit. . . . . . . . . . . . . . . . . .294, 505
PZD10 Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488, 623 Reverse Torque Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . .294, 505
PZD10 Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487, 623 rF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .348
PZD2 Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487, 623 rH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332, 348
PZD2 Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487, 623 Rotational Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . .118, 123
PZD3 Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487, 623 Rotational Auto-Tuning for V/f Control . . . . . . . . . . . . . . . . . .118
PZD3 Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487, 623 RP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
PZD4 Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488, 623 rr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332, 348
PZD4 Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487, 623 RS-422 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .555
PZD5 Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488, 623 RS-422/485 Termination Resistor . . . . . . . . . . . . . . . . . . . . . . . .84
PZD5 Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487, 623 RS-485 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .554
PZD6 Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488, 623 RTS Control Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .557
PZD6 Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487, 623 Rubber Bushing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
PZD7 Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488, 623 rUn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334, 357
PZD7 Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487, 623 Run Command at Power Up . . . . . . . . . . . . . . . . . . . . . . . . . . .157
PZD8 Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488, 623 Run Command Input Error . . . . . . . . . . . . . . . . . . . . . . . . . . . .333
PZD8 Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487, 623 Run Command Method Selection . . . . . . . . . . . . . . . . . . . . . . .558
PZD9 Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488, 623 Run Command Selection . . . . . . . . . . . . . . . . . . . . . . . . . .371, 460
PZD9 Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487, 623 Run Command Selection 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . .150
Q Run Command Selection 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . .157
Run Command Selection Error . . . . . . . . . . . . . . . . . . . . . . . . .334
q-axis ACR Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522
Run command selection while in Programming Mode . . . . . . .156
R Run Command Source Selection . . . . . . . . . . . . . . . . . . . . . . . .521
R- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Run Command/Frequency Reference Source Selection
R/L1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .360
R+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 RUN LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97
Radiated Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434 RUN LED and Drive Operation. . . . . . . . . . . . . . . . . . . . . . . . . .97
Ramp to stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 RUN LED Status and Meaning . . . . . . . . . . . . . . . . . . . . . . . . . .97
Rated Current Depending on Carrier Frequency . . . . . . . . . . . 450 RUN Light . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95
Rated Current Setting Alarm . . . . . . . . . . . . . . . . . . . . . . 334, 362 Run Speed after Soft Starter at Previous Fault . . . . . . . . . . . . .519
Rated Output Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . 445, 446
S
Rated Output Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445, 446
S- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
Rated Slip Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335, 363
S/L2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72
Rated Voltage, Rated Frequency . . . . . . . . . . . . . . . . . . . 445, 446
S+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
rdEr. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
S1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
READ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
S2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
rEAd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
S3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
Reading Drive MEMOBUS/Modbus Register Contents . . . . . 563
S4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
Reading Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
S5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
Reattaching the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . 68
S6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
Reattaching the Front Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
S7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
Reattaching the Terminal Cover on an IP00 Enclosure
S8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Safe Disable Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .614
Reattaching the Terminal Cover on an IP20/UL Type 1
Safe Disable Function Wiring Example (Source Mode) . . . . . .615
Enclosure Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Safe Disable Input Function. . . . . . . . . . . . . . . . . . . . . . . . . . . .614
Reattaching the Top Protective Cover . . . . . . . . . . . . . . . . . . . . 71
Safe Disable Input Sink / Source / External Power Supply
REMOTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
Removing the Cooling Fan (2A0110) . . . . . . . . . . . . . . . . . . . 389
Safe Disable Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
Removing the Cooling Fan (2A0169, 2A0211, 4A0139,
Safe Disable Monitor Output Function and Digital Operator
4A0165) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .616
Removing the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . 68
Safe Disable Signal Input. . . . . . . . . . . . . . . . . . . . . . . . . .333, 355
Removing the Fan Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
Safety Hazard Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
Removing the Front Cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
Removing the Terminal Cover on an IP00 Enclosure
Safety Input and EDM Terminal Status . . . . . . . . . . . . . . . . . . .616
Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Safety Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
Removing the Terminal Cover on an IP20/UL Type 1
Save Disable Signal Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . .355
Enclosure Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
SC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
Removing the Top Protective Cover . . . . . . . . . . . . . . . . . . . . . 71
S-Curve Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . .185, 329
Removing Wires from the Terminal Board . . . . . . . . . . . . . . . . 83
SE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334, 358
Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
Search Operation Voltage Limit. . . . . . . . . . . . . . . . . . . . . . . . .180
Replacing the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
Self-diagnosing function of the serial communication
Reset Communication Parameters . . . . . . . . . . . . . . . . . . . . . . 233
interface circuits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .579
Resistance Tuning Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
SEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332, 349
Response Messages from Drive to Master. . . . . . . . . . . . . . . . 560
Serial Communication Terminals. . . . . . . . . . . . . . . . . . . . . . . . .81
Reverse Direction Output Example Time Chart . . . . . . . . . . . 253
Serial Communication Transmission Error . . . . . . . . . . . .333, 353
Reverse Operation Selection . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Reverse Prohibited Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
Serial Communications Cable Connection Terminals Speed Limit Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208, 210
(TB5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554 Speed Limit Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Serviceable Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409 Speed Limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Setup Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Speed Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
Setup Group Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Speed Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160, 349
Setup Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Speed Search Deactivation Current . . . . . . . . . . . . . . . . . . . . . 163
Shielded Twisted-Pair Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 Speed Search Deceleration Time . . . . . . . . . . . . . . . . . . . . . . . 163
Short Circuit Brake Time at Start . . . . . . . . . . . . . . . . . . . . . . . 160 Speed Search Delay Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Short Circuit Brake Time at Stop . . . . . . . . . . . . . . . . . . . . . . . 160 Speed Search Detection Compensation Gain. . . . . . . . . . . . . . 165
Short Circuit Braking Current . . . . . . . . . . . . . . . . . . . . . . . . . 160 Speed Search Estimation Type . . . . . . . . . . . . . . . . . . . . . . . . . 346
Side-by-Side Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Speed Search Method Selection. . . . . . . . . . . . . . . . . . . . . . . . 165
Side-by-Side Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453 Speed Search Restart Current Level. . . . . . . . . . . . . . . . . . . . . 165
Side-by-Side Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Speed Search Restart Detection Time . . . . . . . . . . . . . . . . . . . 165
Simple Motor Setup Using V/f Control . . . . . . . . . . . . . . . . . . 106 Speed Search Selection at Start . . . . . . . . . . . . . . . . . . . . . . . . 163
Simple Positioning Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 Speed Search Wait Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Simplified Setup Using the Setup Group . . . . . . . . . . . . . . . . . 103 Speed/Torque Control Switchover Time . . . . . . . . . . . . . . . . . 210
Single Drive KEB Ride-Thru 1 . . . . . . . . . . . . . . . . . . . . . . . . 275 Stall Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281, 329, 347
Single Drive KEB Ride-Thru 2 . . . . . . . . . . . . . . . . . . . . . . . . 275 Stall Prevention Detection Time . . . . . . . . . . . . . . . . . . . . . . . 288
Sink/source jumper S3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Stall Prevention during Deceleration . . . . . . . . . . . . . . . . . . . . 346
Sinking Mode (NPN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Stall Prevention Level during Acceleration . . . . . . . . . . . 283, 502
Sinking/Sourcing Mode Selection for Safe Disable Inputs . . . . 85 Stall Prevention Level during Run . . . . . . . . . . . . . . . . . . 285, 502
Sinking/Sourcing Mode Switch for Digital Inputs. . . . . . . . . . . 85 Stall Prevention Limit during Acceleration . . . . . . . . . . . 283, 502
Slave Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561 Stall Prevention Selection during Acceleration . . . . . . . . 281, 502
Slip Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186 Stall Prevention Selection during Deceleration . . . . . . . . 283, 502
Slip Compensation Gain. . . . . . . . . . . . . . . . . . . . . . . . . . 186, 327 Stall Prevention Selection during Run . . . . . . . . . . . . . . . 284, 502
Slip Compensation Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186 Standard Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Slip Compensation Primary Delay Time . . . . . . . . . . . . . 186, 327 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448
Slip Compensation Selection during Regeneration . . . . . . . . . 187 Starting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
SN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Start-Up Flowcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Soft Charge Bypass Relay Maintenance . . . . . . . . . . . . . . . . . 520 Station Address Setting Error
Soft Charge Bypass Relay Maintenance Time . . . . . . . . . . . . . 355 (CC-Link, CANopen, MECHATROLINK) . . . . . . . . . . . . . . . 352
Soft Charge Circuit Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332 Stationary Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Soft CLA Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506 Stationary Auto-Tuning 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Software Current Limit Selection. . . . . . . . . . . . . . . . . . . . . . . 298 Stationary Auto-Tuning 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Software No. (Flash) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518 Stationary Auto-Tuning for Line-to-Line Resistance. . . . . . . . 118
Software No. (ROM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518 Stator Resistance Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
Software version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Status Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Sourcing Mode (PNP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 STo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 349
SP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 STOP button Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335, 363
Space Between Drives (Side-by-Side Mounting). . . . . . . . . . . . 47 STOP Key Function Selection . . . . . . . . . . . . . . . . . . . . . 316, 512
Speed Agree 1 Time Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247 Stop Position Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Speed Agree 2 Time Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251 Stopping Method after Communication Error . . . . . . . . . . . . . 556
Speed Agree Detection Selection . . . . . . . . . . . . . . . . . . . . . . . 289 Stopping Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Speed Agreement Detection Level . . . . . . . . . . . . . . . . . . 288, 503 Storage Temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Speed Agreement Detection Level (+/-). . . . . . . . . . . . . . 289, 503 SvE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
Speed Agreement Detection Width . . . . . . . . . . . . . . . . . 288, 503 Swing PWM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196, 444
Speed Agreement Detection Width (+/-) . . . . . . . . . . . . . 289, 503 Switches and Jumpers on the Terminal Board . . . . . . . . . . . . . . 84
Speed Control Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447 Switching Between LOCAL and REMOTE . . . . . . . . . . . . . . 104
Speed Control Integral Time 1 . . . . . . . . . . . . . . . . . . . . . . . . . 357 Switching Between Torque and Speed Control . . . . . . . . . . . . 209
Speed Control Loop Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . 122 System KEB Ride-Thru 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Speed Control Proportional Gain 1 . . . . . . . . . . . . . . . . . . . . . 357 System KEB Ride-Thru 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Speed Control Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447 T
Speed Deviation (for Control Mode with PG) . . . . . . . . . . . . . 338
T Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
Speed Deviation (for Simple V/f with PG) . . . . . . . . . . . 331, 333
T/L3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Speed Deviation (when using a PG option card) . . . . . . . . . . . 353
Target DC Bus Voltage for Overvoltage Suppression
Speed Estimation Type Speed Search . . . . . . . . . . . . . . . 161, 347
and Stall Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
Speed Feedback Detection Contol (AFR) Tuning . . . . . . . . . . 303
Task Complete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Speed Feedback Detection Control (AFR) Gain . . . . . . . 303, 507
Temperature Derating. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
Speed Feedback Detection Control (AFR) Time
Terminal A1 Bias Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Constant 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303, 507
Terminal A1 Function Selection. . . . . . . . . . . . . . . . . . . . . . . . 257
Speed Feedback Detection Control (AFR) Time
Terminal A1 Gain Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Constant 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303, 507
Terminal A1 Signal Level Selection. . . . . . . . . . . . . . . . . . . . . 257
Speed Feedback Detection Control Gain
Terminal A2 Bias Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
(for PM Motors) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 510
Terminal A2 Function Selection. . . . . . . . . . . . . . . . . . . . . . . . 259
Speed Feedback Detection Control Gain during ov
Terminal A2 Gain Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
Suppression. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Terminal A2 Input Signal Selection . . . . . . . . . . . . . . . . . . . . . . 87
Speed Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Terminal A2 Signal Level Selection. . . . . . . . . . . . . . . . . . . . . 258 Torque Control Reference Sources . . . . . . . . . . . . . . . . . . . . . .207
Terminal A3 Analog/PTC Input Selection . . . . . . . . . . . . . . . . . 87 Torque Control Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .209
Terminal A3 Bias Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258 Torque Control Setting Error . . . . . . . . . . . . . . . . . . . . . . . . . . .361
Terminal A3 Function Selection. . . . . . . . . . . . . . . . . . . . . . . . 258 Torque Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .291
Terminal A3 Gain Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258 Torque Detection Level 1. . . . . . . . . . . . . . . . . . . . . . . . . .292, 504
Terminal A3 Signal Level Selection. . . . . . . . . . . . . . . . . . . . . 258 Torque Detection Level 2. . . . . . . . . . . . . . . . . . . . . . . . . .292, 504
Terminal AM/FM Signal Selection . . . . . . . . . . . . . . . . . . . . . . 87 Torque Detection Selection 1 . . . . . . . . . . . . . . . . . . . . . . .292, 504
Terminal Block (TB 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Torque Detection Selection 2 . . . . . . . . . . . . . . . . . . . . . . .292, 504
Terminal Block (TB 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Torque Detection Time 1 . . . . . . . . . . . . . . . . . . . . . . . . . .292, 504
Terminal Block (TB 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Torque Detection Time 2 . . . . . . . . . . . . . . . . . . . . . . . . . .292, 504
Terminal Block (TB 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Torque Limit Control Method Selection during
Terminal Block (TB 6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Accel/Decel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .295, 505
Terminal Block Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Torque Limit Integral Time Constant. . . . . . . . . . . . . . . . .294, 505
Terminal Board. . . . . . . . . . . . . 35, 36, 37, 38, 39, 40, 41, 42, 409 Torque Limit Process at Start. . . . . . . . . . . . . . . . . . . . . . . . . . .295
Terminal Board Connection Error . . . . . . . . . . . . . . . . . . . . . . 337 Torque Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .329
Terminal Board Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Torque Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .516
Terminal Board not connected . . . . . . . . . . . . . . . . . . . . . . . . . 331 Torque Reference / Torque Limit Selection from Comm.
Terminal Board Wiring Guide . . . . . . . . . . . . . . . . . . . . . . . . . . 83 Option. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .232
Terminal Connections for Communication Torque Reference at Previous Fault . . . . . . . . . . . . . . . . . . . . . .519
Self-Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579 Torque Reference Delay Time . . . . . . . . . . . . . . . . . . . . . . . . . .209
Terminal Cover. . . . . . . . . . . . . . . . . . . . . . . . . . 35, 36, 37, 38, 66 Torque Saturation Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .364
Terminal cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39, 40 Torque Specifications, Three Phase 200 V Class. . . . . . . . . . . . .74
Terminal Cover 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Torque Specifications, Three Phase 400 V Class. . . . . . . . . . . . .76
Terminal Cover Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Traveling Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .117
Terminal M1-M2 Function Selection . . . . . . . . . . . . . . . . . . . . 246 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .323
Terminal M1-M2 Output Selection . . . . . . . . . . . . . . . . . . . . . 231 Troubleshooting without Fault Display . . . . . . . . . . . . . . . . . . .370
Terminal M3-M4 Function Selection . . . . . . . . . . . . . . . . 246, 434 TrPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .358
Terminal M3-M4 Output Selection . . . . . . . . . . . . . . . . . . . . . 231 Tuning Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .330
Terminal M5-M6 Function Selection . . . . . . . . . . . . . . . . . . . . 246 Types of Alarms, Faults, and Errors. . . . . . . . . . . . . . . . . . . . . .330
Terminal P1-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . 231 Types of Auto-Tuning for Induction Motors . . . . . . . . . . . . . . .118
Terminal P2-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . 231 Types of Auto-Tuning for Permanent Magnet Motors. . . . . . . .119
Terminal P3-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . 231 U
Terminal P4-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . 231
U Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .516
U/T1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72
U2, U3 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . .319, 513
Terminal V1 Monitor Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
UL Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .600
Terminal V1 Monitor Gain. . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
UL/cUL Mark. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .600
Terminal V1 Monitor Selection . . . . . . . . . . . . . . . . . . . . . . . . 230
UL3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332, 334, 350, 358
Terminal V1 Signal Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
UL4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332, 334, 350, 358
Terminal V2 Monitor Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
UL5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334, 350
Terminal V2 Monitor Gain. . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
UnbC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332, 350
Terminal V2 Monitor Selection . . . . . . . . . . . . . . . . . . . . . . . . 230
Undertorque 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334
Terminal V2 Signal Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Undertorque 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334
Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Undertorque Detection 1 . . . . . . . . . . . . . . . . . . . . . .332, 350, 358
Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . 123, 125, 126, 127, 134
Undertorque Detection 2 . . . . . . . . . . . . . . . . . . . . . .332, 350, 358
Test Run Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Undertorque Detection Operation . . . . . . . . . . . . . . . . . . . . . . .291
Test Run with Load Connected . . . . . . . . . . . . . . . . . . . . . . . . 136
Undervoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332, 334, 358
THo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 349
Undervoltage 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .350
Tightening Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Undervoltage 3 (Soft-Charge Bypass Circuit Fault) . . . . . . . . .350
Timer Function Off-Delay Time . . . . . . . . . . . . . . . . . . . . . . . 167
Undervoltage Detection Level (Uv). . . . . . . . . . . . . . . . . . . . . .501
Timer Function On-Delay Time . . . . . . . . . . . . . . . . . . . . . . . . 167
Undervoltage Detection Level (Uv1). . . . . . . . . . . . . . . . . . . . .280
Too Many Speed Search Restarts. . . . . . . . . . . . . . . . . . . 332, 349
Undervoltage Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .447
Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35, 71
Unexpected Noise from Connected Machinery . . . . . . . . . . . . .374
Top Protective Covers, Reattaching . . . . . . . . . . . . . . . . . . . . . . 67
Unidirectional Speed Limit Bias . . . . . . . . . . . . . . . . . . . . . . . .210
Top Protective Covers, Removing . . . . . . . . . . . . . . . . . . . . 66, 67
Unit Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .316
Torque Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Unit Selection for MEMOBUS/Modbus Register 0025H . . . . .557
Torque Compensation at Forward Start . . . . . . . . . . . . . . . . . . 189
Unstable Motor Speed when Using PM. . . . . . . . . . . . . . . . . . .376
Torque Compensation at Reverse Start . . . . . . . . . . . . . . . . . . 189
Up/Down 2 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .201
Torque Compensation Gain . . . . . . . . . . . . . . . . . . . . . . . 189, 326
Up/Down 2 Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .244
Torque Compensation Primary Delay Time. . . . . . . . . . . 189, 326
Up/Down Command Operation . . . . . . . . . . . . . . . . . . . . . . . . .239
Torque Compensation Primary Delay Time 2 . . . . . . . . . . . . . 190
Up/Down Frequency Reference Limit Selection . . . . . . . . . . . .205
Torque Compensation Primary Delay Time Constant 1. . . . . . 327
USB Copy Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .138, 417
Torque Compensation Primary Delay Time Constant 2. . . . . . 326
USB Port (type-B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
Torque Compensation Time Constant . . . . . . . . . . . . . . . . . . . 190
USB port (type-B) . . . . . . . . . . . . . . . . . .36, 37, 38, 39, 40, 41, 89
Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
User Monitor Selection after Power Up. . . . . . . . . . . . . . .314, 511
Torque Control Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . 206
User Parameter Automatic Selection . . . . . . . . . . . . .137, 147, 460
Torque Control Input Value Selection . . . . . . . . . . . . . . . . . . . 207
User Parameter Default Value . . . . . . . . . . . . . . . . . 137, 316, 512 Z Pulse Offset Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 Zero Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
User Parameters 1 to 32 . . . . . . . . . . . . . . . . . . . . . . 137, 147, 460 Zero Servo Completion Width . . . . . . . . . . . . . . . . . . . . . . . . . 182
User Set Speed Agree 1 Time Chart . . . . . . . . . . . . . . . . . . . . . 248 Zero Servo Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
User Set Speed Agree 2 Example with a Positive L3-04 Zero Servo Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251 Zero-Speed Time Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
User-Set Display Units Decimal Display . . . . . . . . . . . . . . . . . 315
User-Set Display Units Maximum Value . . . . . . . . . . . . . . . . . 315
Using Braking Units in Parallel . . . . . . . . . . . . . . . . . . . . . . . . 431
Using the Pulse Train Output . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Using the Safe Disable Function . . . . . . . . . . . . . . . . . . . . . . . 614
Uv . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 358
Uv1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 350
Uv2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 350
Uv3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 350
Uv4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332, 351
V
-V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
V/f Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
V/f Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
V/f Control Mode Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
V/f Control Mode Tuning Parameters . . . . . . . . . . . . . . . . . . . 326
V/f control using motor speed feedback. . . . . . . . . . . . . . . . . . . 30
V/f Control with Simple Speed Feedback . . . . . . . . . . . . . . . . 265
V/f Data Setting Error . . . . . . . . . . . . . . . . . . . . . . . . . . . 334, 360
V/f Gain During Speed Search . . . . . . . . . . . . . . . . . . . . . . . . . 164
V/f Pattern Default Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
V/f Pattern Defaults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
V/f Pattern Display Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
V/f Pattern for Motor 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
V/f Pattern for Motor 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
V/f Pattern Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212, 373
V/T2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
vAEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
VERIFY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
Verify Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Verifying Parameter Changes . . . . . . . . . . . . . . . . . . . . . . . . . . 102
vFyE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
voF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358
Voltage Class, Capacity Mismatch . . . . . . . . . . . . . . . . . . . . . . 367
Voltage Error Compensation Time Constant . . . . . . . . . . . . . . 311
vrFy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
W
W/T3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Warranty Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Water Supply Pump Application . . . . . . . . . . . . . . . . . . . . . . . 112
Watt Hour Output Example . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
Watt Hour Output Unit Selection . . . . . . . . . . . . . . . . . . . . . . . 256
Watt Loss 200 V Class Three Phase Models . . . . . . . . . . . . . . 449
Watt Loss 400 V Class Three Phase Models . . . . . . . . . . . . . . 449
WEEE Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
Wire Gauge, Three Phase 200 V Class. . . . . . . . . . . . . . . . . . . . 74
Wire Gauge, Three Phase 400 V Class. . . . . . . . . . . . . . . . . . . . 76
Wire Gauges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73, 82
Wiring Checklist. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Wiring Diagram for 2-Wire Sequence . . . . . . . . . . . . . . . . . . . 242
Wiring Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Wiring the Control Circuit Terminal . . . . . . . . . . . . . . . . . . . . . 82
WRITE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
Writing Parameter Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Writing to Multiple Registers . . . . . . . . . . . . . . . . . . . . . . . . . . 564
Z
Z Pulse Correction Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
Z Pulse Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Z Pulse Noise Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . 339
SIEP_C710616_27_revision.fm 640 ページ２０２２年３月３１日木曜日午前９時９分
Revision History
The revision dates and the numbers of the revised manuals appear on the bottom of the back cover.
MANUAL NO. SIEP C710616 27B <1>-0

Web revision number
Revision number
Published in Japan February 2009
Date of publication
Web
Revision
Date of Publication Revision Section Revised Content
Number
Number
March 2022 <9> 0 All Revision: Reviewed and corrected entire documentation.
Back cover Revision: Address
February 2019 <8> 0 Revision:  Reviewed and corrected entire documentation.
All
 Upgraded the software version to PRG: 1026.
Chapter 9 Addition: Disposal
Appendix D Addition: EU Declaration of Conformity

August 2017 <7> 0 All Revision:  Reviewed and corrected entire documentation.
 Upgraded the software version to PRG: 1025.
March 2016 <6> 0 Front cover Revision: Format
Revision:  Reviewed and corrected entire documentation.
All
 Upgraded the software version to PRG: 1021 to 1024.
Back cover Revision: Address, format
September 2013 <5> 0 All Revision:  Reviewed and corrected entire documentation.
 Upgraded the software version to PRG: S1020.
April 2013 <4> 0 Front cover Revision: New format
All Revision:  Reviewed and corrected entire documentation.
 Upgraded the software version to PRG: S1017, PRG: S1018, and PRG: S1019.
September 2010 <3> 0 All Addition: Larger drive capacities added along with corresponding data
Three-phase 400V: CIMR-A4A0930 and 4A1200
Revision:  Reviewed and corrected entire documentation.
 Upgraded the software version to PRG: S1015.
Appendix A.4 Correction: Ambient Temperature
July 2009 <2> 0 All Addition: Larger drive capacities added along with corresponding data
Three-phase 400V: CIMR-A4A0414 to 4A0675
Revision: Reviewed and corrected entire documentation
February 2009 <1> 0 All Addition:  Larger drive capacities added along with corresponding data
 H1- = 47 (Node Setup)
Revision: Reviewed and corrected entire documentation
October 2008 − − − First Edition
YASKAWA AC Drive A1000
High Performance Vector Control Drive
Technical Manual
YASKAWA EUROPE GmbH

HauptstraEe 185, 65760 Eschborn, Germany
Phone: +49-6196-569-300 Fax: +49-6196-569-398
www.yaskawa.eu.com E-mail: info@yaskawa.eu.com
DRIVE CENTER (INVERTER PLANT)
2-13-1, Nishimiyaichi, Yukuhashi, Fukuoka, 824-8511, Japan
Phone: +81-930-25-2548 Fax: +81-930-25-3431
www.yaskawa.co.jp
YASKAWA AMERICA, INC.
2121, Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310
www.yaskawa.com
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
MANUAL NO. SIEP C710616 27J <9>-0

Published in Japan March 2022
20-2-10_YEU
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YASKAWA AC Drive A1000

High Performance Vector Control Drive

Copyright © 2008 YASKAWA ELECTRIC CORPORATION.

Run a Motor One-Frame Larger

Drive a Synchronous PM Motor

Maintenance Check Using Drive Monitors

Fault Display and Troubleshooting

Refer to European Standards on page 584.

i. PREFACE & GENERAL SAFETY............................................................................ 15

3. ELECTRICAL INSTALLATION ................................................................................ 57

4. START-UP PROGRAMMING & OPERATION ........................................................ 93

4.4 Start-Up Flowcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

5. PARAMETER DETAILS......................................................................................... 141

C5: Automatic Speed Regulator (ASR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

5.11 U: Monitor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

6. TROUBLESHOOTING ........................................................................................... 323

Connected Machinery Vibrates When Motor Rotates . . . . . . . . . . . . . . . . . . . . . . . . 374

7. PERIODIC INSPECTION & MAINTENANCE ........................................................ 377

8. PERIPHERAL DEVICES & OPTIONS ................................................................... 413

9. DISPOSAL ............................................................................................................. 439

B. PARAMETER LIST ................................................................................................ 455

C. MEMOBUS/MODBUS COMMUNICATIONS ......................................................... 551

C.4 MEMOBUS/Modbus Setup Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556

D. STANDARDS COMPLIANCE................................................................................. 581

E. QUICK REFERENCE SHEET................................................................................. 617

E.2 Basic Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619

Index ............................................................................................................................. 626

Revision History ............................................................................................................ 640

WARNING AVERTISSMENT NPJT31470-1

A1000 Series AC Drive Technical Manual (this book)

TERMS : Indicates a term or definition used in this manual.

 Terms and Abbreviations

i.2 General Safety

i.2 General Safety

i.2 General Safety

i.2 General Safety

i.2 General Safety

i.2 General Safety

4000 Power supply harmonics

Figure i.1 Installing a Reactor

i.2 General Safety

Magnetic Contactor Installation

i.2 General Safety

Inspection and Maintenance

 Notes on Motor Operation

i.2 General Safety

 Applications with Specialized Motors

i.2 General Safety

i.2 General Safety

 Drive Label Warnings

DIGITAL OPERATOR JVOP-180 ALM

WARNING AVERTISSMENT NPJT31470-1

Figure i.3 Warning Information Position

1.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

1.1 Section Safety

1.1 Section Safety

1.2 General Description

1.2 General Description

1.2 General Description

 Control Mode Selection