AC Drive L1000A For Lift Applications Technical Manual Addendum

AC Drive L1000A

For Lift Applications

Technical Manual Addendum

Type: CIMR-LCxFxxxxxxx-913x

Web

This Page Intentionally Blank

2 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

Table of Contents

1. General Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2. Brake Monitoring (Unintended Car Movement) . . . . . . . . . . . . . . . . . . . . . . . 7

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Specification for Brake Response Monitor (BRM) Function . . . . . . . . . . . . . . . . . . . . . . . . 7 Checking the Status of the Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Activation/Deactivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Fault Detection/Fault Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 SE4 Fault Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Brake Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Function Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3. DI-A3 Option Multi-Functional Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Added and Modified Parameters for DI-A3 Multi-Functional Support . . . . . . . . . . . . . . . 15

Added Faults and Alarms for DI-A3 Multi-Functional Support . . . . . . . . . . . . . . . . . . . . . 15 4. Advanced Light Load Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Added and Modified Parameters for Advanced Light Load Search . . . . . . . . . . . . . . . . . 16 5. Output Phase Loss Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Modified Parameters for Output Phase Loss Protection. . . . . . . . . . . . . . . . . . . . . . . . . . 16 6. DCP Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Network Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Characteristics of DCP Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

DCP Master Messages from Lift Controller to Drive Controller . . . . . . . . . . . . . . . . . . . . 18 Command Byte. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Data Bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Communication Bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Checksum Byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Definition of Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Speed Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 DCP Slave Messages from Drive Controller to Lift Controller . . . . . . . . . . . . . . . . . . . . . 21 Status Byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Data Bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Communication Bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Checksum Byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 DCP Communication Data Channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 3

Character Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Data Transmission and Character Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Data Transmission Time-out Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Breakdown of Control Character Range (0 to 1F (Hex)) . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Drive Controller Remote Display Control (1F (Hex)) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Drive Controller Remote Keypad Control (1F (Hex)) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Idle State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Synchronization / Communication Device Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Saving Device Controller Error Messages (1E (Hex)) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Extended Data Communication between Lift and Drive Controller (1C (Hex)) . . . . . . . . . 28 DCP Behavior in Event of Transmission Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Lift Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Drive Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Basic DCP Serial Communication Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 DCP Travel Sequence Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Features Common to DCP3 and DCP4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Additional Notes on Command and Status Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Inspection Travel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 DCP3: Lift Controller without Absolute Sensor System . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Travels at V4 followed by Constant Deceleration Distance SV4. . . . . . . . . . . . . . . . . . . . . 41 Travels at Intermediate Speeds V7, V6, V5, V3, V2, and V1. . . . . . . . . . . . . . . . . . . . . . . . 43 Crawl Travel in DCP3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 DCP4: Lift Controller with Absolute Sensor System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Time-Optimized Direct Leveling Dependent on Remaining Distance. . . . . . . . . . . . . . . . . 44 Crawl Travel in DCP4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 DCP Fast-Start Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Start Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Premature Termination of the 'Fast-Start Function' . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 DCP Fast-Stop Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 DCP Overview Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Related Parameters and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Added Standard Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Added Parameters for Positioning Mode (H5-13 ≥ 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Added Standard Parameter Scroll Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Modified Standard Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Modified Standard Monitors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 Added Standard Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 Added Standard Parameter Dependencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Added Standard Parameter Dependencies (Defaults) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Changes of Standard Digital Input Multi-Functions (DIMF). . . . . . . . . . . . . . . . . . . . . . . . . 62 Changes of Standard Digital Output Multi-Functions (DOMF) . . . . . . . . . . . . . . . . . . . . . . 62 Changes of Standard Analog Input Multi-Functions (AIMF) . . . . . . . . . . . . . . . . . . . . . . . . 63 Added Faults and Modified Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Adjustment Procedures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 7. CANopen Lift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Characteristics of CANopen Lift Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Added and Modified Parameters, Monitors, Dependencies, Functions, and Faults. . . . . 67 Added Standard Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Added Standard Parameter Scroll Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Modified Standard Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Added Standard Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Modified Standard Monitors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Added Standard Parameter Dependencies (Defaults) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

4 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

Changes of Standard Input and Output Multi-Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Added Faults and Modified Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Object Dictionary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 Supported General Communication Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 Supported General Application Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Supported Car Drive Objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 Receive PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Transmit PDOs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 8. Ripple Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Added Parameters for Ripple Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Added Monitors for Ripple Compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

9. Replacement Instructions for Smart Controller Drives . . . . . . . . . . . . . . . . . 75 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Wiring of the L1000A AC Drive for Lift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Start Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

10.Input Phase Loss Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Standard Input Phase Loss Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 dv/dt Method Input Phase Loss Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Power-On dv/dt Threshold Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Input Phase Loss Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Further Modifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Related Parameters and Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Added Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Added Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 11. Direct Landing 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Related Parameters and Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 Added Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 Added Standard Parameter Scroll Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 Added Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 Changes of Standard Digital Input Multi-Functions (DIMF). . . . . . . . . . . . . . . . . . . . . . . . . 84 Changes of Standard Digital Output Multi-Functions (DOMF) . . . . . . . . . . . . . . . . . . . . . . 84 12.Travel Direction Change Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 Replacing a Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Counter Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Related Parameters and Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Added Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Added Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Added Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Added Faults and Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

13.Fast Stop - Edge Triggered . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Related Parameters and Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Added Digital Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

14.BiSS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 BiSS Option Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 5

Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 Option Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Mechanical & Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Preconditions for Installing the Option Card. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 Installing the Option on an L1000A. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 Related Parameters and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 Modified Standard Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Drive-Side Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 Preventing Noise Interference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 15.Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Revision History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

6 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

1 General Overview

1 General Overview

This manual is an addendum to the L1000ATechnical Manual. All conditions mentioned in the L1000ATechnical Manual apply. Always heed Safety Instructions as given in the Technical Manual when replacing a drive or performing installation and setup steps described here. This documentation is valid for drives: • with model codes CIMR-LCxFxxxxxxx-913x • with firmware S3404 or later

2 Brake Monitoring (Unintended Car Movement)

◆ Overview According to EN81-20:2014, new lifts must be equipped with a system independent of the drive control to prevent unintended car movement (UCM) away from the stop with open doors. This protection device has three functions:

• Recognition • Tripping • Braking With gearless PM motors, the applied brake can be used as the “braking” part of the UCM-device. In this case, the brake function has to be monitored. With a certified brake response monitor function, the motor brake and the drive can act as parts of the UCM protective device. ■ Specification for Brake Response Monitor (BRM) Function

The brake monitor status function supports: • Checking the status of the brakes at every run command • Checking the correct switching of the brake within a defined time • Locking the system if failure is detected The Brake Response Monitor function is certified according to the normative requirements.

■ Checking the Status of the Brakes The Brake Response Monitor (BRM) function checks the status of the brakes with every run command.

• Setting 79h: “Brake Feedback” (N.O. signal) • Setting 5Bh: “Brake Feedback” (N.C. signal) To comply with the EN81-20:2014 norm, the Brake Feedback function must be selected for two digital inputs simultaneously (e.g.: H1-07 = 79h & H1-08 = 79h). Selecting the Brake Feedback function once or more than twice, or mixing the functions (selecting 79h & 5Bh) triggers an OPE03 fault if the Brake Response Monitor function is enabled (S6-17 = 1). EN

◆ Wiring

The motor is equipped with two brakes. In the figure below the brakes have two Normally Open (N.O.) switches, but Normally Closed (N.C.) operation is also possible. When the motor brakes close, the switches close as well. This causes the digital inputs used for brake monitoring (e.g. S7 and S8) to change their logic state and unlock the drive allowing the run sequence to start.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 7

2 Brake Monitoring (Unintended Car Movement)

Figure 2.1 Wiring Example: How to Wire the Drive and Motor Brakes

◆ Activation/Deactivation The following table provides an overview of the parameters necessary for the Brake Response Monitor.

ParameterNumber ParameterName SettingRange BrakeFeedback1 79h(N.O.) H1-xx BrakeFeedback2 5Bh(N.C.) 0=Deactivated(Default) S6-17 BrakeResponseMonitor 1=BRMFunctionActive Default500ms S6-05 BrakeResponseError(SE4)DetectionTime Min.100ms Max.10,000ms Default500ms S6-06 BrakeResponseError(SE4)DetectionTimeDuringRun Min.100ms Max.60,000ms 0=Noreset(Default) S6-18 SE4FaultReset 1=ResetSE4Fault The Brake Response Error Detection Time is adjustable in parameter S6-05. Default detection time is 500 ms. The Brake Response Error Detection Time During Run is adjustable in parameter S6-06. Default detection time is 500 ms. ■ Activation The Brake Response Monitor (BRM) function is not active by default. The Brake Feedback function must be programmed to two digital inputs of the drive. To activate the BRM function, perform the following steps: • Set S6-17 = 1. • Program the Brake Feedback function to two digital inputs of the drive. For example: - Input S7 -> H1-07 = 79h - Input S8 -> H1-08 = 79h If S6-17 = 0, but Brake Feedback 1 and Brake Feedback 2 are wired and Brake Control [H2-xx = 50h] is used, the L1000A standard Brake Feedback Function is active, but the mode of operation is not A3-compliant. This Brake

8 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

2 Brake Monitoring (Unintended Car Movement)

Feedback function is just monitoring the brake operation and issues a fault if the brakes’ status does not match the brake command. ■ Deactivation

To deactivate the Brake Response Monitor (BRM) function, perform the following steps: • Set S6-17 = 0. The function is disabled.

◆ Fault Detection/Fault Reset

■ Fault Detection If during the start or stop process Brake Feedback 1 and/or Brake Feedback 2 do not change their logic state within the time limit specified in S6-05 [Brake Response Error (SE4) Detection Time], an SE4 fault will be triggered and the drive will be locked.

If during Run Brake Feedback 1 or Brake Feedback 2 change their logic state for a time longer than S6-06 [Brake Response Error (SE4) Detection Time During Run], an SE4 fault will be triggered and the drive will be locked. ■ SE4 Fault Reset

With the Brake Response Monitor function enabled [S6-17 = 1], an SE4 fault cannot be reset by: • Using the Reset button • Power cycling the drive or installation • Using the Automatic Fault Reset function [L5-xx] The SE4 fault can be reset only by setting parameter S6-18 = 1. With the Brake Response Monitor (BRM) function disabled [S6-17 = 0], an SE4 fault can be reset using the standard procedure.

■ Brake Feedback Standard Behavior of Brake Feedback After the Brake Release Command is set (brake open) during start procedure, the drive starts a timer with the value set in parameter S6-05. If Brake Feedback function 79h is selected, both of the Brake Feedback Inputs must be set within the time set in S6-05. If Brake Feedback function 5Bh is selected, they must be reset within the time set in S6-05. After the Brake Release Command is reset (brakes closed) during stop procedure, the drive starts a timer with the value set in parameter S6-05. If Brake Feedback function 79h is selected, both of the Brake Feedback Inputs must be set within the time set in S6-05. If Brake Feedback function 5Bh is selected, they must be reset within the time set in S6-05.

EN

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 9

2 Brake Monitoring (Unintended Car Movement)

S6-05 S6-05

Figure 2.2 Normal Operation with MFDOs set to 79h (N.O.)

Figure 2.3 Normal Operation with MFDOs set to 5Bh (N.C.) Fault During Start or Stop If both Brake Feedback Inputs do not change their logic state within the time set in parameter S6-05, the drive stops the start/stop sequence and triggers an SE4 [Brake Response Error] fault.

10 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

2 Brake Monitoring (Unintended Car Movement)

Up/Down Command S1-10 Delay Time S1-04 Selected Speed (DC Injection/ Position Lock Time@Start Speed

S1-06 (Brake Release Delay Time) Up/Down Command Nominal Speed Leveling Speed Brake Control H2-XX=50h Brake Feedback1 H1-XX=79h Brake Feedback2 H1-XY=79h Motor Brake1 Motor Brake2 SE4Brake Monitor Error S6-05

Figure 2.4 Fault during Start (left) and Fault during Stop (right) Fault Behavior During Run If at any point during Run the logic state of one of the Brake Feedback inputs changes unexpectedly, a countdown timer with the value of parameter S6-06 will be initiated. If the timer expires without change of Brake Feedback status to its expected state, an SE4 Fault will be triggered and the fault message “Brake Response Error (SE4)” will be displayed.

EN

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 11

2 Brake Monitoring (Unintended Car Movement)

Figure 2.5 Short Disruption of Brake Feedback 1 Input during Run

12 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

2 Brake Monitoring (Unintended Car Movement)

Figure 2.6 Fault during Run

◆ Function Test

Selecting the Brake Feedback function on only one or more than two digital inputs, or mixing the functions (selecting 79h & 5Bh) triggers an oPE03 fault if the Brake Response Monitor function is enabled [S6-17 = 1]. In case of an oPE03 fault, check if two inputs have been programmed as Brake Feedback and if they are both programmed to the same function. EN For example: • H1-07 = 79h & H1-08 = 79h or • H1-07 = 5Bh & H1-08 = 5Bh If the Brake Response Monitor function is enabled [S6-17 = 1] and the SE4 fault appears, verify the Brake Monitor Function before you can reset the SE4 fault. ■ Function Test NPN Logic The following steps have to be performed for the functional test after commissioning when using NPN logic:

1. Disconnect the signal Brake Feedback 1 (e.g. input S7). 2. Execute test travel. 3. During start an SE4 fault should be triggered and the drive should immediately stop. 4. The drive should be blocked and no further travel should be possible even after power cycle. 5. Reconnect the signal Brake Feedback 1. 6. Execute test travel. 7. The drive should be blocked and no further travel should be possible even after power cycle. 8. Set S6-18 = 1 to unlock the drive.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 13

3 DI-A3 Option Multi-Functional Support

9. Execute test travel. 10. The drive should operate normally. Repeat this NPN logic procedure for Brake Feedback 2 (e.g. input S8).

■ Function Test PNP Logic The following steps have to be performed for the functional test after commissioning when using PNP logic: 1. Connect 24 V to Brake Feedback 1 (e.g. input S7). 2. Execute test travel.

3. During start an SE4 fault should be triggered and the drive should immediately stop. 4. The drive should be blocked and no further travel should be possible even after power cycle. 5. Disconnect 24 Von Brake Feedback 1. 6. Execute test travel. 7. The drive should be blocked and no further travel should be possible even after power cycle. 8. Set S6-18 = 1 to unlock the drive. 9. Execute test travel. 10. The drive should operate normally. Repeat this PNP logic procedure for Brake Feedback 2 (e.g. input S8).

■ Brake Feedback The following steps have to be performed to ensure correct operation of the Brake Feedback switches and function.

Brake Monitor 1 • Check if Motor Brake 1 operates correctly. • Check status of Motor Switch in Brake 1. • Check if the logic changes like specified. • Check if Digital Input Brake Monitor 1 works correctly. • Check in Monitor Parameter U1-10 if the input status changes. Brake Monitor 2 • Check if Motor Brake 2 operates correctly.

• Check status of Motor Switch in Brake 2. • Check if the logic changes like specified. • Check if Digital Input Brake Monitor 2 works correctly. • Check in Monitor Parameter U1-10 if the input status changes.

3 DI-A3 Option Multi-Functional Support

The DI-A3 option can be used to increase the number of digital inputs. To use this function, set parameter F3-01 = 8 [DIA3 Option Input Selection = Multi-Functional]. All standard functions can be assigned to the option terminals D0 to D7 by using parameters F3-04 to F3-11 [Terminal Dx Function Selection]. If faults and alarms are set to terminals D0 to D7, the display messages „OEF0“ to „OEF7“ [DI-A3 Ext Faultx] will be shown. If no DI-A3 option card is installed, parameters F3-04 to F3-11 are not displayed. Parameters F3-04 to F3-11 are displayed only when F3-01 = 8.

14 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

4 Advanced Light Load Search

◆ Added and Modified Parameters for DI-A3 Multi-Functional Support

Table 3.1 Added and Modified Parameters Parameter Ad M d E re M s O s B (H U e S x.) [ O Pa p r e a r m at e o t r e D r i N s a p m la e y ] Description [D R e a f n a g u e lt]

OptionCardInputSelection Selectthemethodtoinputtheoptioncarddata. 0:BCD1%unit 1:BCD0.1%unit 2:BCD0.01%unit DI-A3OptInpSel 0-8 F3-01 390 3:BCD1Hzunit [DI-A3OptionInputSelection] [8] 4:BCD0.1Hzunit 5:BCD0.01Hzunit 6:BCDcustomsetting(5digitinput),0.02Hzunits 7:Binaryinput 8:Multi-Functional DI-A3D0FuncSel F3-04 619 [TerminalD0FunctionSelection] DI-A3D1FuncSel F3-05 61A [TerminalD1FunctionSelection] DI-A2D2FuncSel F3-06 613 [TerminalD2FunctionSelection] DI-A3D3FuncSel F3-07 614 [TerminalD3FunctionSelection] TerminalfunctionselectionforDI-A3optioninput.Samesetting 0-79(Hex.) DI-A3D4FuncSel rangeasH1-03toH1-08. [0F(Hex.)] F3-08 615 [TerminalD4FunctionSelection] DI-A3D5FuncSel F3-09 616 [TerminalD5FunctionSelection] DI-A3D6FuncSel F3-10 617 [TerminalD6FunctionSelection] DI-A3D7FuncSel F3-11 618 [TerminalD7FunctionSelection] ◆ Added Faults and Alarms for DI-A3 Multi-Functional Support Table 3.2 Added Faults AlarmDisplay Fault Display(Hex.) Description [AlarmName] DI-A3ExtFault0-3 OEF0-OEF3 3C-3F DI-A3ExternalFault0-3 DigitalInputOptionDI-A3ExternalFault DI-A3ExtFault4-7 Anexternalfaulthasbeentriggeredonaninputterminal(D0-D7)oftheDI-A3option. OEF4-OEF7 64-67 DI-A3ExternalFault4-7 EN Table 3.3 Added Alarms AlarmDisplay Alarm Display(Hex.) Description [AlarmName] DI-A3ExtFault0-3 OEF0-OEF3 2C-2F DI-A3ExternalFault0-3 DigitalInputOptionDI-A3ExternalAlarm Anexternalalarmhasbeentriggeredonaninputterminal(D0-D7)oftheDI-A3 OEF4-OEF7 49-4C DI-A3ExtFault4-7 option. DI-A3ExternalFault4-7 4 Advanced Light Load Search The Advanced Light Load Search function [S4-01 = 3] detects the load condition during normal travel operation. Unlike search methods 1 and 2, this function does not move the car up and down when detecting the light load direction. This function is also useful in applications where an excessive discharge of UPS or batteries during Light Load Search operation shall be avoided. When using Advanced Light Load Search in combination with a controller, it might be desired to determine the Light Load Direction (indicated by D/O function 54h) by the drive but to let the controller initiate the evacuation YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 15

5 Output Phase Loss Protection

travel with a direction selected by S1/S2. In this case, set S4-20 = 0 [Light Load Search Direction Override = Disabled].

◆ Added and Modified Parameters for Advanced Light Load Search ■ Modified Parameters

Parameter OperatorDisplay Range Description (Hex.) [ParameterName] [Default] 0:Disabled S4-01 LightLoadSearch 1:Enabled 0-3 (06A6) [LightLoa S d el D ec i t r i e o c n t ] ionSearch 2:EnabledforMotor1only [0] 3:AdvancedSearch Yaskawa recommends a full up/down travel with empty car for calibration. Note: You must repeat the calibration after you initialized the drive with A1-03. To reset the calibration, set S4-01 = 0. This is recommended in case of changed operating conditions of the elevator. When you change the setting from S4-01 = 0 to S4-01 = 1, do a new calibration. ■ Added Parameters Parameter ValueRange OperatorDisplay Description (Hex.) [Default] EvacuationinLightLoadDirectiondeterminedbythedrive. 0:Disabled S4-20 LiftcontrollerdecidesthedirectionwithS1/S2 0,1 LLSDirOverride (06DF) 1:Enabled [1] DrivecanoverrideS1/S2direction PerformapowercyclewhenchangingH5-13[SerialCommunicationMode]. 5 Output Phase Loss Protection Enables or disables the output phase loss detection which is triggered when the output current falls below 5% of the motor rated current. ◆ Modified Parameters for Output Phase Loss Protection Table 5.1 Modified Parameters

Parameter OperatorDisplay Range Description (Hex.) [ParameterName] [Default] 0:Disabled L8-07 OutputPhLoss 1:Triggeredbyasinglephaseloss 0-3 (04B3) P [ r O o u te tp ct u i t o P n h S a e s le e c L ti o o s n s ] 2:Triggeredwhentwophasesarelost [0] 3:FaultatphaselossatstartandduringRUN 0 : Disabled 1 : Triggered by a single phase loss An output phase loss fault [LF] is triggered when one output phase is lost. The output shuts off and the motor coasts to stop. 2 : Triggered when two phases are lost An output phase loss fault [LF] is triggered when two output phases are lost. The output shuts off and the motor coasts to stop. 3 : Fault at phase loss at start and during RUN An output phase loss fault [LF] is triggered when one or more phases are lost at motor start (before the brake opens) and when motor is moving. When LF has been detected, the motor coasts to stop. When setting L8-07 = 3, set parameters S1-02 (only OLVand V/f) and S1-04 as follows: • Set S1-02 [DC Injection Current at Start] to a value greater than 15%. • Set S1-04 [DC Injection/Position Lock Time at Start] to a value greater than 100 ms.

16 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

An incorrect setting may result in poor performance or nuisance faults or alarms.

6 DCP Interface

The DCP is a point-to-point link between drive controller and lift controller. The two devices are linked via an RS-485 interface in semi-duplex mode. For DCP serial communications, the terminal connections for RS485 R+/R-/S+/S- have to be used (R+ and S+ / R- and S- bridged).

◆ Network Cable Connection • With the power shut off, connect the communications cable to the drive and the master. Use terminals R+/S+ and R-/S- for DCP. • Set DIP switch S2 to ON position.

Figure 6.1 RS-485 DCP Connection Note: 1. Turn on the DIP switch on the drive that is located at the end of the network. All other slave devices must have this DIP switch set to OFF position. 2. Set H5-07 = 1 when using the RS-485 interface. 3. Cycle power to apply the H5-07 change.

◆ Introduction The DCP protocol distinguishes two modes:

DCP3 (for lift controllers without absolute encoder system in the shaft) : EN • Drive control via serial DCP link instead of digital inputs • Status messages, such as fault and over-temperature, are transmitted via DCP link instead of by relay • Monitoring of speed (such as releveling speed, deceleration speed, and overspeed) DCP4 (for lift controllers with absolute encoder system in the shaft) : • Drive control via serial DCP link instead of digital inputs • Status messages, such as fault and over-temperature, are transmitted via DCP link instead of by relay • Monitoring of speed (such as releveling speed, deceleration speed, and overspeed) • Time-optimized direct leveling dependent on remaining distance • Millimeter-accurate adjustment, dependent on distance • Supervision of deceleration at the shaft ends

◆ Characteristics of DCP Interface In DCP mode a Master-Slave-architecture is used. The lift controller is the master device, the drive controller is the slave. Messages for communication between the devices are sent in a 15 ms cycle.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 17

6 DCP Interface

Figure 6.2 Typical DCP Topology Drive and lift controller are linked via RS-485 using the fixed communication settings: • Baud rate: 38,400 Baud • Parity: none

• Data bits: 8 • Stop bits: 1 ■ Messages

• Time-critical, high speed process data (e.g. remaining distance, switch-off points, travel commands, etc) • Non time-critical communication data (e.g. display control, transfer of keypad codes, etc.) • Not more than 2 bytes of communication data are transferred with each message; the remaining bytes being used for fast process data. • Each message is provided with a checksum byte Master Messages from Lift Controller to Drive Controller Fixed length of 6 bytes

ProcessData CommunicationData Checksum 1 2 3 4 5 6 CommandByte DataByte1 DataByte2 CommunicationByte1 CommunicationByte2 Checksum

Slave Messages from Drive Controller to Lift Controller Fixed length of 6 bytes ProcessData CommunicationData Checksum

1 2 3 4 5 6 StatusByte DataByte1 DataByte2 CommunicationByte1 CommunicationByte2 Checksum

◆ DCP Master Messages from Lift Controller to Drive Controller

■ Command Byte

ProcessData CommunicationData Checksum 1 2 3 4 5 6 CommandByte DataByte1 DataByte2 CommunicationByte1 CommunicationByte2 Checksum The first byte of the message is called command byte. It contains the following information: Bit B0 : Drive controller enable

DCP3 and DCP4: Information for the drive that there will be activation soon. This bit is set during a travel. 0 : No activation of the drive (e.g. finish of travel or travel interruption) 1 : Drive activation during travel Bit B1 : Travel command (DCP3); Change of actual distance (DCP4) DCP3: The speed is set with the travel command.

This bit is cleared at the deceleration point and the drive slows down to V0 (Crawl speed). DCP4: Remaining Distance Travel: With a travel dependent on distance, bit B1 is cleared since the drive controller itself determines the optimum switch-off point. The speed transferred before the start of the travel is just a limit.

18 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

Desired Distance Travel: Not implemented. Bit B2 : Stop switch DCP3: The stop switch replaces terminal input V0 (Crawl speed). DCP4:

In this mode, the lift controller signals that the drive controller performs a distance-dependent travel. The stop switch is turned on from the start of the travel. When the drive controller reaches the remaining distance of 0 mm, the mechanical brake is applied. The lift controller then turns off the stop switch. Bit B3 : Transfer of travel commands in the third byte of message DCP3 and DCP4: This bit tells the drive controller that the following 2 bytes (data bytes) are being used to transfer a speed. Bit B4 : Direction of travel DCP3 and DCP4:

This bit determines the direction of travel of the lift. 0 : Upwards 1 : Downwards Bit B5 : Speed change DCP3 and DCP4: This bit has the same functionality as B3 (implemented as logical OR combination).

Bit B6 : Desired distance / Actual distance DCP4: This bit chooses the type of transmitted distance. 0 : Actual Distance 1 : Desired Distance (not supported) Bit B7 : Error in last reply message DCP3 and DCP4:

This bit is set when the lift controller has detected a checksum error in the last message received from the drive controller and has therefore ignored it. In this case, the drive controller repeats the telegram automatically. ■ Data Bytes

ProcessData CommunicationData Checksum 1 2 3 4 5 6

CommandByte DataByte1 DataByte2 CommunicationByte1 CommunicationByte2 Checksum EN The content of the two data bytes depends on the type of transmitted message. Transmitted information: • Speed Mode • 15-bit remaining distance • 16-bit remaining distance ■ Communication Bytes

ProcessData CommunicationData Checksum 1 2 3 4 5 6 CommandByte DataByte1 DataByte2 CommunicationByte1 CommunicationByte2 Checksum The exact meaning and function of the communication bytes are described later.

■ Checksum Byte

ProcessData CommunicationData Checksum 1 2 3 4 5 6

CommandByte DataByte1 DataByte2 CommunicationByte1 CommunicationByte2 Checksum

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 19

6 DCP Interface

The checksum is the result of an XOR operation across all 5 data bytes. ■ Definition of Messages

The following two tables show the valid messages of DCP3 and DCP4 Command mode and the meaning of the process information. Table 6.1 Nomenclature

Setting Meaning 0 bitiscleared 1 bitisset x any Message Types in DCP3 Mode

MessageType Com 7 m 6 a 5 n 4 d 3 M 2 od 1 e 0 Bits ProcessData Comm D u a n ta ication Checksum Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 IdleMode x0xx0000 any any 0-255 0-255 0-255 StopMode x0xx0001 any any 0-255 0-255 0-255

Re-levelingMode x0xx0011 any any 0-255 0-255 0-255 DecelerationMode x0xx0101 any any 0-255 0-255 0-255 TravelMode x0xx0111 any any 0-255 0-255 0-255 SpeedMode x0xx1001 Speed Speed 0-255 0-255 0-255 Speed Fa M st o S d t e ar a t ftera x0xx1111 Speed Speed 0-255 0-255 0-255

Message Types in DCP4 Mode

MessageType Com 7 m 6 a 5 n 4 d 3 M 2 od 1 e 0 Bits ProcessData Comm D u a n ta ication Checksum Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 IdleMode x0xx0000 any any 0-255 0-255 0-255 StopMode x0xx0001 any any 0-255 0-255 0-255

Re-levelingMode x0xx0011 any any 0-255 0-255 0-255 Rema M ini o n d g e D *1 istance x0xx0101 Remain M ing SB Distance Remaini L n S g B Distance 0-255 0-255 0-255 DecelerationMode x0xx0101 any any 0-255 0-255 0-255

TravelMode x0xx0111 any any 0-255 0-255 0-255 SpeedMode x0xx1001 Speed Speed 0-255 0-255 0-255 Speed Fa M st o S d t e ar a t ftera x0xx1111 Speed Speed 0-255 0-255 0-255

*1 The next message after a Speed Mode message will decide how a "x 0 x x 0 1 0 1" message is processed: • If, after a Speed Mode change, a Travel Mode message follows, all occurrences of "x 0 x x 0 1 0 1" messages are processed as Deceleration Mode messages. • If, after a Speed Mode message, a "x 0 x x 0 1 0 1" message follows, this and all other messages are processed as Remaining Distance Mode messages. ■ Speed Mode DCP speeds correspond to parameters listed below. Speeds are transferred in bytes 2 and 3 (data bytes) once before a start of travel.

SpeedModeBits DCPNameofSpeedMode L1000 D A e S s t i a g n n d a a ti r o d n Speed RelatedL1000AParameter L1000ADCPDesignation G0 V0 Crawl d1-26 V0Speed G1 VN Re-leveling d1-23 VNSpeed

G2 VF - - VFSpeed G3 V1 Intermediate3 d1-04 V1Speed

20 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

SpeedModeBits DCPNameofSpeedMode L1000 D A e S s t i a g n n d a a ti r o d n Speed RelatedL1000AParameter L1000ADCPDesignation

G4 VI Inspection d1-24 VISpeed G5 V2 Intermediate2 d1-03 V2Speed G6 V3 Intermediate1 d1-02 V3Speed G7 V4 Fast d1-01 V4Speed

G8 V5 Intermediate6 d1-07 V5Speed G9 V6 Intermediate5 d1-06 V6Speed G10 V7 Intermediate4 d1-05 V7Speed Speed modes V7, V6, V5, V2, and V1 are not available with DCP4.

◆ DCP Slave Messages from Drive Controller to Lift Controller

■ Status Byte

ProcessData CommunicationData Checksum 1 2 3 4 5 6 StatusByte DataByte1 DataByte2 CommunicationByte1 CommunicationByte2 Checksum (S7...S0) The first byte of the message is called status byte. It contains the following information: Bit S0 : Drive controller ready DCP3 and DCP4: The drive controller is ready for the next run. This status bit is similar to the terminal "Drive controller ready" at the lift controller. 0 : Drive controller is not ready to travel 1 : Drive controller is ready to travel Bit S1 : Travel active DCP3 and DCP4:

The drive controller is currently carrying out a run. 0 : Not in travel 1 : In travel Bit S2 : Stop switch DCP3 and DCP4: The travel can be continued to the next floor. In this case, the lift controller should no longer give any travel commands while alarms are active. Bit S3 : Fault active EN

DCP3 and DCP4: The drive controller error flag is set. The drive controller has been switched off, the run contactor was closed, and the brake was applied. Possible causes of the fault include: • Over-speed • Over-current • DC bus over-voltage • DC bus under-voltage • Motor parameter setting error • Power section over-temperature The command "Drive controller enable" (see command bit B0) must be cleared at this situation. The lift controller will not travel until the fault has been cleared on the drive side.

Bit S4 : Motor speed below leveling speed (v < 0.3 m/s) DCP3 and DCP4: The motor speed has dropped to or below leveling speed. This signal is used for monitoring the re-leveling speed (v < 0.3 m/s) by the lift controller.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 21

6 DCP Interface

0 : v ≥ 0.3 m/s 1 : v < 0.3 m/s Bit S5 : Desired distance / Speed accepted DCP3 and DCP4: 0 : During Emergency Stop or Stall Prevention

1 : The speed was accepted by the drive controller Bit S6 : Mechanical Brake DCP3 and DCP4: Corresponds to the mechanical brake relay of the drive controller. 0 : Mechanical brake closed 1 : Mechanical brake open

Bit S7 : Error in last message received DCP3 and DCP4: This bit is set if the drive controller has detected a checksum error in the last message from the lift controller and has therefore ignored it. In this situation, the lift controller repeats the telegram automatically. ■ Data Bytes

ProcessData CommunicationData Checksum

1 2 3 4 5 6 StatusByte DataByte1 DataByte2 CommunicationByte1 CommunicationByte2 Checksum (S7...S0) The content of the two data bytes depends on the type of transmitted message. Three different kinds of information can be transmitted: • Extended status of the drive controller • 15-bit deceleration distance • 16-bit deceleration distance Extended status of the drive controller Bit 0 : VUnlock Speed for Unlocking Zone The actual speed is slower than the maximum speed for unlocking zone (v < 0.8 m/s). 0 : The actual speed is faster or equal than the max. speed for unlocking zone (v >= 0.8 m/s) 1 : The actual speed is slower than the max. speed for unlocking zone (v < 0.8 m/s) Bit 1 : VBorder Border Speed The actual speed is slower than the adjustable border speed [d1-30]. 0 : The actual speed is faster or equal than the border speed (v >= vBorder) 1 : The actual speed is slower than the border speed (v < vBorder)

Bit 2 : VOver Overspeed The actual speed is slower than the adjustable overspeed [d1-31]. 0 : The actual speed is faster or equal than the overspeed (v >= vOver) 1 : The actual speed is slower than the overspeed (v < vOver) Bit 3 : Reserved Currently not supported.

Bit 4 - 8 : Reserved for Weight Detection Currently not supported. Bit 9 : Emergency Power: Reduced DC Bus Voltage (Battery Supply/UPS) The drive controller has reduced voltage (supplied by battery/UPS) during emergency power. 0 : Reduced DC Bus voltage not active 1 : Reduced DC bus voltage active

22 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

Bit 10 : Emergency Power: Recommended Travel Direction The drive controller recommends the travel direction during emergency power for the next travel. 0 : Upwards (The counterweight is much heavier than the lift car) 1 : Downwards (The lift car is much heavier than the counterweight)

Bit 11 : Information: Temperature Limit "Motor" If a certain threshold of the motor temperature is reached, the drive controller is signaling "temperature limit motor." The information can be used to avoid an overheating of the motor. 0 : Actual motor temperature has not reached the temperature limit 1 : Actual motor temperature has reached the temperature limit Note: 1. The motor must be equipped with a PTC. 2. The drive controller has to measure the motor temperature. Appropriate countermeasures of the lift controller when reaching the temperature limit:

• The lift controller should increase the idle time in order to reduce duty cycle of the motor. • In case of a lift group, another lift should get the preference for driving. Unsuitable countermeasures of the lift controller when reaching the temperature limit: • A reduction of the travel speed is unsuitable to counteract the overheating of the motor. This functionality is configured by parameters L1-03 to L1-05 [PTC input]. Bit 12 : Information: Temperature Limit "Drive"

The drive controller is signaling "temperature limit drive", if a certain threshold of the drive temperature is reached. The information can be used to avoid an overheating of the drive. 0 : Actual drive temperature has not reached the temperature limit 1 : Actual drive temperature has reached the temperature limit Appropriate countermeasures of the lift controller when reaching the temperature limit: • The lift controller should increase the idle time in order to reduce duty cycle of the drive. • In case of a lift group, another lift should get the preference for driving. • If the drive permits, reduce C6-02 [Carrier Frequency]. EN

Unsuitable countermeasures of the lift controller when reaching the temperature limit: • A reduction of the travel speed is unsuitable to counteract the overheating. The alarm level can be set with parameter L8-02 [Drive overheat pre-alarm (oH)]. Bit 13 - 14 : Reserved Currently not supported. Bit 15 : Mode Identification

The Extended Status information will only be available if the mode identification bit is set. 0 : Braking Distance 1 : Extended Status 15-bit braking distance The two data bytes are containing the actual 15-bit braking distance. The maximum braking distance is limited to 7FFF (Hex) (32767 mm).

While the lift car is stationary or just starting, the value for the braking distance is clamped at 7FFF (Hex). During acceleration, the value increases from 0. During constant speed, the braking distance remains constant.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 23

6 DCP Interface

Bit 0 - 7 : The LSB of the actual 15-bit Braking Distance Data Byte 2 Bit 8 - 14 : The MSB of the actual 15-bit Braking Distance Data Byte 1 Bit 15 : Mode Identification

The braking distance will only be available if the mode identification is cleared. 16-bit braking distance The two data bytes are containing the actual 16-bit braking distance. The maximum braking distance is limited to FF (Hex) (65535 mm). While the lift car is stationary or just starting, the value for the braking distance is clamped at FF (Hex). During acceleration, the value increases from 0. During constant speed, the braking distance remains constant. Bit 0 - 7 : The LSB of the actual 16-bit Braking Distance Data Byte 2

Bit 8 - 15 : The MSB of the actual 16-bit Braking Distance Data Byte 1 Transmitted Information Using Data Information Types Transmitted InformationusingData InformationType’0’ The two data bytes are alternately filled by the braking distance (indicated to the lift controller by bit 15 being '0') and the Extended Status information (bit 15 being '1'). These values must be handled carefully because each type of transmitted information is updated every 30 ms only. For DCP3, the braking distance always reads 0.

DataByte1 DataByte2 Bit15 Bit8-14 Bit0-7 0 15-bitbrakingdistance 1 Extendedstatus

Transmitted InformationusingData InformationType’1’ This mode is not used in DCP3. In this mode, the two data bytes will be used only to transmit the actual 15-bit braking distance. DataByte1 DataByte2 Bit15 Bit8-14 Bit0-7

0 15-bitbrakingdistanceMSB 15-bitbrakingdistanceLSB If bit 15 = 0, the value is evaluated as 15-bit braking distance. Transmitted InformationusingData InformationType’2’ In this mode, the two data bytes are used only for transmission of the Extended Status of the drive controller.

DataByte1 DataByte2 Bit15 Bit8-14 Bit0-7 1 Extendedstatus If data shall be evaluated as Extended Status, bit 15 must be set to ’1’. Transmitted InformationusingData InformationType’3’ This mode is not used in DCP3. In this mode, the data bytes are exclusively used to transmit the actual 16-bit braking distance.

DataByte1 DataByte2 Bit8-15 Bit0-7 16-bitbrakingdistanceMSB 16-bitbrakingdistanceLSB

Transmitted InformationusingData InformationType’4’ In this mode, the data bytes are exclusively used to transmit the Extended Status of the drive controller. DataByte1 DataByte2 Bit15 Bit8-14 Bit0-7

1 Extendedstatus

24 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

■ Communication Bytes

ProcessData CommunicationData Checksum 1 2 3 4 5 6 StatusByte DataByte1 DataByte2 CommunicationByte1 CommunicationByte2 Checksum (S7...S0) Refer to DCP Communication Data Channel on page 25. ■ Checksum Byte

ProcessData CommunicationData Checksum 1 2 3 4 5 6 StatusByte DataByte1 DataByte2 CommunicationByte1 CommunicationByte2 Checksum (S7...S0) The checksum is the result of an XOR operation across all 5 data bytes. The resulting value must be equal to the checksum, i.e. an XOR operation across all 6 bytes must yield 0. ◆ DCP Communication Data Channel

The communication data channel is embedded in the DCP frame and operated by its own protocol.

ProcessData CommunicationData Checksum 1 2 3 4 5 6 StatusByte DataByte1 DataByte2 CommunicationByte1 CommunicationByte2 Checksum (S7...S0) It allows: • Access to all desired drive controller monitors and parameters • Drive remote control using keypad and display of the lift controller • The exchange of additional data between lift controller and drive controller ■ Character Set Data within the communication data channel is only transferred using ASCII characters. • The transmitted characters are limited to the ASCII character set from 20 to FF (Hex).

• The remaining 32 characters are available for control purposes (0 to 1F (Hex)). This offers advantages, especially for remote diagnostics, since an ASCII protocol can be easily integrated into a standardized data frame. ■ Data Transmission and Character Format EN Since only ASCII characters from 20 to FF (Hex) are available for data transmission, it must be insured that no character outside this range occurs within the data stream as this would result in malfunctions. An effective method of avoiding such problems is to convert the data bytes into ASCII format in order to ensure that they lie outside the range of control characters. This method offers the opportunity of an additional plausibility check to pick up transmission errors not detected by calculating the checksum (e.g. 2 bits falsified). The transmitted data is encapsulated in the 6-byte DCP data frame.

STX ... ETX ... ... StartCharacter UserData StopCharacter ■ Data Transmission Time-out Control If messages are not exchanged within one second, the communication devices on both ends are automatically reset to their initial state. If there is no "ETX" character received within one second after an "STX" character was received, the communication data channel is also reset to its initial state. ■ Control Modes The communication channel can be operated in the following modes:

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 25

6 DCP Interface

• Drive Remote Display Control via lift controller • Drive Remote Keypad Control via lift controller • Extended data communication between lift controller and drive controller • Idle state All operation of the drive controller is possible by remote control mode. The display lines are transmitted and displayed both at standstill and while traveling. After changing a parameter on the drive controller via remote control mode, bit S0 [Drive Controller Ready] must switch off, and no further travel command needs to be accepted. After leaving the remote control mode without any modifications, the drive controller switches on bit S0 [Drive Controller Ready] and is ready to travel. ■ Breakdown of Control Character Range (0 to 1F (Hex))

Characters Common for Remote Keypad and Display Control

CommunicationIdle 00(Hex) CommunicationIdle 02(Hex) STX(StartofText) MessageIdentification 03(Hex) ETX(EndofText) 1C(Hex) Extendeddatacommunications 1D(Hex) Reserved ControlMode 1E(Hex) m Di e s m pl o a r y y ingandsavingerrormessagesfromthedrivecontrollerinliftcontroller’sevent 1F(Hex) Remotecontrol,usedforbothcommunicationdevices Characters for Remote Display Control of Lift Controller

04(Hex) Characteroutputinline1 05(Hex) Characteroutputinline2 LineNumber(dependsonliftanddrive controller) 06(Hex) Characteroutputinline3 07(Hex) Characteroutputinline4 CursorPosition c ( o d n e t p r e o n ll d e s r) onliftanddrive 08to1B(Hex) Cursorposition0to19 Characters for Remote Keypad Control of Lift Controller 00(Hex) Nobuttonpressed 04(Hex) Button1 08(Hex) Button2 (Nu k m ey b p e a r d o d f e k p e e y n s d a o n n d d th ri e v m ec e o a n n t i r n o g ll o e f r) the 10(Hex) Button3

20(Hex) Button4 40(Hex) Button5 80(Hex) Button6 Each button is assigned to one bit. This allows transferring information of simultaneously pressed buttons. Example 1 :

B&P lift controller "bp308" supports only 6 keys to remotely operate the drive controller. Key layout and assignment to the buttons:

The button "ESC/Reset" functions like "ESC" in the programming menu, and like "Reset" in the fault display. The button "Run/Stop" issues a RUN command when not during RUN, and issues a STOP command when during RUN.

26 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

Example 2 : Kollmorgen lift controller MPK400c supports only 5 keys to remotely operate the drive controller. Key layout and assignment to the buttons:

The button "ESC/Reset" functions like "ESC" in the programming menu, and like "Reset" in the fault display. The button "Run/Stop" issues a RUN command when not during RUN, and issues a STOP command when during RUN. Example 3 : Schneider Steuerungstechnik GmbH Lisa20 controller supports only 5 keys to remotely operate the drive controller. Key layout and assignment to the buttons:

The button "ESC/Reset" functions like "ESC" in the programming menu, and like "Reset" in the fault display. The button "Run/Stop" issues a RUN command when not during RUN, and issues a STOP command when during RUN. Example 4 : Strack Lift Automation SLC4-20 controller supports only 4 keys to remotely operate the drive controller. Key layout and assignment to the buttons:

The button "ESC/Reset" functions like "ESC" in the programming menu, and like "Reset" in the fault display. The button "Run/Stop" issues a RUN command when not during RUN, and issues a STOP command when during RUN. To use the functions ">" or "RUN/STOP" press the buttons "Down" and "Up" at the same time. Characters for Extended Data Communication EN

1stCharacter 49(Hex) ‘I’character-Internalcommand 30(Hex) ‘0’character-Manufactureridentification 31(Hex) ‘1’character-Determinedatabyte2and3content 2ndCharacter 32(Hex) ‘2’character-Switchingfunction

37(Hex) ‘7’character-Traveldistanceparameter 39(Hex) ‘9’character-Actualposition ■ Drive Controller Remote Display Control (1F (Hex))

In this mode, the display of the lift controller is used for outputting the drive controller's menu texts. Switching to this mode is initiated with the character string (STX) (1F (hex)) and ends with an (ETX) character. The lift controller recognizes a display control character (line, cursor position) immediately and outputs the subsequently transmitted characters at the required position. The drive controller starts transferring remote display information as soon as a remote key command has been received from the lift controller. When no remote key has been pressed for more than 30 seconds, the drive controller stops sending remote display information.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 27

6 DCP Interface

Table 6.2 Example 1: Displaying a complete display line STX 1F Line CursorPosition Character1 ... Charactern ETX Table 6.3 Example 1: Displaying a complete display line

STX 1F Line CursorPosition Character1 Line CursorPosition Character2 ... ETX If another (STX) character is sent before an output data stream ended, the complete display is cleared (e.g. in case of sporadic interruption of communication), and the transmission is restarted. ■ Drive Controller Remote Keypad Control (1F (Hex))

In this mode, the keypad of the lift controller is used to pass user input to the drive controller. Switching to this mode is initiated with the character string (STX) (1F (Hex)) and ends with an (ETX) character. A keystroke transfer has the following format:

STX 1F(Hex) Button ETX ■ Idle State

If data is not being communicated on the channel, null bytes are transferred (0 (Hex)), i.e. communication is idling.

0(Hex) ■ Synchronization / Communication Device Reset

The communication device can be reset to its initial state (display cleared) at any time with the character string (STX) (ETX) (generally recommended before switching control mode 1C, 1E, 1F (Hex)). STX ETX

In the initial state, all Tx and Rx communication buffers of the drive are cleared. The drive is ready to receive any new valid message from the lift controller. ■ Saving Device Controller Error Messages (1E (Hex))

It is possible for the drive controller to intervene asynchronously in an exchange of messages at any time in order to display drive controller error messages on the lift controller display and to save it to the lift controller's event log. If a message transmission is already in progress, the drive controller first completes this message before sending the error message. Following this procedure prevents a loss of data. Switching to this mode is initiated with the character string (STX) (1E (Hex)) and ends with an (ETX) character. An error message output has the following format: STX 1E(Hex) Character1 Character2 ... Charactern ETX

n = 1 to 20 The Error message for Yaskawa drives is specified as follows: Only the LCD Message Fault Display is transferred, e.g. "EF3" for External Fault 3, not the fault Message text "Ext Fault S3". The same fault is transmitted only once and is not repeated unless another fault has occurred in the meantime. ■ Extended Data Communication between Lift and Drive Controller (1C (Hex))

In this mode, additional data can be exchanged between lift controller and drive controller. Switching to this mode is initiated with the character string (STX) (1C (Hex)) and ends with an (ETX) character. Extended Data Transmission in Communication Channel (1C (Hex)) The messages defined by the date of publication of this document are described below. The lift controller always initiates communication. Only the drive controller responds. Initialization Message ('I' '0') The lift controller and the drive controller start communication with the following initialization messages. After that, both of the controllers check and adjust their settings. The drive controller receives the language settings from the lift controller and switches to the same language. When the drive controller is not able to support the received language setting, it needs to switch to English language (same as default setting).

28 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

When the drive controller has received no or only a faulty initialization message ('I','0') from the lift controller, the drive controller does not activate any travel sequence. When a travel start sequence is initiated nevertheless, the Drive triggers a fault DCE2 and forces a time-out of 1 second (Tx and Rx channels are cleared, Rx messages are ignored for 1 second), and the lift controller must send a new initialization message. Initialization Messagefrom Lift Controller Typically, the lift controller sends the inquiry after switching on/reset and disconnection (time-out).

Response InitializationMessage from DriveController The drive controller responds with the following message after receiving the lift controller's message.

ManufacturerCodes Table 6.4 Lift Controller Manufacturers

Name ID Name ID Böhnke+PartnerGmbH BP OSMAAufzüge,AlbertSchenkGmbH&CoKG OS KollmorgenSteuerungstechnikGmbH KN SchneiderSteuerungstechnikGmbH LI NEWLIFTSteuerungsbauGmbH NL StrackLiftAutomationGmbH ST

Table 6.5 Drive Controller Manufacturers Name ID Name ID ABBAseaBrownBoveriLtd AB GefranDeutschlandGmbH SS

Brunner&FecherRegelungstechnikGmbH BF MagneTek(UK)Ltd. MT BucherHydraulicsAG BH RSTElektronikGmbH RS ControlTechniquesGmbH CT ThyssenKruppAufzugswerkeGmbH TY DanfossGmbH DA Venzke-DriveConGmbH VZ EmotronLiftCenterGmbH DE YaskawaEuropeGmbH YE EN

FujiElectricGmbH FE Ziehl-AbeggAG ZA Setting Up the Data-Information-Type ('I' '1') By transmitting this message during the initialization phase, the following items are determined: • Whether the lift controller transmits the remaining distance in 15-bit or 16-bit mode • Whether the drive controller transmits the braking distance in 15-bit or 16-bit mode or not at all • Whether the drive controller transmits the Extended Status • Whether the drive controller alternately transmits the Extended Status and the 15 bit braking distance (for DCP3, 0x00 is transferred for the braking distance) • Whether the drive's response message to the message ('I','9') is transmitted with or without additional information Data-Information-TypeMessage fromLift Controller The lift controller sets up the kind of information in the data bytes while transmitting this message during initialization.

STX 1C 'I' '1' ProtocolType DataInformationType ETX Protocol Type "Extended Data Communication" :

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 29

6 DCP Interface

'0' Base Protocol ('I','9' response message without additional information) '1' Extended Protocol ('I','9' response message with additional information) Data Information Type : Sets up of the type of information transmitted in data bytes 1 and 2:

LiftControllerDataBytes DriveControllerDataBytes

'0'Remainingdistanceusing15bitmode Brakingdistanceusing15-bitm tra o n d s e m a i n tt d ed Ex al t t e e n r d n e a d te S ly tatusofthedrivecontrollerare '1'Remainingdistanceusing15bitmode BrakingDistanceusing15bitmode '2'Remainingdistanceusing15bitmode ExtendedStatusofthedrivecontroller '3'Remainingdistanceusing16bitmode BrakingDistanceusing16bitmode

'4'Remainingdistanceusing16bitmode ExtendedStatusofthedrivecontroller If no ('I' '1') message is transmitted by the lift controller, the data-information-type will be set to '0' on both controllers. Response Data-Information-Type Messagefrom DriveController If the drive controller receives a base protocol request or does not support the extended protocol, it responds with the message: STX 1C 'I' '1' ETX

If the drive controller receives the extended protocol request and does support the extended protocol, it responds with the message: STX 1C 'I' '1' '1' ETX

Switching Function ('I' '2') This message is used to realize advanced functions. Switching FunctionMessagefrom LiftController To activate the designated function, the data byte 'switching function' is used.

STX 1C 'I' '2' Reserve SwitchingFunction ETX Switching Function : '0' No function selected or function reset '1' Activate function "Maximum Torque". The next (but only the next) travel is executed with maximum drive torque 'R' Function 'Inverter Fault Reset' is executed Function "Maximum torque" :

After activating the function "Maximum Torque", the torque limitation in the drive is set to the maximum possible level during the next travel. After the next stop, the drive switches back to the previous torque limit. This allows a monitoring of rope slip or traction ability. Response toSwitching FunctionMessagefrom DriveController If the message type is supported by the drive, it responds with the message: STX 1C 'I' '2' Reserve SwitchingFunction ETX

Switching Function : ‘0' No function in accordance to the message ('I' '2') is active '1' The function "Maximum Torque" is active 'R' Command 'Inverter Fault Reset' is executed The torque limits for all quadrants [L7-01 to L7-04] are temporarily opened to 300%. After the next stop, the drive switches back to the previously set torque limitation (parameter settings).

Date/Time ('I' '3') The lift controller can transmit the current time and date to the drive controller. This can be used by drive controllers without a real-time clock to synchronize their calculated clock. This information is not used in L1000A.

30 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

Date/TimeMessage fromLift Controller The lift controller transmits the message after each initialization message ('I' '0') plus once per day (preferred at "day changeover").

If the lift controller doesn't support this message type, no Date/Time-message will be received by the drive controller. In this case, the drive controller has to operate without a synchronization of the clock. Response toSwitching FunctionMessagefrom DriveController As confirmation, the drive controller sends the following message to the lift controller.

STX 1C 'I' '3' ETX "Emergency Power Supply"/"Energy Saving Mode" Message ('I' '6') After switching on the emergency supply, the drive controller is sending information to the drive controller. With this information, the drive controller is able to execute the travel with reduced energy consumption. The Energy Saving Mode is enabled only in case of CLV/PM control mode. "Emergency Power Supply"/"EnergySaving Mode"Message from LiftController After switching on the emergency supply, the drive controller is sending the following message.

STX 1C 'I' '6' PowerSupply EnergySavingMode ETX When no message ('I' '6') is sent, normal mains operation without energy-saving mode is set up. Power Supply : 'N' Normal mains operation

'U' Emergency supply The ’U’ request is taken by the drive controller to reduce the regular undervoltage level [L2-05] of the drive. In this condition, the UV level is at 50 V for 400 V units, and at 25 V for 200 V units. Energy Saving Mode : '0' No energy saving mode - normal operation '1' Energy saving mode 1 (In CLV/PM AC Drive control mode only) '2' Energy saving mode 2 (In CLV/PM AC Drive control mode only)

Response to"Emergency Power Supply"/"EnergySaving Mode"Message by DriveController The drive controller responds with the same telegram in case it supports these modes. If a mode is not supported, it responds with the actual mode it works. EN STX 1C 'I' '6' PowerSupply EnergySavingMode ETX If the telegram is not supported and the drive does not respond, the controller assumes normal main supply without energy-saving mode. When energy-saving modes '1' or '2' are switched ON, parameter b8-01 is set to 1 when in CLV/PM control mode. When '0' is transferred, b8-01 is set back to 0.

Power Supply : 'N' Normal mains operation 'U' Emergency supply (The drive immediately indicates that it is operating below normal undervoltage levels [L2- 05] by transferring ’U’) Energy Saving Mode : '0' No energy saving mode - normal operation '1' Energy saving mode 1 (In CLV/PM AC Drive control mode only) '2' Energy saving mode 2 (In CLV/PM AC Drive control mode only)

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 31

6 DCP Interface

Start Parameter Message ('I' '7') Before starting a travel, the lift controller transmits the desired travel distance and the allowed maximum lift speed to the drive controller. After calculation of the optimal speed, the drive controller answers with the minimum distance to travel and the required deceleration distance according to the calculated speed. Start ParameterMessage from LiftController Before each travel, the lift controller sends the following message:

STX 1C 'I' '7' Vmax Ss1 Ss2 Ss3 Ss4 Ss5 ETX Vmax : '1' = Intermediate Speed 1 (V3 in DCP notation) '2' = Fast Speed (V4 in DCP notation) Ss1 ... Ss5 : Desired distance in cm (ASCII coded decimal format) (Ss1: 104-digit; Ss2: 103-digit; Ss3: 102-digit; Ss4: 101-digit; Ss5: 100-digit)

Response toStart Parameter Messageby DriveController The drive controller responds with the following message. STX 1C 'I' '7' ftyp Sg1 Sg2 Sg3 Sg4 Sg5 Sv1 Sv2 Sv3 Sv4 Sv5 ETX

ftyp : Type of travel ('s' = short travel, 'l' = long travel, with l (long), the maximum lift speed is reached; with s (short) it’s not reached). Sg1 ... Sg5 : Total distance in cm (ASCII coded decimal format). If Ss > Sg, a long travel (l) is performed. (Sg1: 104-digit; Sg2: 103-digit; Sg3: 102-digit; Sg4: 101-digit; Sg5: 100-digit) Sv1 ... Sv5 : Deceleration distance in cm (ASCII coded decimal format). The remaining distance can be extended if it is longer than Sv.

(Sv1: 104-digit; Sv2: 103-digit; Sv3: 102-digit; Sv4: 101-digit; Sv5: 100-digit) Weight Measurement State of the Car ('I' '8') Note: This function is currently not supported by the drive controller. To improve the drive's starting behavior, optionally, the lift controller can send the percentage value of the car load weight before starting a travel.

WeightMeasurement Messagefrom Lift Controller Before starting the travel, the lift controller optionally sends the load weight as a percentage of the nominal load. STX 1C 'I' '8' L1 L2 L3 ETX The function should not be used in conjunction with the Fast-Start function.

L1 ... L3 : ASCII coded percentage value of the load weight relating to the nominal load in BCD-format. L1: hundreds, L2: tens, L3: ones Examples : 0: Car empty, load 0% 25: Load 25% 100: Full load 100%

Response Weight Measurement Messagefrom DriveController The drive controller responds with the following message. STX 1C 'I' '8' ETX CompatibilitytoFormer Lift- andDrive-ControllerSoftware To achieve compatibility to former lift- and drive-controller software: • The drive controller must also accept the starting command of the lift controller without getting the "I8" message before.

32 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

• The lift controller has to send the starting command also in case of not receiving the drive controller's response of the "I8" message. Position Message ('I' '9') The actual position of the lift car is sent from the lift controller to the drive controller after each stop. It is the distance in mm between the actual position and the lowest floor level. That also applies to travels using the speed assignments VI (inspection), V0 (crawl) or VN (re-leveling). If the extended protocol mode was activated by the message 'I','1' before, the drive controller transmits the travel distance in its response message. This information can be used by the lift controller to calculate the slip. Position Messagefrom Lift Controller After each stop, while the drive is stationary, the lift controller sends the position.

STX 1C 'I' '9' Sign P1 P2 P3 P4 P5 P6 ETX The function should not be used in combination with the Fast-Start function. SIGN (Sign / Result) : ('E': invalid value, '+': positive value, '-': negative value) P1 ... P6 :

Position (value in mm from lowest floor level) Response toPosition Messageby Drive Controller The drive controller's response message is dependent on the activated protocol type. If the base protocol is activated or the drive controller supports only the base protocol, the drive responds with the message:

STX 1C 'I' '9' ETX If the extended protocol is activated and supported by the drive controller, the drive controller responds with a message containing the distance of its last travel measurement including sign.

STX 1C 'I' '9' 'SIGN' 'D1' 'D2' 'D3' 'D4' 'D5' 'D6' ETX SIGN (Sign / Result) : ('E': invalid value, '+': positive value, '-': negative value) D1 ... D6 : Distance of the last travel in mm with sign calculated from motor encoder.

◆ DCP Behavior in Event of Transmission Errors

■ Lift Controller

A : The lift controller has detected a checksum error in the drive controller's reply message. EN

B :

Bit 7 (error in last message received) is set in the status byte of the reply message.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 33

6 DCP Interface

Bit 7 of byte 1 in master and slave message can initiate a resending of the previous message. In both cases, it is necessary to respond as follows: The type of message must be maintained (i.e. bytes 4 and 5 are the same as in the previous message). The actual values are transferred as commands.

■ Drive Controller A : The drive controller has detected a checksum error in the message received from the lift controller. The drive controller ignores the message and sends a reply message with the following content:

• Status Byte: Contains the actual status of the drive controller with bit 7 set (error in the last message received) • Process Data: Contains the actual extended status or the actual deceleration distance (which is 00 (Hex)in DCP3 mode) B : In the message from the lift controller to the drive controller, bit 7 (error in last reply message) is set in the command byte. The current commands are processed normally. The drive controller repeats the last message sent. Note: If one of both devices is detecting a checksum error in a message when also bit 7 (error in last message) is set, this bit must be ignored by the receiving device. In DCP4 mode, the drive controller's use of remaining distance message simplifies the behavior: •The lift controller always sends the current command byte and the remaining distance •The drive controller always replies with the current status byte •In the event of transmission errors, only the last communication byte sent is repeated ◆ Basic DCP Serial Communication Parameters

■ Interface

RS485 is used as physical layer. Transmission from the lift controller to the drive controller is serial and asynchronous. • Baud rate: 38,400 Baud • Data bits: 8 • Parity: none • Stop bits: 1

■ Timing Since a half-duplex interface is used, the corresponding line drivers must be switched on or off dependent on the transmission direction. To avoid collisions, the following timing has to be followed: • Maximum Tx transmission driver switch-off time: 0.5 ms after the last bit was sent • Maximum time delay for responding to a lift controller message: 10 ms after the last bit was received

• Lift controller message transmission start: 0 ms • Latest time for switching off lift controller's Tx driver / Earliest time for drive controller transmission start: 2.0624 ms • Latest drive controller transmission start: 11.5625 ms • Latest time for switching off drive controller Tx driver / Earliest start for sending next lift controller message: 13.625 ms • This leads to a transfer cycle of: 15 ms

34 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

The lift controller must ensure that the distance is transmitted at least 30 ms before the corresponding deceleration point is reached. In other words, the reply message from the drive controller, which tells the lift controller whether the new desired distance is accepted, must have arrived at the lift controller before the deceleration point is reached, even if the message exchange has to be repeated due to a transmission error. ■ Time-out Safety Function

During a travel, if 10 successive messages are received incorrectly or were lost completely (corresponds to 150 ms without communication), the drive controller triggers a fault (DCE1). The stopping method is executed according to b1-03 setting. While the drive controller is stopped, if further 10 successive messages are received correctly, the operation resumes automatically. There is no error message when the DCP link is interrupted while the drive is stationary. Note: To further improve safety, it is recommended that the lift controller also checks if the messages are received correctly. In case of errors, it should act accordingly.

◆ DCP Travel Sequence Definitions This chapter explains the nomenclature used for the diagrams in the following chapters.

■ Nomenclature In the following chapters, the DCP speed notation is used. The following abbreviations are used for the remaining distances and travel types:

SV5,SV6,SV7,SV1,SV2,SV3,andSV4 FixeddecelerationdistanceforDCP3travelsusingspeedsV5,V6,V7,V1,V2,V3,andV4 SV3'andSV4' MaximumdecelerationdistanceforDCP4travellimitedtoV3andV4

V3'travel,V4'travel,andVN'travel TraveldependentonremainingdistanceandlimitedtospeedV3,V4,andVN SV3 (distance for DCP3), SV3' (distance for DCP4) ■ Diagrams

The diagrams used in this specification have the following form:

EN

The numbers found in brackets are indicating the chronological order of setting and clearing the individual signals [(1) -> (2) -> (2b) -> (3) etc.]. The sequence (2b) and (2) can occur simultaneously. Thick signals are considered activated (logical TRUE).

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 35

6 DCP Interface

◆ Features Common to DCP3 and DCP4

■ Additional Notes on Command and Status Bits The following notes apply to DCP3 and DCP4.

Command Bit B0 : Drive Controller Enable Drive controller enable bit B0 must be set whenever the drive shall run. Drive controller enable bit B0 must be switched off by the lift controller if the safety circuit is interrupted. This is usual when terminating inspection travels. In this case, the drive coasts to stop. Command Bit B4 : Direction The travel direction must be available throughout the entire travel. The drive decelerates immediately if the setting changes during the travel, but without the drive controller switching to fault. Status Bit S0 : Drive Controller Ready The lift controller only starts a new travel if the drive controller ready bit S0 is set. After power on, bit S0 is held active for 4 seconds in order to give the lift controller the opportunity to send an I6=’U’ telegram to activate reduced undervoltage levels in the drive. Status Bit S1 : Travel-Active Bit

During normal operation, the lift controller switches the motor contactors ON while S1 = '1'. In case of a regular halt, the drive controller should not set S1 from '1' to '0' before S6 is set to '0', and the lift controller has had time to close the mechanical brake. Status Bit S2 : Alarm Active If re-starting is performed although this bit is set, an error message is sent to the drive controller (DOE1, DCP Operation Error 1). The lift controller only starts a new travel if the alarm active bit S2 is reset. If S2 is activated during the travel, the lift controller should no longer extend the remaining distance. Status Bit S6 : Mechanical Brake In case of a regular start, the drive controller should set S6 from '0' to '1' after the Brake Open Delay Time S1-06. In case of a regular halt, the drive controller should set S6 from '1' to '0' when it has stopped completely. In this situation, the drive controller should hold the torque for about 100 ms (S1-07 = 100 ms), so that the lift controller can close the mechanical brake without coasting of the drive. Status Bit S3 : Fault Active When general fault bit S3 is activated, drive controller enable bit B0 has to be reset. The lift controller must not start a new travel until fault active bit S3 has been reset. The stopping method is according to b1-03.

■ Inspection Travel These travels are common for DCP3 and DCP4.

Inspection Travel with VI : 1. The speed mode "Inspection [bit G4]" (VI) is transmitted before the travel starts. 2. The travel starts with activation of travel command bit B1 and stop switch bit B2. 3. When the lift arrives at one of the end-stops, the lift controller switches off travel command bit B1 in order to start its deceleration ramp. If the stop switch bit B2 is still active, the drive continues to travel at crawl speed (V0). 4. Releasing the inspection button generally opens the safety circuit. That is why an electrical stop is not possible. When the inspection function is deactivated, the lift controller must switch off drive controller enable bit B0. 5. When a stop command is received during leveling speed, the drive should use C1-02 [Ramp to Stop] as for nominal travel.

36 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

Figure 6.3 Inspection Travel Stopped with Idle Command

EN

Figure 6.4 Inspection Travel Stopped with Stop Command Inspection Travel with V0 : When the car is standing in the range of the end-stops, an inspection travel towards the end may not start with inspection speed (VI). In this case, it must start with crawl speed (V0). This is realized by activating only stop switch bit B2 without activating travel command bit B1. Note: Just like the inspection travel with VI, the speed mode "Inspection [bit G4]" (VI) is transmitted before the travel starts. This is necessary because some types of drive controllers in DCP4 mode can only realize an inspection travel with V0 if the "Speed Mode" command is using the speed inspection bit G4 (VI).

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 37

6 DCP Interface

1. The Speed Mode "Inspection [bit G4]" (VI) is transmitted before the travel starts. 2. The travel starts with activation of stop switch bit B2. 3. During the time the stop switch bit B2 is still activated, the drive continues to travel at crawl speed (V0). 4. Releasing the inspection button generally opens the safety circuit. That is why an electrical stop is not possible. When the inspection function is deactivated, the lift controller must switch off drive controller enable bit B0. 5. When during leveling speed a stop command is received, the drive should use C1-02 [Ramp to Stop] as for a normal crawl travel.

Figure 6.5 Inspection Travel with V0 and Stopping with Idle Command

38 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

Figure 6.6 Inspection Travel with V0 and Stopping with Stop Command Re-leveling Travel not Dependent on Remaining Distance : The re-leveling travel not depending on remaining distance is used for DCP3 and in special cases for DCP4. With DCP4, re-leveling travel dependent on remaining distance is also applied. Re-leveling Travel not Dependent on Remaining Distance without Electric Stop : Many lift controllers treat re-leveling as a special case. The mechanical brake and the motor contactors are also switched off along with the re-leveling speed (see step (3)). 1. Before the travel starts, the speed mode "Releveling [bit G1]" (VN) is transmitted. 2. The travel starts with activation of travel command bit B1, but the stop switch is not set.

3. Travel command bit B1 and drive controller enable bit B0 are switched off at the same time.

EN

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 39

6 DCP Interface

Figure 6.7 Re-leveling Travel without Electric Stop (DCP3) If the drive controller enable is not switched off, the motor contactors will be carrying current when opened. Since the motor is not being supplied with power during the time elapsing until the mechanical brake is applied, the drive can coast. Therefore, the method described in the next section is of advantage. Re-leveling Travel not Dependent on Remaining Distance with Electric Stop : The following method allows smooth stopping: 1. Before the travel starts, the speed mode "Releveling [bit G1]" (VN) is transmitted. 2. The travel starts with activation of travel command bit B1, but the stop switch is not set.

3. After the travel command bit B1 has been switched off, drive controller enable bit B0 remains activated. The drive decelerates to 0 and holds the car until the mechanical brake is applied. 4. Drive controller enable bit B0 and the motor contactors are not switched off until the mechanical brake bit S6 and travel activated bit S1 are switched off.

40 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

Figure 6.8 Re-leveling Travel with Electric Stop

◆ DCP3: Lift Controller without Absolute Sensor System

■ Travels at V4 followed by Constant Deceleration Distance SV4 Long Travel at High Lift Speed V4 : 1. Before the travel starts, the speed mode "Fast [bit G7]" (V4) is transmitted. 2. The travel starts with activation of travel command bit B1. 3. After the travel command has been switched off, the drive decelerates to crawl speed within the fixed distance SV4. The distance is supplied by the motor's incremental encoder. Stop switch bit B2 must be activated not later than at this point in time. 4. The lift controller positions the lift car with the stop switch bit B2. 5. The lift controller switches the travel contactors off when the drive controller ends the travel at S1 = 0.

EN

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 41

6 DCP Interface

Figure 6.9 V4 Long Travel (DCP3) Time-Optimized Short Travel at Lift Speed V4 : 1. Before the travel starts, the speed mode "Fast [bit G7]" (V4) is transmitted. 2. The travel starts with activation of travel command bit B1. 3. In contrast to above sequence, travel command bit B1 is switched off before fast speed (V4) is reached. The same fixed remaining distance (SV4) as for the long travel is traversed when slowing down to crawl speed (V0).

Figure 6.10 V4 Short Travel (DCP3)

42 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

■ Travels at Intermediate Speeds V7, V6, V5, V3, V2, and V1 For additional description, also refer to Travels at V4 followed by Constant Deceleration Distance SV4 on page 41. Long Travel at Intermediate Speed :

The same procedure as in Figure 6.9 with fast speed applies whereas in step (1), the appropriate intermediate speed must be transmitted. The deceleration distance is dependent on the selected speed. • V3 (Intermediate 1 [Bit G6]) > SV3 • V2 (Intermediate 2 [Bit G5]) > SV2 • V1 (Intermediate 3 [Bit G3]) > SV1 • V7 (Intermediate 4 [Bit G10]) > SV7 • V6 (Intermediate 5 [Bit G9]) > SV6 • V5 (Intermediate 6 [Bit G8]) > SV5 Time-Optimized Short Travel at Intermediate Speed : The same procedure as described in Figure 6.10 with fast speed applies whereas in that step (1), the appropriate intermediate speed must be transmitted.

■ Crawl Travel in DCP3 1. Before the travel starts, the speed mode "Crawl [bit G0]" (V0) is transmitted. 2. The travel starts with activating the travel command bit B1 and the stop switch bit B2. 3. After travel command bit B1 and the stop switch bit B2 have been reset, the drive decelerates.

4. Drive controller enable bit B0 must not be switched off until the mechanical brake bit S6 and the motor contactor bit S1 have been switched off.

EN

Figure 6.11 Crawl Travel (DCP3) Note: The lift can also be operated without travel command bit B1. For travels with stop switch bit B2 only, the speed selection is automatically set to crawl speed V0. B1 can be set or reset at any time. The important bit for crawl travel is B2.

◆ DCP4: Lift Controller with Absolute Sensor System With DCP4, travels are normally carried out time-optimized and dependent on remaining distance. Furthermore, travels not dependent on remaining distance as described later are supported here, allowing special kinds of travels, e.g. teaching travels for the absolute sensor system.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 43

6 DCP Interface

There are two ways to control a drive using DCP4: 1. DCP4 mode with transfer of desired travel distance and braking distance before start Before starting, there is a data exchange between controller and drive using message 'I','7'. The drive does not have to be able to transmit the braking distance while driving. 2. DCP4 mode with transfer of current braking distance while driving Before starting, there is no data exchange by using message 'I','7' telegram. While traveling, the drive permanently sends the actual braking distance.

Figure 6.12 Travel with Remaining Distance and Actual Braking Distance (DCP4)

■ Time-Optimized Direct Leveling Dependent on Remaining Distance With time-optimized travels dependent on remaining distance, there are no points at which lift speeds are switched. Dependent on the distance to be traveled, the corresponding maximum speed V5, V3, or VN might not be reached during the travel. Instead, the optimum speed for reaching the destination is determined. The lift travels to the destination at this speed. To clearly distinguish them from DCP3 travels, the DCP4 mode travels are therefore identified with an apostrophe ('). The travels described below have the following common features:

• Before the travel starts, a preselected speed is transmitted. This is just a limit that the drive controller is not allowed to exceed. The actual value of the speed is decided by the drive controller itself by calculating the time- optimized travel curve based on the actual remaining distance. • The travels dependent on remaining distance are executed without travel command bit B1. • Right from the travel start, the absolute remaining distance is read via DCP. • Stop switch bit B2 remains active until the lift car reaches the level and the drive controller switches the mechanical brake bit S6 off. V4' Travel : 1. Before the travel starts, the speed mode "Fast [bit G7]" (V4) is transmitted. 2. The travel starts with activation of the stop switch bit B2. After starting the travel, the absolute remaining distance can be read via DCP. 3. The drive decelerates until the lift car comes to the level without driving crawl speed. The drive controller then switches the mechanical brake bit S6 off. 4. The controller does not withdraw the stop switch bit B2 until mechanical brake bit S6 is switched off. The maximum deceleration distance is SV4'.

44 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

Figure 6.13 V4’ Long Travel (DCP4) Note: The controller can increase the remaining distance while it is greater than the braking distance the drive controller had transmitted before the beginning of the travel. Special case: Advantage of DCP4 with time-optimized travel depending on remaining distance. If, at the start of the travel, a remaining distance is set too short, so that the speed V4 cannot be reached, the drive controller calculates a time-optimized lift travel curve (pointed arch shape). The initial remaining distance can be very much shorter than the maximum deceleration distance SV4' required.

EN

Figure 6.14 V4’ Short Travel (DCP4)

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 45

6 DCP Interface

Note: If the remaining distance at the start of travel is less than 20 cm, the drive controller automatically limits the maximum speed to crawl speed (V0). Exchange of Parameters between Lift Controller and Drive Controller before the Travel To enable the lift controller to track the floor level correctly and to know which calls it can still accept during a travel, additional information from the drive controller is required. Before starting, the drive controller receives information via communication channel on how far the lift has to travel. It responds by transferring the minimum distance the lift has to travel at the calculated speed and how long the remaining distance has to be to allow an extension. Lift Controller :

STX 1C 'I' '7' Vmax Ss1 Ss2 Ss3 Ss4 Ss5 ETX Vmax : '1' > max. speed is V3 '2' > max. speed is V4 Ss1 ... Ss5 : Desired distance in cm (ASCII coded in BCD format) Drive Controller :

STX 1C 'I' '7' Vmax Sg1 Sg2 Sg3 Sg4 Sg5 Sv1 Sv2 Sv3 Sv4 Sv5 ETX

ftyp : 's' ' short travel 'l' ' long travel Sg1 ... Sg5 : Minimum travel distance in cm (ASCII coded in BCD format) Sv1 ... Sv5 : Deceleration distance in cm (ASCII coded in BCD format)

A travel can be extended if actual remaining distance > Sverz (deceleration distance) V3' Travel : Same procedure as described above. Difference: The speed mode "Intermediate 1 [bit G6]" (V3) is transmitted. This limits the speed to V3. Application: For short travels also, the lift can be operated with preselected speed V4 as described before. In cases in which it is desirable to limit the speed, V3 can be used. VN' Re-leveling Travel Depending on Remaining Distance : The usual method of re-leveling is often just a compromise. With DCP4, however, commanding the remaining distance makes re-leveling accurate to the millimeter. 1. Before the travel starts, the speed mode "Releveling [bit G1]" (VN) is transmitted.

2. The travel starts with activation of stop switch bit B2. From the start of the travel, the absolute remaining distance is read via DCP. 3. The drive decelerates dependent on the remaining distance until the lift car reaches the exact floor position. 4. The lift controller does not withdraw the stop switch bit B2 until the mechanical brake bit S6 is switched off. 5. The lift controller must not switch off the drive controller enable bit B0 until the end of the travel S1=0.

46 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

Figure 6.15 VN' Re-leveling Travel (DCP4) ■ Crawl Travel in DCP4

There is no definition of a crawl travel sequence in DCP4. The lift controller chooses one of the described travel sequences dependent on the remaining distance. Exception: • If the remaining distance at start is less than 20 cm, the drive controller limits the maximum speed to crawl speed. • The inspection and rescue travels are independent of the DCP3 and DCP4 modes. In this case, the speed is limited to crawl speed when the lift levels at the end stop.

◆ DCP Fast-Start Function

The 'Fast-Start Function' allows magnetizing the motor already when the doors are closing and holding the lift car with opened brake in the level position. This function can be used with DCP3 and DCP4. If the 'Fast-Start Function' is active and the doors are completely closed, the car can immediately start moving without losing time for magnetizing the motor and opening the brakes. EN Note: Some additional wirings and shaft signals are necessary to meet the requirements of the EN81-1. ■ Start Sequence

The following figure shows the start sequence for DCP3 and DCP4.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 47

6 DCP Interface

Figure 6.16 Fast-Start Sequence DCP3

48 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

EN

Figure 6.17 Fast-Start Sequence DCP4 Activation of the 'Fast Start Function' : The 'Fast-Start Function' is activated when the travel sequence starts with a speed message (B3=1, B2=0, B1=0, B0=1) using speed mode VF (4h) in the lift controller's data bytes. Actions and Controls during 'Fast-Start Function' : When the 'Fast-Start Function' is active, the drive applies DC-Injection / Zero-Servo to hold the car in position while the brakes are opened by the drive controller. The time during which the 'Fast-Start Function' is active should be limited and monitored on lift controller side. Transition from 'Fast-Start Function' to Normal Travel :

An additional speed message (DCP3: B3=1, B2=1, B1=1, B0=1; DCP4: B3=1, B2=1, B1=0, B0=1) with a regular speed mode in the lift controller's data bytes terminates the 'Fast-Start Function' and initiates the normal travel with the selected speed.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 49

6 DCP Interface

■ Premature Termination of the 'Fast-Start Function' There are some situations where it is necessary to abort the 'Fast-Start Function'. Examples for these situations are: • The doors are reversing (opening again).

• A time-out occurs (e.g. the doors can't be closed because they are blocked). • A fault occurs (e.g. motor thermistor or a leaving of the door zone). In principle, there are two ways how the 'Fast-Start Function' can be aborted: • Immediate termination regardless of the state of the drive controller's status bit S6 'mechanical brake'. • Premature termination considering the state of the drive controller's status bit S6 'mechanical brake'. Immediate Termination Regardless of S6 'Mechanical Brake' Status : The 'Fast-Start Function' can be terminated immediately by clearing the lift controller's command byte.

Note: A termination of the 'Fast-Start Function' regardless of the state of the drive controller's status bit S6 'mechanical brake' can cause a drifting of the car and a disconnection of the main contactors under load. Therefore, whenever possible, termination considering the state of the drive controller's status bit S6 'mechanical brake' should be preferred.

50 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

EN

Figure 6.18 Immediate Termination of Fast-Start Sequence DCP3

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 51

6 DCP Interface

Figure 6.19 Immediate Termination of Fast-Start Sequence DCP4 Premature Termination Considering S6 'Mechanical Brake' Status : The controlled premature termination of the 'Fast-Start Function' is initiated by a stop message (B2=0, B1=0, B0= 1). This will cause the drive controller to immediately close the brakes. After completing the brake sequence and demagnetizing the motor, the drive controller or lift controller opens the main contactors. Whenever possible, the lift controller should use this method for premature termination as it prevents the car from drifting and the main contactors from disconnecting under load.

52 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

Figure 6.20 Premature Termination DCP3 EN

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 53

6 DCP Interface

Figure 6.21 Premature Termination DCP4

◆ DCP Fast-Stop Function The Fast-Stop Function stops the motor with a dedicated Fast-Stop ramp. It can be used to position the car during commissioning or as failure reaction after an identified malfunction. The electrical braking method is often faster than stopping with mechanical brake.

The functionality is independent of operation mode DCP3 or DCP4. ■ Activation of the Fast-Stop Function

The control of the Fast-Stop Function is based on the Fast-Start function control. The Fast-Stop function is activated using an additional speed mode command (DCP3: B3=1, B2=1, B1=1, B0=1; DCP4: B3=1, B2=1, B1=0, B0=1) during the travel, applying speed VF (4h) in the data bytes.

54 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

■ Executing the Fast-Stop Function After activation of the Fast-Stop function, no other travel command will be accepted and the motor stops with the Fast- Stop ramp (C1-09). When Zero-Speed is reached, the mechanical brake will be applied.

Note: The Fast-Stop function is no safety function. If safety requirements have to be applied, the deceleration has to be monitored by an auxiliary safety system. ◆ DCP Overview Diagrams

EN

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 55

6 DCP Interface

◆ Related Parameters and Functions

■ Added Standard Parameters

Parameter OperatorDisplay Description ValueRange DefaultValue d1-30 BorderSpeed Ifdrivespeedexceedsthisspeed,bit1ofDCPExtendedStatusisset. 0.0...150.0% 120.0% d1-31 OverSpeed Ifdrivespeedexceedsthisspeed,bit2ofDCPExtendedStatusisset. 0.0...150.0% 120.0% 0:DCPCommunicationChannel 1:Memobus/Modbus 3:DCP3 H5-13 SerialCommMode 4:DCP4 0,1,3,4,5 1 5:CANopen-Lift PerformapowercyclewhenchangingtheSerialCommunicationMode[H5- 13]. S3-05 ZSVMaxSpeed SetsthemaximumspeedallowedduringZeroServocorrection 0.00...10.00% 0.00% ■ Added Parameters for Positioning Mode (H5-13 ≥ 4) This table applies for DCP4 and CANopen-Lift in profile Position Mode.

Parameter OperatorDisplay Description ValueRange DefaultValue IfremainingdistanceoftheshaftissmallerorequaltotheIn-PositionWidth 0...10mm 3mm S7-01 InPosWidth fortheIn-PositionTime,thedrivesetstheIn-Positionbit. (0.00...0.39in)*1 (0.12in)*1 TheS6bitforDCPcontrollerisresetafterS1-07. S7-02 InPosTime In-PositioncheckendswithS1-07. 0.00...5.00s 0.60s ThecontrollerclosesthebrakeifS6bitisreset. S7-08 ShftInpFltrTme1 f S i e rs ts to th rd e e i r np la u g tf f i i l l t t e e r r. timeoftheShaftEncoderpositionerrorsignal.Thisisa 0.00...50.00s 0.00s S7-09 ShaftPGain S qu et a s d t r h a e tu p re ro p p u o l r s t e io s/ n m al m g . ainoftheShaftEncoderpositioncontrollerin 0...10,000qpls/mm 10qpls/mm S7-10 ShaftITime SetstheintegraltimeoftheShaftEncoderpositioncontroller. 0.00...500.00s 0.00s

S7-11 ShftFltrTme S fi e rs ts to th rd e e f r il l t a e g rt f i i m lte e r. oftheShaftEncoderpositioncontrolleroutput.Thisisa 0.00...50.00s 0.00s S7-12 ShaftPILimit S qu et ad th ra e tu P r I e li p m u i l t se (+ s/ / m -) s o . ftheShaftEncoderpositioncontrolleroutput.Setin 0...1000qpls/ms 1000qpls/ms

S7-13 ShftOutputGain SetstheoutputgainoftheShaftEncoderpositioncontroller. 0.00...100.00 2.00 S7-14 ShftFltrTmeZSV L lo o c w k - c p o a n s t s ro fi l l l t e e r r . stheshafterrorvaluebeforefeedingitintoZeroServoposition 0.00...50.00s 0.00s

56 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

Parameter OperatorDisplay Description ValueRange DefaultValue

S7-17 ShftInpFltrTme2 b D e e c f o in m e e s s th e e ff , e u c s t u iv a e lly be l l a o r w ge t r h , e fil S t h er af t t im F e ilt 2 er fo S r w t i h t e ch sh L a e f v t e e l r [ ro S r 7- in 1 p 8 u ]. tvaluewhich 0.00...50.00s 0.00s SetsthelevelbelowwhichShaftFilterTime2[S7-17]isapplied.This S7-18 ShftFilSwitchLvl functionshelpstorule-outswingsoftheliftcarwhenrunningintolevel 0.00...10.00Hz 2.00Hz position. S7-30 ShaftPosTrim T lif r t im ca s r th p e os f i i t n io a n ls f h e a e f d t b p a o c s k i . tionbysomemmbyaddingthisvaluetotheactual (-0. - 3 1 9 0 . t . o 0 1 .3 0 9 m in m )*1 (0.0 0 0 m in m )*1 DistanceprolongationsareonlyacceptedwhentheyexceedS7-31value. 0to50mm 30mm S7-31 Min.Prol.Jump Note: (0.00..2.00in)*1 (1.18in)*1 ThisparameterisnotusedinCAN-Lift. EnablesSheaveDiameterAuto-Tuning.Aftereveryprofilepositioningdrive, o1-20isadaptedstepwiseminimizingU4-53/U4-54. S7-32 ShDAuto-Tuning 0-1 0 Theparameterisautomaticallyresetafter6travels.Toinsurepropertuning, alwaysdrivethelongestdistanceoccurringintheliftinstallation. Increasesthecurrentbrakingdistanceand‘I7’telegramreplyforthebraking distance.Thisforcesaliftcontrollertoperformdistanceprolongationearlier S7-33 BrakDistFactor (safetymargin). 0.0-20.0% 0.0% Note: ThisparameterisnotusedinCAN-Lift. Enablesevacuationspeedd1-25tobeusedaslimitingV4DCPspeed. 0:Disabled 1:Enabled S7-34 RescPRMSetActive AlthoughV4[d1-01]mightbecommandedbythecontroller,d1-25isusedas 0-1 0 thelimitingDCPspeed.Inthatcase,V4isdisplayedintheFREFmenu. Note: ThisparameterisnotusedinCAN-Lift. Selectsthecontrollerdistancechangemethod. H5-13=4: 0:Prolongation(forMPK400c,bp30x) 1 S7-40 DCPIntI/FEnabl 0-1 1:Shortening(forLiSA20,SLC4-20) H5-13≠4: IfS7-40=0,alsosetS7-44=0. 0 20toS7-42mm 120mm S7-41 I/FLowMarginMin Definestheinterface’slowermarginminimumvalue. (0.79..S7-42in)*1 (4.724in)*1 S7-41to500mm 150mm S7-42 I/FLowMarginMax Definestheinterface’slowermarginmaximumvalue. (S7-41..19.69in)*1 (5.91in)*1 S7-43 InterfaceOffset j D u e m fi p ne h s ei t g h h e t. InterfaceOffset.Itincludestheinterfacelowmargin+theI/F (1.1 3 8 0 . t . o 3 9 5 0 .4 0 3 m in m )*1 (15 4 . 0 7 0 5 m in m )*1 DefinesthetotalBrakingDistanceOffset.Theoffsetisaddedtothetrue S7-44 BrakDistOffset ( B to ra a k l i l n o g w D e i n s o ta u n g c h e. m T a h rg e i v n a f l o u r e d w is i t t a h n o c f e fs s e h t o i r s te c n o i m ng m c u o n n ic tr a o t l e l d er t s o ). th It e is lif a t ls c o on a t d r d o e ll d er to (0 0 . t . o 39 1 . 0 3 0 7 0 i m n) m *1 (19 5 . 0 6 0 9 m in m )*1 ‘I7’telegramreply. Switchesthedrivemanufacturercodewithin‘I0’commandto‘ZA’insteadof ‘YE’whichisnecessaryforcontrollersnot(yet)supportingYaskawadrives. S7-50 MfctrCodeZAEn 0:YE 0-1 0 1:ZA Powerneedstobecycledtoactivatethechangedstring *1 Values not in parentheses apply when o1-12 = 0. Values in parentheses apply when o1-12 = 1. EN ■ Added Standard Parameter Scroll Items Parameter OperatorDisplay Description ValueRange DefaultValue SpeedReferenceSelection1 H5-13=1: 0:OperatorKeypad 0 1:Terminals b1-01 RefSource1 0-3,6 2:Memobus/ModbusCommunications H5-13≠1: 3:OptionCard 6 6:DCP/CANopen-Lift Up/DownCommandSelection H5-13=1: 0:OperatorKeypad 1 1:ControlCircuitTerminal b1-02 RunSource1 0-3,6 2:Memobus/ModbusCommunications H5-13≠1: 3:OptionCard 6 6:DCP/CANopen-Lift ■ Modified Standard Parameters Only modified parameters are listed in this table. If parameter H5-13 = 3 or 4 or 5, the following changes apply: YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 57

6 DCP Interface

Parameter OperatorDisplay Description ValueRange DefaultValue ControlMethodSelection IfH5-13≠4: Selectsthecontrolmethodthedriveusestooperatethemotor. 0to7 A1-02 ControlMethod Note: 0 IfH5-13=4*2: IfH5-13=4or5(inprofilePositionMode),thecontrolmethodmustbe changedto3or7. 3or7 b6-01tob6-04 DwellFunction DwellFunctionParameters H5-13≥4:[notavailable]*2*3 b7-01tob7-02 DroopControl DroopControlParameters H5-13≥4:[notavailable]*2*3 AccelerationTime1 C1-01 AccelTime1 0.00-600.00s 3.00s Setstheramptoacceleratefrom0tomaximumspeed DecelerationTime1 C1-02 DecelTime1 0.00-600.00s 3.00s Setstheramptofrommaximumspeedto0 AccelTime2...4 AccelerationTime2to4 C1-03toC1-08 H5-13≥4:[notavailable]*2*3 DecelTime2...4 DecelerationTime2to4 Accel/DecelSwitchingSpeed Setsthespeedtoswitchbetweenaccel/decelrampsettings C1-11 Acc/DecSWFreq 0.0-100.0% 0.0% Note: IfH5-13≥4:Parameterfixedto0.0% IfH5-13<4: JerkatDecelerationEnd 0.00-10.00s C2-03 Jerk@DecelStart 0.50s Setsthejerkusedattheendofdeceleration IfH5-13≥4: 0.01-10.00s*2*3 H5-13<4: JerkatDecelerationEnd 0.50s C2-04 Jerk@DecelEnd 0.00-10.00s Setsthejerkusedattheendofdeceleration H5-13≥4: 2.00s*2*3 JerkatLeveling C2-05 Jerk@Leveling Setsthejerkusedwhenthespeedreferenceislowerthanthelevelingspeed H5-13≥4:[notavailable]*2*3 setting C3-01 SlipCompGain SlipCompensationGain H5-13≥4:[notavailable]*2*3 C3-05 OutputVLimSel OutputVoltageLimitOperationSelection H5-13≥4:[notavailable]*2*3 d1-01tod1-07, RefertoAddedStandardParameterDependencies(Defaults)(62). d1-23,d1-24, d1-26 Parametersd1-xxarenotusedormodifiedforH5-13=5*3. d1-18 SpdRefSelMode SpeedReferenceSelectionMode [notavailable] d2-01 RefUpperLimit FrequencyReferenceUpperLimit [notavailable] LengthUnitSelection 0:mm o1-12 LengthUnitSel 1:inch 0,1 0 Note: Parametero1-12doesnotchangeoninitialization. H5-13<4: H5-13<4: 80-2000mm 400mm Setsthetractionsheavediameter. (3.15-78.74in)*1 (15.75in)*1 o1-20 Trac D ti i o am nS et h e e r ave N If o H te 5 : -13≥4parametero1-12hasoneadditionaldecimalplace. 80.0 H - 5 1 -1 6 3 60 ≥ .0 4: mm H 40 5 0 -1 .0 3 m < m 4: (3.150-65. * 3 3 54in)*1*2 (15.748in)*1*2*3 DeterminesifthedigitaloperatorLOCAL/REMOTEkeyisfunctional. o2-01 LO/REKey 0:Disabled H5-13=5:notavailable*3 1:Enabled H5-13<4: 0.000%to9.999% S1-01 ZeroSpeed@Stop ZeroSpeedLevelatStop 0.200% H5-13≥4: 0.001%to9.999%*2*3 DCBrakingTimeatStop DetermineshowlongthedriveshouldperformDCInjectionatstop.InCLV S1-05 DCBrkTimeStop andCLV/PM,S1-05determineshowlongPositionLockshouldbeperformed. 0.10-10.00s 0.60s Asettingof0.00disablesS1-05. WhenH5-13≥4isselected,theminimumtimeisS1-07+0.1s.*2*3 S3-20 Dw R e e l f l e 2 re S n p c e e ed SetsthespeedreferencefortheDwell2function. H5-13≥4:[notavailable]*2*3 S3-21 Dwell2EndSpeed TheDwell2functionwillendwhenthedrivereachesthisspeed. H5-13≥4:[notavailable]*2*3 58 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

Parameter OperatorDisplay Description ValueRange DefaultValue S S 4 4 - - 0 0 1 6 t t o o S S 4 4 - - 0 1 4 5 , RescueOperation RescueOperationParameters H5-13≥4:[notavailable]*2*3

S5-01toS5-13 ShortFloorOperation ShortFloorOperationSelection H5-13≥4:[notavailable]*2*3 *1 Values not in parentheses apply when o1-12 = 0. Values in parentheses apply when o1-12 = 1. *2 Applicable when H5-13 = 4 [DCP4]. *3 Applicable when H5-13 = 5 [CANopen-Lift] (Profile Position Mode). ■ Modified Standard Monitors

Only modified parameters are listed in this table. If parameter H5-13 = 3 or 4 or 5, the following changes apply:

Monitor OperatorDisplay Description Ana S lo c g al O in u g tput Unit DisplaysthesourceforthespeedreferenceasXY-nn. X:Indicateswhichreferenceisused 1:Reference1(b1-01) Y-nn:Indicatesthereferencesource 0-01:DigitalOperator U4-18 ReferenceSource 1-01:Analog(TerminalA1) - Hex 1-02:Analog(TerminalA2) 3-01:MEMOBUS/Modbuscommunications 4-01:CommunicationOptionCard 5-00:CANopen-Lift 6-00:DCP DisplaysthesourcefortheUp/DowncommandasXY-nn. X:IndicateswhichUp/Downcommandsourceisused 1:Reference1(b1-02) Y:Inputpowersupplydata 0:DigitalOperator 1:ExternalTerminals 3:MEMOBUS/Modbuscommunications 4:CommunicationOptionCard 5:CANopen-Lift 6:DCP nn:Up/Downcommandlimitstatusdata U4-21 RunCmdSource - Hex 00:Nolimitstatus 01:Up/DowncommandwasleftonwhenstoppedinPRGmode 02:Up/DowncommandwasleftonwhenswitchingfromLOCALto REMOTEoperation 03:Waitingforsoftchargebypasscontactorafterpowerup(Uvor Uv1flashesafter10s) 04:Waitingfor“Up/DownCommandProhibited”timeperiodto end 05:EmergencyStop(multi-functioninput,operator) 07:Duringbaseblockwhilecoasttostopwithtimer 08:Speedreferenceisbelowminimalreferenceduringbaseblock 09:WairingforEntercommand U4-42toU4-44 DirectLanding H5-13≥4:[notavailable] EN ■ Added Standard Monitors AnalogOutput Monitor OperatorDisplay Description Scaling(H4-xx Unit selection) RemainingDistance 10V: 0.001m U4-50 RemDistance o S r h i o g w in s at t i h n e g r f e r m om ain li i f n t g co d n is t t r a o n ll c e e r, u c n o ti n l t t a h in e s c d o i m st m an a c n e d p ed ro d lo is n t g an at c i e on is s) reached(value (25 6 8 5 0 . . 5 1 3 2 5 in m )*1 (0.01in)*1 BrakingDistance 10V: 0.001m U4-51 BrakingDistance S re h m o a w in s i t n h g e d b i r s a t k a i n n c g e d a i t s t t h a e nc t e im fo e r o a f c d u e r c r e e l n e t r l a y ti d o r n i ) venspeed(matchesthe (25 6 8 5 0 .5 .1 35 in m )*1 (0.1in)*1 InternalDistanceCommand 10V: 0.01m U4-52 IntDistCmd S re h m o a w in s i t n h g e d to is ta ta l n c c o e m ) mandeddistanceincludingprolongations(calculatedfrom (39 1 3 0 7 0 . . 0 00 in m )*1 (0.1in)*1 ShaftControllerInput 0.001m U4-55 ShftCtrlInput S P h G owsthedifferencebetweenremainingdistancebasedonshaftPGandmotor - (0.01in)*1 ShaftControllerOutput 0.001m U4-56 ShftCtrlOutput S ab h s o o w lu s te th p e o s s h it a i f o t n co v n al t u ro e ll b e a r s o e u d tp o u n t m co o r t r o e r c P ti G onvalueperscan,addedtothe - (0.01in)*1 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 59

6 DCP Interface

AnalogOutput Monitor OperatorDisplay Description Scaling(H4-xx Unit selection) ShaftControllerOutputSum 0.001m U4-57 ShftCtrlO/PSum S ne h g o a w ti s v t e h v e a a l c u c e u s m ca u n la c t e e l d o c u o t) ntroleffortoftheshaftcontroller(positiveand - (0.01in)*1 AbsoluteRemainingDistance 0.001m U4-58 AbsoluteRemDist S D h is o t w an s c t e he Sh a o b r s t o e l n u i t n e g i . nitialdistancewhenstartingatravel,forcontrollersusing - (0.01in)*1 Showsthedecelerationdistanceoccurringwhendeceleratingfromd1-26 speed. 0.001m U4-71 DecelDistV0 Note: - (0.1in)*1 MonitorisnotavailableforCANopen-Lift. Showsthedecelerationdistanceoccurringwhendeceleratingfromd1-23 speed. 0.001m U4-72 DecelDistVN Note: - (0.1in)*1 MonitorisnotavailableforCANopen-Lift. Showsthedecelerationdistanceoccurringwhendeceleratingfromd1-04 speed. 0.001m U4-73 DecelDistV1 Note: - (0.1in)*1 MonitorisnotavailableforCANopen-Lift. Showsthedecelerationdistanceoccurringwhendeceleratingfromd1-03 speed. 0.001m U4-74 DecelDistV2 Note: - (0.1in)*1 MonitorisnotavailableforCANopen-Lift. Showsthedecelerationdistanceoccurringwhendeceleratingfromd1-02 speed. 0.001m U4-75 DecelDistV3 Note: - (0.1in)*1 MonitorisnotavailableforCANopen-Lift. Showsthedecelerationdistanceoccurringwhendeceleratingfromd1-01 speed. 0.001m U4-76 DecelDistV4 Note: - (0.1in)*1 MonitorisnotavailableforCANopen-Lift. Showsthedecelerationdistanceoccurringwhendeceleratingfromd1-07 speed. 0.001m U4-77 DecelDistV5 Note: - (0.1in)*1 MonitorisnotavailableforCANopen-Lift. Showsthedecelerationdistanceoccurringwhendeceleratingfromd1-06 speed. 0.001m U4-78 DecelDistV6 Note: - (0.1in)*1 MonitorisnotavailableforCANopen-Lift. Showsthedecelerationdistanceoccurringwhendeceleratingfromd1-05 speed. 0.001m U4-79 DecelDistV7 Note: - (0.1in)*1 MonitorisnotavailableforCANopen-Lift. FirstbyteofDCPframe(ControllertoDrive) B0:DriveControllerEnable B1:TravelCommand B2:StopSwitch U4-82 CommandByte B3:Travelcommandtransferindatabytes - - B4:TravelDirection B5:SpeedChange B6:RemainingDistance B7:Errorinlastreplymessage FirstbyteofDCPframe(DrivetoController) S0:DriveControllerReady S1:Travelactive S2:Alarmactive U4-83 StatusByte S3:Faultactive - - S4:Motorspeedbelow0.3m/s S5:Distanceaccepted S6:Brakeopen S7:Errorinlastreplymessage PeakBrakingDistance Showsthemaximumbrakingdistanceoccurringforprofileswithlinear accelerationpart. 0.001m U4-84 PeakBrakDist U4-84showsthemaximumvaluetakingalld1-xxspeedsintoaccount.Ifthere - (0.01in)*1 isnospeedhighenoughtoproducealinearaccelerationportion(C2-01and C2-02arefullydriven),themonitorwillshowa0value.Thevaluemustbe transferred/setinStrackSLC4-20controllerparameterDCPVzAbst. 60 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

AnalogOutput Monitor OperatorDisplay Description Scaling(H4-xx Unit selection) I0CommandReceptionCounter U4-85 I0CmdRcvCtr Countsthevalid‘I0’commandsreceivedbythedrive.Thecounterwillroll - 0-65535 after65535counts. I1CommandReceptionCounter U4-86 I1CmdRcvCtr Countsthevalid‘I1’commandsreceivedbythedrive.Thecounterwillroll - 0-65535 after65535counts. I1CommandRequestandReply ShowsDataInformationTypeRequest(DIR)fromcontroller,Data InformationType(DI)acknowledgedbydrive,ProtocolTypeRequest(PTR) fromcontroller,andacknowledgedProtocolType(PT) U4-87 I1DIRDIPTRPT - - I6CommandReceptionCounter U4-88 I6CmdRcvCtr Countsthevalid‘I6’commandsreceivedbythedrive.Thecounterwillroll - 0-65535 after65535counts. I7CommandReceptionCounter U4-89 I7CmdRcvCtr Countsthevalid‘I7’commandsreceivedbythedrive.Thecounterwillroll - 0-65535 after65535counts. I7ReceptionDatawhenV4Commanded 0.001m U4-90 I7RxDataV4 S dr h i o v w e) s w th it e h d V is 4 ta s n p c e e ed co s m el m ec a t n io d n t . ransferredinan‘I7’message(controllerto - (0.01in)*1 I7ReceptionDatawhenV3Commanded 0.001m U4-91 I7RxDataV3 S dr h i o v w e) s w th it e h d V is 3 ta s n p c e e ed co s m el m ec a t n io d n t . ransferredinan‘I7’message(controllerto - (0.01in)*1 I7TransmitDataSg 0.001m U4-92 I7TxDataSg S co h m ow m s a t n h d e . totaldistancetobetraveledaccordingtothetransferreddistance - (0.01in)*1 I7TransmitDataSv 0.001m U4-93 I7TxDataSv c S o h m ow m s a t n h d e . decelerationdistanceaccordingtothetransferreddistance - (0.01in)*1 I9CommandReceptionCounter U4-94 I9CmdRcvCtr Countsthevalid‘I9’commandsreceivedbythedrive.Thecounterwillroll - 0-65535 after65535counts. U4-95 I7ProfileType S ac h c o o w rd s i t n h g e t ‘ o I7 t ’ h c e o l m as m tq u u n e ic ry at b ed y p th ro e f c il o e n t t y ro p l e le a r s . itwasdeterminedbythedrive - - *1 Values not in parentheses apply when o1-12 = 0. Values in parentheses apply when o1-12 = 1. ■ Added Standard Parameter Dependencies The baud rate for DCP operation is specified as 38,400 baud. When DCP operation is selected by H5-13, the baud rate of the Memobus port, accessible via terminals R+, R-, S+, S-, is automatically set to 38,400 baud. The values of the following parameters are changed automatically according to the settings of H5-13. H5-13=x Dependent EN Parameter 0[DCPComChannel] 1[Memobus/Modbus] 3[DCP3] 4[DCP4] 5[CANopen-Lift] b1-01 6[DCP] 0[OperatorKeypad] 6[DCP] 6[DCP] 6[DCP] (sequence) b1-01 6[DCP] 1[ControlCircuitTerminal] 6[DCP] 6[DCP] 6[DCP] (reference) F6-35 0[NodeID] 0[NodeID] 0[NodeID] 0[NodeID] 2[NodeID] F6-36 6[500kBaud] 6[500kBaud] 6[500kBaud] 6[500kBaud] 5[250kBaud] H3-02 0[FrequencyBias] 0[FrequencyBias] 1F[notused] 1F[notused] 1F[notused] H5-02 5[38400Baud] 3[9600Baud] 5[38400Baud] 5[38400Baud] 3[9600Baud] H5-11 1[EnterCmdnotnecessary] 0[EnterCommandnecessary] 1[EnterCmdnotnecessary] 1[EnterCmdnotnecessary] 1[EnterCmdnotnecessary] S4-01 3[Advanced] 0[Disabled] 3[Advanced] 3[Advanced] 0[Disabled] Note: 1. Parameter values are set to default when H5-13 is changed. 2. Do a power cycle after you switched H5-13 ≠ 1 or after you switched back to H5-13 = 1 to let the new H5-02 setting take effect. 3. When H5-13 = 4, S4-01 is not shown. YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 61

6 DCP Interface

■ Added Standard Parameter Dependencies (Defaults)

H5-13=x 0 1 3 4 5 3,4 0,1,5 Parameter DefaultValue ParameterTexts C1-01 3.00s 1.50s 3.00s - - C1-02 3.00s 1.50s 3.00s - -

d1-01 0.00% 100.00% 0.00% V4Speed Reference1 d1-02 0.00% 64.00% 0.00% V3Speed Reference2 d1-03 0.00% 40.00% 0.00% V2Speed Reference3 d1-04 0.00% V1Speed Reference4 d1-05 0.00% V7Speed Reference5

d1-06 0.00% V6Speed Reference6 d1-07 0.00% V5Speed Reference7 d1-23 0.00% 1.00% 0.00% VNSpeed RelevelingSpeed d1-24 50.00% 25.00% 50.00% VISpeed InspectOperSpd d1-26 8.00% 4.00% 8.00% V0Speed LevelingSpeed

■ Changes of Standard Digital Input Multi-Functions (DIMF) DIMFAvailability by H5-13 Setting

H1-x ( x H S ex e ) tting FunctionName H5-13=0,1 H5-13=3[DCP3] H5 C -1 A 3 N = o 4 p , e 5 n- [ L D i C ft P ] 4,

3...5 Multi-StepSpeedReference1~3 Notavailable 6 JOGReferenceSelection 7 Accel/Deceltimeselection Available 16 Motor2Selection Notavailable 1A Accel/DecelTimeSelection2 Available 50 NominalSpeed 51 IntermediateSpeed Available Notavailable 52 RelevelingSpeed 53 LevelingSpeed Notavailable

54 InspectionOperation 57 HighSpeedLimit(Up) 58 HighSpeedLimit(Down) 5C FloorSensor Available When H5-13 ≥ 3, values and defaults of the parameters H1-03 to H1-07 are set to 0xF [not used].

■ Changes of Standard Digital Output Multi-Functions (DOMF) DOMFAvailability by H5-13 Setting

H2-x ( x H S ex e ) tting FunctionName H5-13=0,1 H5-13=3,4,5

1C(11C) Motor2Selection Available Notavailable DOMFAvailability by S4-01 Setting

H2-x ( x H S ex e ) tting FunctionName S4-01<3 S4-01=3

55(155) LightLoadDirectionDetectionStatus Available Notavailable Note: S4-01 is not shown when H5-13 = 4. In this case, the value for H5-13 is set to 3 internally.

62 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

6 DCP Interface

Added DOMF H2-x ( x H S ex e ) tting OperatorDisplay Description AvailableinControlMethod

70(170) InPosition T S7 h - e 0 l 1 if b t a c n a d r w ha id s t r h ea fo c r he a d m th in e im co u m m m c a o n n d ti e n d u t o a u rg s e ti t m po e s o it f io S n 7- w 02 ithin CLV,PMCLV

■ Changes of Standard Analog Input Multi-Functions (AIMF)

AIMFAvailability by H5-13 Setting H3-x ( x H S ex e ) tting FunctionName H5-13=0,1 H5-13=3,4,5

0 SpeedReferenceBias 2 AuxiliarySpeedReference1 Available Notavailable 3 AuxiliarySpeedReference2

When H5-13 ≥ 3, value and default of parameter H3-02 are set to 0x1F [not used]. When H5-13 ≥ 3, default of parameter H3-10 is set to 0x1F [not used]. ■ Added Faults and Modified Errors

Added DCP Faults

Fault Fau (H lt e C x o ) de FaultDisplay Description Cause Countermeasure

DCE1 61 DCPCRCError D A RU r C iv N R e . C C 8 on ch tr e o c l k P f o a s i i l t e i d on 10 Cy ti c m li e c s R c e o d n u se n c d u a t n iv cy el C y h d e u c r k in E g rror E se M ri C al , l b in a k d S c sw o h n i i e t n c l e d h c e s t d i e o r b n ia y ( l T S li e 2 n r ) k m . . i C na h t e io ck n s R e e r s ia is l t R an S c - e 485

DCPInitError DriveControlPositionInitializationError DCE2 62 ARuncommandwasgivenalthoughnovalid E se M ri C al , l b in a k d C in h it e i c a k liz i a f t l i i o f n tc c o o n m tr m ol a le n r d s . endsvalid initializationcommand('I','1')wasreceived. DCPOPE DriveControlPositionOperationError DOE1 63 ARuncommandwasgivenalthoughtheinverterwasin Alarm m Re u m st o n v o e t a g l i a v r e m R c u o n nd d i u t r io in n g .L A i l f a t r c m on s t t r a o te ll . er Alarmstate. Modified oPE Errors Error Description Cause Countermeasure b1-01=6AND DCP3,DCP4,CANopenLift: b1-02≠6 oPE18 Setb1-01=6ANDb1-02=6 Ifb1-01issetto6"DCP"andb1-02isset≠6orviceversa,oPE18isshown. b1-02≠6AND b1-02=6 Modifications of FREF Menu Texts Display MenuText ActiveSpe C ed on (C tr o o m lle m r andbyLift MessageText Dis w p h la e y n ed Description EN V0 FreqRef(DCP-V0) V1 FreqRef(DCP-V1) V2 FreqRef(DCP-V2) V3 FreqRef(DCP-V3) V4 FreqRef(DCP-V4) DCPsequenceisactivated(alsousedforCANopenLift) V5 FreqRef(DCP-V5) VN:Relevelingspeed ME-01 b1-01=6 V6 FreqRef(DCP-V6) VI:Inspectionspeed VF:FastStartspeed(0Hz) V7 FreqRef(DCP-V7) VN FreqRef(DCP-VN) VI FreqRef(DCP-VI) VF FreqRef(DCP-VF) undefined FreqRef(DCP) CANopenLiftusesDCPsequenceinternally. ME-01 FreqRef(CANLift) H5-13=5 DifferentiationisdonebyH5-13. YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 63

6 DCP Interface

◆ Positioning

■ Velocity Profile Input Control Taking Ramping Times [C1-01, C1-02] and Jerk Settings [C2-01 to C2-04] of the drive into account, a suitable velocity profile is determined which matches the remaining distance and which does not exceed the limiting DCP speed. The limiting DCP speed is transferred by the lift controller to the drive before the travel starts. Besides the velocity profile input control, a shaft controller aligns the traveled distance based on motor PG with the lift car position based on shaft PG. In order to reduce the control effort for the shaft controller, o1-20, o1-21, and o1-22 settings must be accurate. It is especially recommended to set o1-20 as exact as possible (rope-center to rope-center value). As mentioned before, an optimal setting of o1-20 greatly improves positioning performance. A coarse tuning at the beginning of commissioning is usually done by comparing the lift speeds shown by lift and drive controller. In this case, the lift car is typically moved in inspection speed. When the lift controller shows higher speeds than the drive, o1-20 setting needs to be lowered; when it shows slower speeds, increase o1-20.

■ Shaft Controller Tuning The shaft controller compares the remaining distance to travel with the remaining distance based on motor PG. In some cases, especially with high pulse count PGs, it is necessary to reduce the Shaft Controller Output Gain [S7- 13].

◆ Adjustment Procedures

General Tuning Requirements for Profile Position Mode 1. Select Drive control method (CLVor PM CLV; requires pulse counter (PG) feedback). 2. Perform Auto-tuning. 3. Set H5-13 = 4 (profile positioning is performed with setting 4). 4. When you use a lift controller from Böhnke & Partner or from Kollmorgen, set S7-40 = 0. If you use a lift controller from any other manufacturer, set S7-40 = 1. 5. Tune complete ASR, i.e. C5-01/C5-03/C5-13, C5-02/C5-04/C5-14. It is very important to have a fast ASR response time in order to obtain good leveling results. This is mainly achieved when C5-02/C5-04/C5-14 have low values (< 100ms). Higher C5-01/C5-03/C5-13 values (ASR gains) are also recommended. 6. Set o1-20, o1-21, o1-22 values, especially o1-20, as precise as possible (set the sheave diameter from rope- center to rope-center if possible). 7. Compare speeds of lift controller and drive controller using inspection speed. These values should be similar with a tolerance of about 3%. If deviations are bigger, adjust o1-20. Recommendation: Switch drive controller units to m/s (o1-03 = 4). 8. Perform a DCP4 positioning travel one floor up or down. ■ Shaft Controller Tuning

The shaft controller compares the remaining distance to travel with the remaining distance based on motor PG. Usually, you do not need to tune this function. But in case of high PG-PPR values, the shaft controller output gain [S7-13] should be reduced. ■ Optional: Zero-Servo Tuning The last bit of the distance (1 to 3 mm) during a positioning operation can be performed by the Zero-Servo controller. Its properties are governed by S3-xx parameter group. With higher gain settings (S3-03 [Stop Position Lock Gain]), the remaining leveling error is driven by a quick movement which can be undesired.

The remaining distance after deceleration by ASR controller (end of C2-04 time) is fed into the Zero-Servo function at that threshold. The maximum speed during that correction can be limited by S3-05. With slower speeds, the correction takes longer but possibly yields a higher riding comfort and is less discernible. A compromise has to be found. To avoid any roll-back at stop, set S3-05 = 0.

64 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

7 CANopen Lift

7 CANopen Lift

Yaskawa CANopen Lift implementation refers to CiA-417: Profile for Lift Control Systems. Supported operation modes are Profile Velocity mode and Profile Position mode. The Yaskawa CANopen Lift fieldbus option card SI- L3 is required. To enable CANopen Lift functionality, set parameter H5-13 = 5, b1-01 and b1-02 = 6, and perform a power- cycle. Some parameters will be changed automatically. Refer to Added Standard Parameter Dependencies (Defaults) on page 62. Parameter groups are commonly used in CANopen Lift and in DCP mode. Therefore the following descriptions refer to DCP parameter and monitor tables.

◆ Characteristics of CANopen Lift Interface

Figure 7.1 Connection Using CANopen Lift

EN

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 65

7 CANopen Lift

Figure 7.2 Example For a Single Network Architecture For a Single-shaft Lift Control System The L1000A together with the SI-L3 option card is a car drive unit and moves the car upwards and downwards. It receives the motion commands from the car drive controller. It is based on the CANopen profile for drives and motion control (see IEC61800-7-201 and IEC61800-7-301). There are some additional objects required for lift applications that are not specified in IEC61800-7-201. If there is no absolute encoder supported, the target velocity (Refer to 6430 (Hex): Target Velocity on page 72) is provided to the car drive unit using the Profile Velocity Mode. If there is an absolute encoder available, the target position (Refer to 6420 (Hex): Target Position on page 72) is provided to the car drive unit using the Profile Position Mode. The operation mode is selected by the modes of operation (Refer to 6403 (Hex): Modes of Operation on page 71). In case of velocity controlled drives, the Profile Velocity Mode is used. The objects for the velocity profile are stored in the drive unit and may be configured by the lift controller. Due to safety reasons, configuration is not possible in Operation Enable state of the car drive unit. The car drive unit state machine is controlled by the control word (Refer to 6400 (Hex): Control Word on page 70) and depends on the internal status of the drive unit. Drive-specific functions such as motor relays are operated locally in the drive unit or in the lift controller. Target velocity ≠ 0 determines motion while Operation Enabled status is active. The sign of target velocity indicates direction; positive values indicate upward motion of the car. The drive unit indicates reaching the target velocity in the 10th bit of the status word (Refer to 6401 (Hex): Status Word on page 70). In case of position controlled drives the Profile Position Mode should be used. To configure the ramps and S curves the same parameters as for velocity mode are used. After setting a new position, the drive unit calculates the curve and starts motion. During motion the drive controller may change target position. If the control effort allows stopping at the new target position, this is indicated in bit 12 of the status word. If the drive cannot stop at

66 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

7 CANopen Lift

the new target position, the drive unit moves to the previous target position. Travel completion is indicated in bit 10 of the status word.

◆ Added and Modified Parameters, Monitors, Dependencies, Functions, and Faults

■ Added Standard Parameters

Parameter OperatorDisplay Content ValueRange DefaultValue Minimumleveldifference. F6-95 Minleveldiff Setstheupperlimitforthetravelingdistancewhichisdrive-internally 0...10000mm 500mm commandedperstepevenifthecontrollerissuesbiggerdistancesinone (0.00...393.70in)*1 (19.69in)*1 step. Usually, there is no need to change this parameter. *1 Values not in parentheses apply when o1-12 = 0. Values in parentheses apply when o1-12 = 1. ■ Added Standard Parameter Scroll Items Refer to Added Standard Parameter Scroll Items on page 57.

■ Modified Standard Parameters Refer to Modified Standard Parameters on page 57.

■ Added Standard Monitors Refer to Added Standard Monitors on page 59.

■ Modified Standard Monitors Refer to Modified Standard Monitors on page 59.

■ Added Standard Parameter Dependencies (Defaults) Refer to Added Standard Parameter Dependencies (Defaults) on page 62.

■ Changes of Standard Input and Output Multi-Functions Refer to Changes of Standard Digital Input Multi-Functions (DIMF) on page 62, Changes of Standard Digital Output Multi-Functions (DOMF) on page 62, Changes of Standard Analog Input Multi-Functions (AIMF) on page 63.

■ Added Faults and Modified Errors Added CANopen Lift Faults

Fault C ( F H a o e u d x l e t ) D F is a p u l l a t y Description Cause EN • Speedlimit(obj.6423h)issetto0duringpositionmodetravel. • Apositionmodetraveliscommandedwhileanonclosed-loopcontrolmodeisactive. • Modeofoperationchangerequestedwhileinoneofthestates"readytoswitchon","switchedon",or "operationenabled". • Positionmode:thepositiondataisinvalidduringthetravel. CLoE 68 CLoE CANopen E L r i r f o t r Operation • " " o D p r e iv ra e ti R o e n a e d n y a " b s l t e a d tu " s (e d x is c a e b p l t e io d n w :n h o ile fa i u n lt on if e c o o f n t t h ro e l s w ta o te rd s" b r i e ts ad 1 y 4 t ( o "r s c w l" i ) tc o h r o 1 n 5 " ( , " " i s n w sp it " c ) h a e r d e o se n t " ) ,or • "ExternalBaseblock"commandsetor"SafeTorqueOff"inputterminalsopenedwhileinoneofthe states"switchedon"or"operationenabled"(exception:nofaultifcontrolwordbits14("rcl")or15 ("insp")areset) • FastStartoperationtime-out • Statustransitiontime-out • Controlcommandtime-out Modified OPE Errors Refer to Added Faults and Modified Errors on page 63. Modifications of FREF Menu Texts Refer to Added Faults and Modified Errors on page 63.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 67

7 CANopen Lift

◆ Object Dictionary

Table 7.1 Explanation of Data Types DataType Explanation DataType Explanation UNS8 Unsigned8bitvalue SINT16 Signed16bitvalue

UNS16 Unsigned16bitvalue SINT32 Signed32bitvalue UNS32 Unsigned32bitvalue String CharacterString SINT8 Signed8bitvalue ■ Supported General Communication Objects

1000 (Hex): Device Type

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 1000 0 DeviceType RO UNS32 090001A1

This object describes the type of device and its functionality. Bit 0 - 15 : Device Profile Number (01A1 (Hex)) Bit 16 - 23 : Reserved Bit 24 - 31 : Virtual Device Code (09 (Hex))

1001 (Hex): Error Register

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 1001 0 ErrorRegister RO UNS8 0 This register shows the fault status of the device. If any errors occurs in the device, bit 0 (generic error) is set to one. Bit 0 : Generic error Bit 1 : Current

Bit 2 : Voltage Bit 3 : Temperature Bit 4 : Communication error (overrun, error state) Bit 5 : Device profile specific Bit 6 : Reserved (0) Bit 7 : Manufacturer-specific

1003 (Hex): Pre-defined Error Field

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 1003 0 Numberoferrors RW 0,1 0 1003 1 Standarderrorfield RO UNS32 0

This register provides the latest error that occurred in the drive and has been signalized via the Emergency object. Subindex 0 contains the number of errors. The number of valid logged errors in sub index is 01 (Hex). Writing a 0 to subindex 0 resets the error field. Note: You can find a list of error codes in the YASKAWA AC Drive Option CANopen Technical Manual Type SI-S3 (Document number SIEPC73060085). 1008 (Hex): Manufacturer Device Name

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 1008 0 ManufacturerDeviceName RO String SI-L3

This object displays the name of the connected option card.

68 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

7 CANopen Lift

1009 (Hex): Manufacturer Hardware Version

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 1009 0 ManufacturerHardwareVersion RO String 1.10 Note: 1: Major hardware version 10: Minor hardware revision assigned during production

This object contains the option card hardware version. 100A (Hex): Manufacturer Software Version

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 100A 0 ManufacturerSoftwareVersion RO String 3201

This object contains the manufacturer software version. Example: Software version number 3201 • 32: Bus type “CANopen Lift” • 0: Major revision • 1: Minor revision

1016 (Hex): Consumer Heartbeat Times

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 1016 0 NumberofSupportedVirtualDevices RO 01-7F 2 1016 1 ConsumerHeartbeatTimes1 RW UNS32 00010BB8 1016 2 ConsumerHeartbeatTimes2 RW UNS32 00040BB8

Consumes the heartbeat from all CANopen devices in multiples of 1 ms. Note: The value ”0004 0BB8” means a heartbeat time of 3000 ms for Node-ID 4. Bit 0 - 15 : Heartbeat Time Bit 16 - 23 : Node-ID Bit 24 - 31 : Reserved (0)

1017 (Hex): Producer Heartbeat Times

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 1017 0 ProducerHeartbeatTimes RW UNS16 03E8 Produces the heartbeat. The heartbeat time is given in multiples of 1 ms. Default value is 1 s (1000 ms = 03E8 EN (Hex)).

1018 (Hex): Identity Objects

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 1018 0 NumberofEntries RO 0-4 1 1018 1 VendorID RO UNS32 010000E7

This object contains general information about the drive. ■ Supported General Application Objects

6008 (Hex): Specification Version

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 6008 0 SpecificationVersion RO UNS16 2222 This object contains the profile specification version, binary coded decimal code is used.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 69

7 CANopen Lift

600A (Hex): Virtual Terminal Interface

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 600A 0 NumberofEntries RO 2 1 600A 1 VirtualTerminalInput RW UNS32 0

600A 2 VirtualTerminalOutput RO UNS32 0 This object consists of four characters to transmit the sub-objects in MPDOs. The object can store characters, e.g. from a keypad, and can provide characters, e.g. for a display. ■ Supported Car Drive Objects

6383 (Hex): Position Value

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 6383 0 NumberofEntries RO 0-4 1 6383 1 PositionUnit1 RW UNS32 FF This objects contains the position values measured by the car position units (shaft encoder increments).

6400 (Hex): Control Word

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 6400 0 ControlWord RW UNS16 0

This object indicates the received command controlling the drive. Bit 0 : Switch on Bit 1 : Enable voltage Bit 2 : Quick stop Bit 3 : Enable operation Bit 4 : New set-point (only in profile Position Mode) Bit 5 : Change set immediately (only in profile Position Mode, setting not required)

Bit 6 : Abs / rel (keep zero, relative position mode is not supported) Bit 7 : Fault reset (Reset on rising edge) Bit 8 : Halt (not used) Bit 9 : Change on set-point (not used) Bit 10 - 13 : Reserved (0) Bit 14 : Emergency recall operation mode

Bit 15 : Car top inspection mode 6401 (Hex): Status Word

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue

6401 0 StatusWord RO UNS16 0 This object provides the status of the drive. Bit 0 : Ready to switch on Bit 1 : Switched on Bit 2 : Operation enabled Bit 3 : Fault Bit 4 : Voltage enabled

70 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

7 CANopen Lift

In profile Position Mode, the travel is completed. In profile Position Mode, the bit is also set at travel completion if the set-point is not reached. Bit 11 : Internal limit active If bit 11 (internal limit active) of the status word is 1, this indicates that an internal limit is active. Possible reasons: invalid speed command, invalid position set-point, invalid position, position mode travel completed (bit 10 set) but position set-point not reached. Bit 12 : Set-point acknowledge (profile Position Mode) / Speed (profile Velocity Mode) Profile Position Mode: Set-point acknowledge.

Profile Velocity Mode: Zero Speed. Bit 13 : Following error (profile Position Mode) / Max. slippage error (profile Velocity Mode) Profile Position Mode: Excessive deviation between remaining distance calculation and shaft encoder data. Profile Velocity Mode: Speed Deviation (dEv) alarm active. Bit 14 - 15 : Not used

6403 (Hex): Modes of Operation

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 6403 0 ModesofOperation RW 01,03 01 This object shows the value of the requested operation mode. The actual operation mode of the drive is reflected in the object modes of operation display.

If... then... Object6403(Hex)=01(Hex) ProfilePositionMode Object6403(Hex)=03(Hex) ProfileVelocityMode

If the controller requests profile Position Mode while this is not possible, 6404 (Hex) will remain in profile Velocity Mode. 6404 (Hex): Modes of Operation Display EN

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 6404 0 ModesofOperationDisplay RO 01,03 01

This object provides the actual operation mode. If... then...

Object6404(Hex)=01(Hex) ProfilePositionMode Object6404(Hex)=03(Hex) ProfileVelocityMode 6406 (Hex): Control Effort

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue

6406 0 ControlEffort RO SINT32 0 This object contains the position where to start braking, as absolute value.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 71

7 CANopen Lift

641F (Hex): Position Conversion

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 641F 0 NumberofEntries RO 2 2 641F 1 NumberofPositionUnits RW UNS32 0

641F 2 TotalLengthinMillimeter RW UNS32 0 This object contains the conversion coefficients to convert the target position from the drive controller and the position value from the position device into millimeters (mm). Note: To enable correct operation, this object must be configured by the drive controller. 6420 (Hex): Target Position

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue

6420 0 TargetPosition RW SINT32 0 This object indicates the commanded position that the drive should move to in profile position mode. The value of this object must be set in terms of shaft encoder increments. Note: When you want to command a new position setpoint, you must use the control word bit 4 “New setpoint”. 6421 (Hex): Position Range Limit

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue

6421 0 NumberofEntries RO UNS8 2 6421 1 MinPositionRangeLimit RW SINT32 0 6421 2 MaxPositionRangeLimit RW SINT32 0 This object indicates the configured maximum and minimum position range limits. This object limits the numerical range of the input value. A position command which exceeds these limits is ignored. The "setpoint acknowledge" bit in the status word is not set. The values are given in terms of shaft encoder increments. Make sure the values meet the condition Min Position Range Limit < Max Position Range Limit.

6423 (Hex): Profile Velocity

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 6423 0 ProfileVelocity RW UNS32 0 This object sets an upper limit for the speed which is used in Profile Position Mode. The maximum speed in a Profile Position Mode travel may fall below the set value but may not exceed it. The value is given in multiples of 1 mm/s. Note: The speed is limited to the value defined with parameter E1-04.

6430 (Hex): Target Velocity

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 6430 0 TargetVelocity RW SINT32 0 This object indicates the configured target velocity, and is used in Profile Velocity mode. The value is given in multiples of 1 mm/s. Note: The speed is limited to the value defined with parameter E1-04.

6433 (Hex): Velocity Actual Value

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue 6433 0 VelocityActualValue RO SINT32 0

72 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

8 Ripple Compensation

In Closed Loop control methods, this object provides the actual velocity value derived either from the velocity sensor or the position sensor. In Open Loop Vector [A1-02 = 2] or V/f [A1-02 = 0] control methods, it is based on drive internal calculations. The value is given in multiples of 1 mm/s. 67FE (Hex): Byte Dummy

Index(Hex) Sub Content Access Range Init ( ia H l e V x a ) lue

67FE 0 ByteDummy RO UNS8 FF This object is used to fill one byte into a TPDO. ■ Receive PDOs

ReceivePDOParameter ReceivePDOMappings PDONumber COB-ID(Hex) Index(Hex) MappedObject(Hex) Index(Hex) Sub-index01:6400 Sub-index02:6403 259 182 1502 1702 Sub-index03:0005 Sub-index04:6430 Sub-index01:6420 261 180 1504 1704 Sub-index02:6423 263 18C 1506 Sub-index01:6383sub1 1706 ■ Transmit PDOs TransmitPDOParameter TransmitPDOMappings PDONumber COB-ID(Hex) Index(Hex) MappedObject(Hex) Index(Hex) Sub-index01:6401 Sub-index02:6404 260 183 1903 1B03 Sub-index03:67FE Sub-index04:6433 262 181 1905 Sub-index01:6406 1B05 8 Ripple Compensation ◆ Overview Only available for PM CLV control method. This function is intended for use when compensating n*f torque ripple on the motor shaft. ■ Special Functions EN Function Description

Thetotalcarinertia(J)iscalculatedasfollows: Calcu i l n at e i r o t n ia ofcar [SystemInertia]=([S8-08]+[S8-09]+[S8-10]+[S8-11]+[S8-12]/2)*([o1-20]/4000)2 J=[S8-04]+[S8-06]+[S8-07]+[SystemInertia] ■ Function Description Set the Kt value [S8-02] from motor data sheet or motor name plate. Unit of Kt is Nominal Torque [Nm] / Nominal Current [A].

■ Example

Elevator Parameter Symbol Value Unit Valuefrom: S8-08 WeightCage mCar 1050 kg Liftbuilder S8-09 WeightCounterWeight mCwt 1550 kg Liftbuilder

S8-10 WeightRope mRope 70 kg Liftbuilder

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 73

8 Ripple Compensation

Elevator Parameter Symbol Value Unit Valuefrom:

S8-11 WeightPulley mPulley 20 kg Liftbuilder S8-12 MaximumLoadWeight mLoad 0 kg Liftbuilder Motor:MSYP160

Parameter Symbol Value Unit Valuefrom: S8-04 MotorInertia JMot 1.110 kgm2 Motormanufacturer S8-06 PulleyInertia JPulley 0.375 kgm2 Liftbuilder S8-07 SheaveInertia JTs 0.500 kgm2 Motormanufacturer RopingRatio 2:1 - Motormanufacturer

RatedSpeed 1 m/s Motormanufacturer o1-20 SheaveDiameter Ø240 mm Motormanufacturer J = (1050 + 1550 + 70 + 20 + 0/2) kg * ((240 / 4000) mm)2 + 1.110 kgm2 + 0.375 kgm2 + 0.500 kgm2 J = 11.669 kgm2

◆ Added Parameters for Ripple Compensation

Only available for PM CLV control method. Table 8.1 Added Parameters

Parameter Ad M d E re M s O s B (H U e S x.) [ O Pa p r e a r m at e o t r e D r i N s a p m la e y ] Description [D R e a f n a g u e lt] RippleCompens. 0:Disable 0,1 S8-01 620 [ActivateRippleCompensation] 1:Enable [0] SettheKtvalue(Torqueparameter)inNm/A. 0.00-200.00 S8-02 621 Ktvalue UnitofKtisNominalTorque[Nm]/NominalCurrent[A]. [1.00] 0.00-20.00 S8-03 622 Tripplegain SettheTripplegain [0.30] Setmtrinertia 0.000-60.000 S8-04 623 Setthemotorinertiainkgm2 [Jm(motorinertia)] [0.000] Setpullinertia 0.000-60.000 S8-06 625 Setthepulleyinertiainkgm2 [Jm(motorinertia)] [0.000] Setshvinertia 0.000-60.000 S8-07 626 Setthesheaveinertiainkgm2 [JST(sheaveinertia)] [0.000] 0-60,000 S8-08 627 WeightCage Settheweightofthecageinkg [0] WeightCweight 0-60,000 S8-09 628 Settheweightofthecounterweightinkg [Weightcounterweight] [0] 0-60,000 S8-10 629 WeightRope Settheweightoftheropeinkg [0] 0-60,000 S8-11 62A WeightPulley Settheweightofthepulleyinkg [0] MaxLoadWeight 0-60,000 S8-12 62B Setthemaximumloadweightinkg [MaximumLoadWeight] [0] ◆ Added Monitors for Ripple Compensation Only available for PM CLV control method. Table 8.2 Added Monitors Monitor Ad M d E re M s O s B (H U e S x.) [ O Pa p r e a r m at e o t r e D r i N s a p m la e y ] Description Ana S lo c g al O in u g tput U4-60 862 RippleMon[%/Tn] Estimatedripple[100%/Tn]in0.1%. Nom 1 i 0 na V l : T 1 o 0 r 0 q % ue*1 U4-61 863 RippleMon[N] Estimatedripple[0.1Nm]in0.1Nm. - *1 Nominal torque is based on E1-06, E5-02, and E5-04. 74 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

9 Replacement Instructions for Smart Controller Drives

9 Replacement Instructions for Smart Controller Drives

The following describes how to replace the drive in Schindler Smart controllers with a YASKAWA L1000A AC drives for Lift. This solution has been developed to replace drives used in Smart MRL 001 / 002 controllers.

◆ Requirements

The L1000A can almost directly replace existing drives. The only additional component needed is an external relay to control the brake. YASKAWA recommends a relay from the 46.52 series made by Finder. When other relays are used it should be selected so that the excitation current of the coil does not exceed the specifications of the output M2 on the L1000A drive. Generally the relay should be selected so that the excitation current is as low as possible.

Figure 9.1 Finder Relay

EN

Figure 9.2 Circuit of the Relay Table 9.1 DC Coil Data

NominalVoltage OperatingRange Resistance C R o a n t s e u d m C p o t i i l o d n CoilCode UN[V] Umin[V] Umax[V] R[Ω] IatUN[mA] 24 9.024 17.5 26.4 1,200 20 ◆ Wiring of the L1000A AC Drive for Lift

The following figure shows the wiring between the controller (connector XFCL) and the drive terminals.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 75

9 Replacement Instructions for Smart Controller Drives

Controller (SMCCFC Board)/Drive Terminals

Terminal Numbering XFCL Terminal Up/ High Slow Landing Slow Down Speed Speed Zone Down 0 V Brake Signal 24 V Safety Circuit 6 8 9 10 7 11 3 1 5 1 3 Terminal Numbering Old Drive

8 14 15 16 20 17 25 26 6 22 23

3 4

S1 S3 S6 S7 M4 M3 SC SN M2 S M1 M5 M6

Terminal Numbering

Yaskawa L1000A Drive

Figure 9.3 Wiring Between Controller and Drive Terminals The following table summarizes the terminal connections in the old and new configurations. Table 9.2 Terminal Connections ControllerSMCCFCTerminal VaconDriveTerminal YASKAWAL1000ATerminal BrakeRelay Function

- M2 A1 1 26 - 4 ConnectionforBrakeRelay 3 25 - 3 5 6 SP,M1 - - 6 8 S1 - Direction/Run

7 20 M4 - - 8 14 S3 - Nominal/FastSpeed 9 15 S6 - Inspection/Leveling 10 16 S7 - LandingZone SC,SN,M3 11 17 - ConnectionforBrakeRelay A2(RelayCoil) 1 22 M5 - SafetyCircuit 3 23 M6 - ◆ Start Up After wiring, power on the drive and follow these steps 1. Enter the programming mode of the L1000A.

2. Set parameter d1-18 = 4 [Smart Replacement]. This operation sets I/Os to operate with the Smart controller. 3. Set drive parameters. With this step, you enter motor data to the drive.

76 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 2A 1A

9 Replacement Instructions for Smart Controller Drives

Table 9.3 Motor Nameplate (Example) U= f= cosφ0,85 Δ/Y400ΔV 33Hz P= I= RPM= 6.7kW 13.5A 950min-1 StartingTorque= TA/TN2.75 Inertia= S5240,F/h50%ED Imot0,32kgm2 Protectiondegree= Insulation= IEC34-1 IP21 KIF Table 9.4 Recommended Parameters (Example) ParameterNo. ParameterName SettingValue E1-04 MaximumOutputFrequency 33Hz*1 E1-05 MaximumVoltage 400V*1 E1-06 BaseFrequency 33Hz*1 E1-09 MinimumOutputFrequency 0.1Hz*1 E2-01 MotorRatedCurrent 13.5A*1 E2-02 MotorRatedSlip 1.30Hz*1 E2-03 MotorNoLoadCurrent 6A*1 E2-11 MotorRatedPower 6.7kW*1 S1-07 BrakeCloseDelayTime 0.3s S1-10 RunCommandDelayTime 0.4s S6-02 StartingCurrentErro T r im (S e E2)DetectionDelay 500ms S6-03 SE2DetectCurrentLevel 35% S6-04 OutputCurrentErro T r im (S e E3)DetectionDelay 500ms *1 According to the (Example) Motor Nameplate. 4. Enter the Auto-Tuning menu. 5. Set parameter T1-01 = 2 [Stationary Auto-Tuning for Line-to-Line Resistance].

6. Enter the nameplate data in the Auto-Tuning menu. • T2-02 = Motor Power (kW) • T2-04 = Motor Current (Amps) 7. After entering the data listed on the motor nameplate, press the UP-button until the following message is displayed: “0.00 Hz/0.00 ATuning Ready? Press RUN key”. EN

Figure 9.4 Tuning ready?

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 77

9 Replacement Instructions for Smart Controller Drives

8. Make sure the motor contactors SR-D and SH-1 or SR-U and SH-1 are closed before starting the Auto- Tuning procedure.

Figure 9.5 Motor Contactors 9. Press the RUN-button to start the Auto-Tuning procedure. The message “Tune Proceeding” is displayed.

Figure 9.6 Auto-Tuning Proceeding The drive begins by injecting current into the motor for about 1 minute. The tuning process is completed, as soon as the drive displays the message “End Tuning Successful”. 10. Open the motor contactors.

Figure 9.7 Tune Successful Now the system is ready to run in normal operation. 11. Fine tune acceleration and jerk using the following parameters.

ParameterValue Description C1-xx Acceleration C2-xx Jerk The system will start with the learning run. This sequence is done by the controller without intervention from the user.

78 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

10 Input Phase Loss Detection

10 Input Phase Loss Detection

The drive offers two different methods to detect a possible Input Phase Loss. • Standard Input Phase Loss Detection • dv/dt Method Input Phase Loss Detection

◆ Standard Input Phase Loss Detection

The drive evaluates the DC Bus voltage to detect Input Phase Loss. In intervals of 1 second, the drive determines the minimum and maximum DC Bus voltage. If the difference between minimum and maximum continuously exceeds a threshold value for 10 seconds, the drives considers an Input Phase Loss.

Figure 10.1 Standard Input Phase Loss with L8-42 = 10 (Example) ■ Related Parameters

Use the following parameters to use and adjust Standard Input Phase Loss Detection. Parameters are available when A1-01 = 2 [Access Level Selection = Advanced Access].

Parameter OperatorDisplay Description ValueRange DefaultValue InputPhaseLossDetectionLevel L8-06 InpPhLossLvl D Bu ef s in ri e p s p t l h e e fo d r if d fe e r te e c n t c i e ng be in tw pu e t en ph th as e e m lo a s x s i . mumandminimumvaluesoftheDC 0.0...50.0% Between14and28%. DefaultvalueforL8-06dependsondrivemodel. InputPhaseLossDetectionTime L8-42 InPhaseLossT Setsthetimefordetectinginputphaseloss.PFfaultisactivatediftheDCbus 0...255s 2s voltagerippleexceedsthevaluedefinedwithL8-06forthetimeinseconds definedwithL8-42. ◆ dv/dt Method Input Phase Loss Detection The dv/dt Method Input Phase Loss Detection can detect input phase loss immediately at start and before opening the brake. The drive evaluates the voltage deviation (ΔV/Δt), this means the drive evaluates the voltage change within a fixed small time frame (e.g. with a sampling time Δt = 5 ms). When the ΔV/Δt value exceeds a set EN negative threshold for a certain number of times, the drive detects an Input Phase Loss. The drive also detects negative values for ΔV/Δt to detect unusual voltage drops. Set the ΔV/Δt threshold with L8-70. This setting is independent from speed and load.

Figure 10.2 DC Bus Voltage ΔV/Δt Calculation (Example)

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 79

10 Input Phase Loss Detection

◆ Power-On dv/dt Threshold Tuning

When you set L8-79 ≥ 100%, the drive determines the value for L8-70 [dv/dt Threshold] during the first start after power-on. The drive will save the value after the travel has ended. During this first start, the dv/dt method Input Phase Loss Detection is disabled. When you change L8-79 [dv/dt Tuning Factor] and confirm with Enter, the drive will determine the new value for L8-70 during the next travel. The drive will save the value after the travel has ended. The maximum dv/dt value during S1-06 [Brake Release Delay Time] is determined and saved. The drive calculates the new dv/dt value as S1-06 × L8-79. This value is only stored when it differs ±50 V/s from the existing setting of L8-70. When you set L8-79 = 99%, this tuning function is disabled, and L8-70 will not be modified.

◆ Input Phase Loss Detection Method Selection Use L8-05 [Inp Ph Loss Det] to activate the Input Phase Loss Detection function.

Parameter OperatorDisplay Description ValueRange DefaultValue (Hex.) InputPhaseLossDetectionMethod Enablesordisablestheinputphaselossdetection. 0:Disabled L8-05 InpPhLossDet LiftcontrollerdecidesthedirectionwithS1/S2 0,2,6 2 (04B1) 2:Enabledduringoperation 6:Standard+dv/dt dv/dt@StartandStandarddetectionduringRUN ◆ Further Modifications ■ Output Phase Loss Detection (OPLD) OPLD During RUN : The output phase loss detection function is modified to ensure that no false detections occur during RUN when the lift car is balanced. OPLD at Start : Parameter L8-81 sets the injection current for PM motors in % dependent on the selected motor rated current. The threshold value for the phase loss detection is calculated and set to half of |IU| = |IV| value. If one of the phase currents falls below this threshold for more than 100 ms, LF fault is triggered.

Figure 10.3 Output Phase Loss Detection Parameters and Timing During Injection

80 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

11 Direct Landing 2

◆ Related Parameters and Monitors

■ Added Parameters

Parameter OperatorDisplay Description ValueRange DefaultValue (Hex.) InputPhaseLossDetectionMethod Enablesordisablestheinputphaselossdetection. 0:Disabled L8-05 InpPhLossDet LiftcontrollerdecidesthedirectionwithS1/S2 0,2,6 2 (04B1) 2:Enabledduringoperation 6:Standard+dv/dt dv/dt@StartandStandarddetectionduringRUN PFDetectionMinimumCurrentLevel L8-65 PFMinCurrent PFdetectionminimumcurrentlevel;%ofdriveratedcurrent.Usedforboth, 0.0...100.0% 10.0% (067B) standardmethodanddv/dtmethod(onlyduringrun,notevaluatedfordv/dt detectionmethodatstart) L8-70 PFDetectionLevel Pfdv/dtLevel 0...10,000V/s 2,500V/s (066F) SetstheDCbusdv/dtthresholdvalue. L8-79 dV/dttuningfactor (067E) dv/dtTuneFactor T Fa h c e to re r s a u p lt pl i i s e s d to to re t d he to d t v h / e dt p v a a ra lu m e e (s te ) r w (s h ) i i c f h tu h n a i v n e g b w ee a n sc d o e m te p rm le i t n e e d d su d c u c ri e n s g sf t u u l n ly i . ng. 100...200% 105% L8-81 OutputPhaseLossPMInjectionCurrent (067F) OutPhLsPMInjCur I o n p j e e n c s ti . oncurrentforPMmotortodetectoutputphaselossbeforethebrake 0...50.0% 5% ■ Added Monitors Monitor AnalogOutput OperatorDisplay Description Scaling(H4-xx Unit (Hex.) selection) PFdetectionerrorcounter Showsapercentagevaluelessthan100%.Ifthevalueisdifferenttozero, U4-62 therehavebeendv/dtthresholdexceedingevents.Uponreaching100%,PF (085B) PFdVdtErrCount faultistriggeredandthecounterisresetto0%. - ms Note: Onlyappliesfordv/dtInputPhaseLossdetectionmethod. PFdetectionmaximumdV/dtvalue Showsthemaximumdv/dtvaluefromtheprevious(orthecurrent,while running)travel.Thevalueisresetatstartandonlyupdatedwhilethedriveis U4-64 running.Whenpoweringon(noprevioustravel),zeroisshown. (0859) PFMaxdVdtValue Thevalueisshownasabsolutemaximumdv/dtvalue(theinternalvalueis - ms negative).TheunitofthisvalueisV/sbutnotshownintheoperator. Note: Onlyappliesfordv/dtInputPhaseLossdetectionmethod. PFdetectionactualdV/dtvalue U4-65 PFdVdtValue S th h e o o w p s er th at e o c r. urrentdv/dtvaluewithsign.ThevalueunitisV/sbutnotshownin - - (085A) Note: EN Onlyappliesfordv/dtInputPhaseLossdetectionmethod. 11 Direct Landing 2 ◆ Overview When you activate Direct Landing, the drive decelerates within a fixed distance to the floor level while it does a positioning operation. You can define the distance to the floor, and also the frequency reference when Direct Landing is activated.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 81

11 Direct Landing 2

Figure 11.1 Direct Landing Positioning Sequence ■ C5-13 & C5-14 ASR Set Activation

When you activate the Direct Landing input Function via digital input 5Fh [Start Positioning], ASR set C5-13/ C5-14 becomes active (motor speed < C5-07). ■ Profile Selection for Direct Landing

Depending on the remaining S5-15 [Positioning Distance] at the time when digital input 5Fh [Start Positioning] is activated, there are two profiles. One of them is selected automatically. Profile 1 : The time set in C1-02 is adapted while C2-04 is fully executed. This leads to a linear deceleration. This profile is selected when:

Figure 11.2 Profile 1: With Linear Deceleration

82 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

11 Direct Landing 2

Profile 2 : In this profile, C1-02 and C2-04 are adapted to match the position target. This profile is selected when:

Figure 11.3 Profile 2: Without Linear Deceleration ◆ Related Parameters and Monitors

■ Added Parameters

Parameter OperatorDisplay Description ValueRange DefaultValue (Hex.) DirectLanding2PositioningDistance After5Fhactivation,thedistanceinS5-15istravelleduntilthedrivestops. TheexternalRUNcommandisswitchedoffinternally. S5-15 DL2PosDistance Forcorrectdistances,seto1-20,o1-21,ando1-22correctly. 0...5000mm 100mm (06E1) Note: (0.00...196.85in)*1 (3.94in)*1 ThisparametercanbechangedduringRUNbeforethepositioning commandisgiven(DIMF5Fhactivation)toaccountforintermediate calls. S5-16 DirectLanding2In-PositionWidth 0...10mm 3mm (06E2) DL2InPosWidth [ If D U L 4 2 - I 4 n 5 P ≤ o S s 5 T - i 1 m 6 e [ ] R ,t e h m e a d in ri i v n e g s D et i s st t a h n e c d e ig ≤ it D al L o 2 u I t n pu P t o 7 s 0 W h i [ d I t n h - ] P f o o s r it t i h o e n] ti . meS5-17 (0.00...0.39in)*1 (0.12in)*1 EN S5-17 DirectLanding2In-PositionTime (06E3) DL2InPosTime I [ f D U L 4 2 - I 4 n 5 P ≤ o S s 5 T - i 1 m 6 e [ ] R ,t e h m e a d in ri i v n e g s D et i s st t a h n e c d e ig ≤ it D al L o 2 u I t n pu P t o 7 s 0 W h i [ d I t n h - ] P f o o s r it t i h o e n] ti . meS5-17 0.00...5.00s 0.60s *1 Values not in parentheses apply when o1-12 = 0. Values in parentheses apply when o1-12 = 1. ■ Added Standard Parameter Scroll Items Parameter OperatorDisplay Description ValueRange DefaultValue (Hex.) StoppingMethodSelection Selectsthestoppingmethod: S5-10 0:SpeedControl StopMethodSel 0...3 1 (02C0) 1:DirectLanding 2:LevelingDistanceControl 3:DirectLanding2

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 83

12 Travel Direction Change Counter

■ Added Monitors

Monitor AnalogOutput OperatorDisplay Description Scaling(H4-xx Unit (Hex.) selection) U4-45 DirectLanding2RemainingDistance 10V:5000m 0.001m (084F) DL2RemDistance h S a h s ow be s e t n he tra re v m el a le in d i , n U g 4 d - i 4 s 5 ta i n s c s e e a t f t t o er 0 5 . Fhwasactivated.AfterthedistanceS5-15 (196.85in)*1 (0.01in)*1 *1 Values not in parentheses apply when o1-12 = 0. Values in parentheses apply when o1-12 = 1. ■ Changes of Standard Digital Input Multi-Functions (DIMF)

H1-x ( x H S ex e ) tting FunctionName Description

S5-10=3[DirectLanding2Start]: 5F DirectLanding2Start WhenDigitalInput5Fhisactivated,thedrivedeceleratestostopwithinS5-15distance.Theoriginofthereferencedriven atthetimeof5Fhactivationisarbitrary.ThedrivenprofiledependsonthedistanceinS5-15. ■ Changes of Standard Digital Output Multi-Functions (DOMF) H2-x ( x H S ex e ) tting FunctionName Description

S5-10=3[DirectLanding2Start]: 70 In-Position TheliftcarhasreachedthecommandedtargetpositionwithinS5-16bandwidthforaminimumcontinuoustimeofS5-17. Theoutputbecomesinactivewhen5Fhisactivatedagain. 170 In-Position Invertedvalueofsetting70. 12 Travel Direction Change Counter

◆ Characteristics

The following example shows how to use the “Travel Direction Change Counter” (TDCC). The example is made up with the following assumptions: • Parameter o4-40 = 1 to activate TDCC. • Terminal S1 is used for Up direction commands. • Terminal S2 is used for Down direction commands. • The alarm threshold o4-41 [TDCC Alarm Level] is set to 1. • The limit of bending changes is set to 4. • The direction changes with the first travel.

84 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

12 Travel Direction Change Counter

Figure 12.1 Travel Direction Change Counter When o4-40 = 1, the TDCC value is reduced by 1 with each direction change. Subsequent travels in the same direction do not reduce the TDCC value. Inspection mode travels are also counted. You can use the TDCC function only when you use analog frequency reference with direction given by digital terminal inputs, or when you use CANopen-Lift. The TDCC value is stored permanently and will not be reset when you power-cycle the drive or on case of power failure.

When the TDCC value ≤ o4-41 [TDCC Alarm Level], a TDCC alarm is output on DO function 76h. Lift travel operation will continue normally. When the TDCC value = 0, a TDCC fault is output on DO function 77h. Lift travel operation will complete the current operation, and then stop. You can only do inspection travels. When you want to use TDCC function and do not set a password, a TDCC setup alarm occurs. Note: When you set o4-40 = 0, you deactivate TDCC alarm and TDCC setup alarm. When the TDCC setup alarm is active, the drive will not show a TDCC alarm. Monitors Total Dir Chg [U4-67, U4-68] count all regular travels and inspection travels. EN

■ Copy Protection Parameters o4-40 to o4-43 [TDCC Settings] cannot be copied with any operator, copy unit or Drive Wizard. This prevents you from accidentally using wrong data for remaining rope bending changes.

■ Password Loss In case of a lost password, contact YASKAWA.

◆ Replacing a Drive

When you need to replace a drive, read out the values for TDCC [U4-65, U4-66], Total TDCC [U4-67, U4-68], and TDCC Alarm Level [o4-41] and document these values in the facility’s maintenance log book. Enter the last value of the counter and the TDCC Alarm Level from the replaced drive in the new drive with parameters TDCC Alarm Level [o4-41] and TDCC Pres Value [o4-42]. Document the new drive’s values for TDCC Alarm Level [o4-41] and TDCC Pres Value [o4-42] in the facility’s maintenance log book, together with the information about the replacement. If the new drive or the TDCC function has not been used before, the monitors will show “0”.

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 85

12 Travel Direction Change Counter

Note: •If o4-40 is active and you have not set a password, a TCS alarm [TDCC Setup Alarm] is present. •During maintenance, log the values for U4-64 to U4-68 and o4-41 occasionally. If a drive brakes and cannot be powered on anymore, these values cannot be restored. In such a case, a person responsible for elevator safety must decide if ropes need to be replaced or if values can be estimated. ◆ Counter Reset

To reset the Travel Direction Change Counter (TDCC) after you replaced ropes, enter the limit of bending changes to TDCC Pres Value [o4-42]. The value entered is in thousands, e.g. when you enter ‘1’ it means 1000 direction changes are allowed. When you entered the value, the monitors Rem Dir Chg [U4-65, U4-66] will be updated, and 04-42 will be reset to 0. ◆ Related Parameters and Monitors

■ Added Parameters

Parameter OperatorDisplay Content ValueRange DefaultValue

TravelDirectionChangeCounterEnable EnablestheTDCCfunction: o4-40 TDCCEnable 0,1 0 0:Disabled 1:Enabled TravelDirectionChangeCounterAlarmLevel o4-41 TDCCAlarmLevel SetstheTripCounterAlarmlevel.Thevalueissetinunitsof1kilo 0k-10000k 50k (1000). TravelDirectionChangeCounterPresetValue o4-42 TDCCPresValue Setsthenumberofallowabledirectionchangesafteraropechange.The 0k-65535k 0k unitiskilo(1k=1000).Thedirectioncounter[U4-66/U4-67]issettothe inputvalueandtheparameterischangedbackto0. TravelDirectionChangeCounterPasswordSetting SetstheTravelDirectionChangeCounterpassword.Thepasswordneeds tobeenteredtwice(identically).Theactivepasswordlocksparameterso4- 40too4-43fromeditingandstartstheTDCcountingprocess.The passwordcanonlybesetwheno4-40isenabled.Whenthesamepassword isenteredagain,theparametersareunlockedagain.Thepasswordisnot displayed.Acodedvalueisshown: o4-43 TDCCPswdSet 0:Passwordnotset 0-FF 0 1:Passwordset 2:Passwordsetandentered(unlocked) 3-FF:Password Onlyvalues3toFFFFhareacceptedaspassword. AsetpasswordisnotresetbyA1-03initialization(includingEEPROM initialization9990). ■ Added Monitors Pa ( r H a e m x e .) ter OperatorDisplay Content Ana S lo c g al O in u g tput Range/Unit U (8 4 3 - 0 6 ) 5 RemDirChgL S 10 h 0 o 0 w d s i t r h e e ct l i o o w n e c r h t a h n r g e e e s d . igitsofactualTDCCvalue.Itisresetto0after - 0-999 U4-66 RemDirChgH ShowstheremainingupperdigitsofactualTDCCvalue. - 0k-65535k (831) U (8 4 3 - 2 6 ) 7 TotalDirChgL d S i h r o ec w ti s o t n he ch lo a w ng e e r s t . hreedigitsoftotalTDCCvalue.Itisresetto0after1000 - 0-999 U (8 4 3 - 3 6 ) 8 TotalDirChgH T Sh h o e w v s al t u h e e s r a e t m ur a a i t n e i s ng at u 6 p 5 p 5 e 3 r 5 d k i . gitsoftotalTDCCvalue(1=1000=1k). - 0k-65535k U (8 4 3 - 4 6 ) 9 TotalTDCCPres S T h h o e w v s al t u h e e s n a u tu m ra b t e e r s o a f t p 6 r 3 e . s T et h o is pe is ra i t n i t o e n n s d ( e i d nc to lu u d n e c s o r v es e e r t p t o o s 0 si ) b o le ft m he is T us D e C . C. - 0-63 U (8 4 3 - 5 7 ) 0 LastDirChgPres d S i h r o ec w ti s o t n he ch m a o n s g t e r s e c c o e u n n t t v e a r l . ue,inputtoo4-42forresettingtheremaining - 0-65535k

86 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

13 Fast Stop - Edge Triggered

■ Added Digital Outputs

H2-xxSetting(Hex) OperatorDisplay Description TDCCPulseOutput 75(175) TDCCPulseOutp WitheveryincrementoftheTDCC,apulseof0.5spulsewidthisoutput. TDCCAlarmLevelReached 76(176) TDCCAlmLvlRch IndicatesthattheTDCCalarmlevelisreached. TDCCFaultLevelReached 77(177) TDCCFltLvlRchd IndicatesthattheTDCChasreached0value. ■ Added Faults and Alarms Added Faults Fault Fau (H lt e C x o ) de D F is a p u l l a t y Description Cause Countermeasure Changeropes.Enterpasswordino4-44 TDCCFault 6B TCF T E D le C va C to F r a r u o l p t esneedtobereplaced. E C l o e u v n a t t e o r r = ro 0 p ) elifetimeexceeded(TDCC T an h d is s r e e t s o e 4 ts -4 th 0 e = co 2 u t n o te in r i t t o ia t l h iz e e v t a h l e ue co o u f n o t 4 er - . 42. M E em E T E P D o r R r r C y o O C r D M ata 6C TCE r T E e D r l r a o C te r C , d w E to h E i T l P e D R r C O ea C M d , in w M g h e t i m h le e o p E r o y E w D P e R a r t i O a ng M E o rr s n o e . r ction EEPROMmightbebroken P t r d L o e r o E p i d w v D l i a e e s c . i c r e s h o o t a f h r f f e g f a . e c n I . o f d P n t o w h tr w e a o i e p l t r r b f o o o o b n a r l r e t i d h f m e o th r o d e c r th i c " v e u c e h r w ' s s a h r a D g o g C e l a e " in b , us

Added Alarms

Fault Fau (H lt e C x o ) de D F is a p u l l a t y Description Cause Countermeasure

TDCCAlarm TDCCAlarm 4D TCA Elevatorropesneedtobereplacedsoon. T th h r e es T h D ol C d C [T v D a C lu C ef < el o l 4 b - e 4 lo 1 w ]. thealarm Replacetheropessoon. Seto4-40=0todisablethealarm. TDCCSetup TDCCSetup 4E TCS T Se h t e o T 4 D -4 C 0 C = f 0 un t c o ti d o i n sa n b e le ed th s e to al b a e rm se . t T u C p. S s o e 4 t -4 to 0 a i c s t a iv c a ti t v e e th a e lth fu o n u c g t h io n n o . passwordis SetupTDCCfunction. hashigherprioritythanTCA. 13 Fast Stop - Edge Triggered

◆ Related Parameters and Monitors

■ Added Digital Inputs

H1-xxSetting(Hex) OperatorDisplay Description EmergencyStop2(N.O.) 5E(15E) Fast-Stop2N.O. Deactivationslope:DecelerateswithEmergencyStopTime[C1-09]triggeredbyfallingedge. EN EveniftheEmergencyStopcommandiscleared,thedrivewillnotoperatewithoutcyclingtheRun command.

Figure 13.1 Emergency Stop Sequence Fast Stop 2 (N.O.)

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 87

14 BiSS

14 BiSS

◆ BiSS Option Overview

■ About BiSS Option

The PG-F3 Option allows the user to connect rotary encoders with BiSS-C communication protocol support to the Yaskawa L1000A drives. The PG-F3 Option is a custom BiSS Master and supports the following functions: • BiSS bi-directional • One slave device in peer-to-peer connection • One data channel per slave • Read master configuration data from EDS • EDS profiles: BP1 (version 1) and BP3 (version 1) supported

• EDS common version 1 supported • Singleturn with max. 32 bit for position data • Only left data alignment is supported • Power-on time of BiSS Encoder must be lower than 0.5 seconds • BiSS Encoder with supply voltage of 5 V DC or 8 V DC supported • No encoder commands such as “Reset”, “Preset” or similar are used • BiSS clock frequency for SCD frame transmission between 100 kHz and 300 kHz Set the drive motor control mode to operate in the Closed Loop Vector Control for PM Motors when using the PG-F3 Option. Refer to the drive Technical Manual for details.

■ Applicable Drives You can use the option with the following drive models:

DriveSeries FirmwareVersion L1000A S3404andlater

◆ Receiving

Please perform the following tasks after receiving the Communication Option card: • Inspect the Communication Option card for damage. If the Communication Option card appears damaged upon receipt, contact the shipping company immediately. • Verify receipt of the correct model by checking the model number on the PCB. • If you have received the wrong option card model or the Communication Option card does not function properly, contact your supplier. ■ Option Package Content

Item: Option GroundWire Srews(M3) Manual

Image

Quantity 1 1 3 1

88 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

14 BiSS

◆ Option Components

■ Option

A - Terminal Block TB1 E - Installation hole B - Terminal Block TB2 F - Model number C - Jumper for PG encoder power supply voltage G - Ground terminal and installation hole (CN3) D - Connector (CN5) ■ Terminal Blocks TB1 and TB2

◆ Mechanical & Electrical Installation

■ Safety Precautions

14 BiSS

NOTICE Do not lift the drive with the cover removed. Failure to obey can cause damage to the drive board and terminal block. NOTICE Do not use unshielded wire for control wiring. Use shielded, twisted-pair wires and ground the shield to the ground terminal of the drive. Failure to obey can cause electrical interference and unsatisfactory system performance. NOTICE Do not change the drive circuitry. Failure to obey can cause damage to the drive and will void warranty. Yaskawa is not responsible for modifications of the product made by the user. NOTICE Make sure that all connections are correct after you install the drive and connecting peripheral devices. Failure to obey can cause damage to the drive. ■ Preconditions for Installing the Option Card

Prior to installing the Communication Option Card, wire the AC drive or regenerative unit and connect to the drive terminals. For more information on wiring and connecting the inverter drive or regenerative unit, refer to the manual packaged with the AC drive or regenerative unit. Verify that the AC drive or regenerative unit runs normally without the option installed. Tools Required A Phillips screwdriver PH1(#1) or PH2(#2) is required to install the Communication Option card. Note: Tools required to prepare communication network cables for wiring are not listed in this manual.

■ Installing the Option on an L1000A 1. Turn off the power. Wait until the CHARGE LED turns off and then remove the cover. Refer to the drive manual for direction on removing the front cover. 2. Plug the option card (B) to the CN5-C connector (L). Fix option card to the drive with a screw, tighten the screw to 0.5 to 0.6 N•m (4.4 to 5.3 in•lb). Fieldbus option cards must always be plugged into CN5-C connector. 3. Connect the ground wire (H) to option card and fix with a screw, tighten the screw to 0.5 to 0.6 N•m (4.4 to 5.3 in•lb). Select shortest possible cable for ground connection. 4. Connect the ground wire (H) to drive ground terminal (I) and fix with a screw.

Note: There are only two screw holes on the drive for ground terminals. If three different option cards are connected, two of the ground wires will need to share the same ground terminal.

A B C L D K J E I

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 E - Operator K - Connector CN5-B F - Terminal cover L - Connector CN5-C - for PG option installation Figure 14.1 Installing the Option Card an L1000A

90 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

14 BiSS

5. Prepare and connect the wire ends. Make sure to use the proper tightening torque for each terminal. Take particular precaution to ensure that each wire is properly connected, and wire insulation is not accidentally pinched into electrical terminals. 6. Wire the motor PG encoder to the terminal block on the option. 7. Set the voltage for the PG encoder power supply using jumper CN3 located on the option. Position the jumper as shown below to select the voltage level. NOTICE Damage to the equipment. Select the power supply voltage level for the PG encoder connected to the option and motor with jumper CN3. If you select the wrong voltage, the PG encoder may not operate properly or may become damaged.

VoltageLevel 5V±5%(default) 8V±10%

JumperCN3Position

8. Route the option wiring.

• For drives CIMR-Ax2A0004 to 2A0040, and 4A0002 to 4A0023: The network cable should be routed to the outside through the openings at the left side (G) of the front cover. Make sure no sharp edges remain. The drive will not meet NEMAType 1 requirements if wiring is exposed outside the enclosure. • For drives CIMR-Ax2A0056 to 2A0211, and 4A0031 to 4A0165: Enough space to keep all wiring inside the unit is available.

A - Opening for network cables (CIMR-Ax2A0004 to B - Space for wiring (CIMR-Ax2A0056 to 2A0211, 2A0040, 4A0002 to 4A0023) 4A0031 to 4A0165) EN Figure 14.2 Network Cable Routing 9. Reinstall the front cover back onto the drive as it was before.

10. Reinstall the digital operator as it was before. 11. Switch on the drive power supply. Prepare and Connect Cable Wiring

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 91

14 BiSS

Figure 14.3 Prepare Ends of Shielded Cable

Figure 14.4 Prepare and Connect Cable Wiring Wire the Encoder Wire the motor PG encoder to the terminal block on the option using a conductor cable. The signal “Sensor Up” must be connected to terminal IP on the PG-F3 option for cables longer than 10 m. Additionally, the “Sensor 0 V” must be connected to terminal IG.

<1> Ground the shield on the PG encoder side and the drive side. If noise problems arise in the PG encoder signal, remove the shield ground from one end of the signal line or remove the shield ground connection on both ends.

Figure 14.5 PG-F3 Option and PG-Encoder Connection Diagram

92 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

14 BiSS

Table 14.1 PG Encoder Cable Specification PGEncoderCable OptionTerminal Color*1 PGEncoderSignal*2 Brown/Green Up IP Blue SensorUp White/Green 0V IG White Sensor0V CK Purple CLOCK /CK Yellow /CLOCK DT Gray DATA /DT Pink /DATA A+ Green/Black A+ A- Yellow/Black A- B+ Blue/Black B+ B- Red/Black B- *1 Colors depend on the manufacturer. Check the data sheet of the encoder cable for the actual colors. *2 Signal names depend on the manufacturer. Check the data sheet of the encoder cable for the signal names. WireGauges,TighteningTorques Use the following wire gauges and torques. BareCable CrimpTerminals Tightening TerminalSignal ScrewSize Torque Recommended Applicable Recommended Applicable WireType Nm(in·lb) Gauge Gauge Gauge Gauge mm2 mm2 mm2 mm2 Strandedwire: 0.25to1.0 a+,a-,b+,b-,FE (AW 0. G 75 18) (AW So G lid 24 wi t r o e 1 : 7) (AW 0 G .5 20) (AW 0.2 G 5 2 to 4 0 to .5 20) Shie p ld ai e r d ,e tw tc i . sted 0.22to0.25 M2 0.25to1.5 (1.95to2.21) (AWG24to16) IP,IG,DT,/DT, B+,B-,CK,/CK,A *1 - - - +,A- *1 Use an 8-pin cable. Refer to PG Encoder Cable Specification for details. Crimp Terminals Use a Phoenix Contact CRIMPFOX 6 or equivalent and crimp terminals with the following specifications for wiring to ensure proper connections. Properly trim wire ends so loose wire ends do not extend from the crimp terminals. EN WireGauge L d1 d2 PhoenixContactModel mm2 mm(in.) mm(in.) mm(in.) 0.25(AWG24) AI0.25-6YE 10.5(13/32) 0.8(1/32) 2(5/64) 0.34(AWG22) AI0.34-6TQ 10.5(13/32) 0.8(1/32) 2(5/64) 0.5(AWG20) AI0.5-6WH 14(9/16) 1.1(3/64) 2.5(3/32) Example: Connectingthe PG-F3 Option Cardto KüblerSendix 5853or 5873Encoder PGEncoderCable OptionTerminal Color PGEncoderSignal Brown +V IP Red/Blue +Vsens White 0V IG Gray/Pink +V CK Green C+ /CK Yellow C- DT Gray D+ YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 93

14 BiSS

PGEncoderCable OptionTerminal Color PGEncoderSignal /DT Pink /D- A+ Blue A+ A- Red A- B+ Black B+ B- Purple B-

◆ Related Parameters and Functions

■ Modified Standard Parameters

Only modified parameters are listed in this table. Parameter OperatorDisplay Description ValueRange DefaultValue

SetsupthetypeofencoderconnectedtoaPG-F3optioncard 0:EnDat2.1/2.201Serial+Sin/Cos 1:EnDat2.1/2.222Serialonly F1-50 EncoderSelect 0to4 0 2:Hiperface 3:BiSSSerial+Sin/Cos 4:BiSSSerialonly SelectsthespeedforserialcommunicationbetweenaPG-F3optioncardandserialencoder. F1-52Setting F1-50Setting 0 1 2 3 0 200kHz 200kHz 200kHz 200kHz F1-52 SerEncCommSpd 1 1MHz 500kHz 1MHz 1MHz - 2 9600bps 19200bps 38400bps 38400bps 3 internal*1 100kHz 200kHz 300kHz 4 internal*1 100kHz 200kHz 300kHz *1 CommunicationspeedselectedautomaticallybyBiSSMaster(PG-F3optioncard)based onBiSSencoder(EDSvalue). ◆ Troubleshooting ■ Drive-Side Error Codes This section shows the various fault codes related to the option and pulse generator. Refer to the drive Technical Manual for further details on fault codes. When an error code occurs on the drive, check the following items first: • Are the cables connected properly? • Is the option properly installed to the drive?

• Did a momentary power loss occur? Code Name Causes PossibleSolutions dEv SpeedDeviation Theloadistooheavy. Decreasetheload. Accelerationanddecelerationtimesaresettoo IncreasethevaluessetinC1-01[AccelTime1]toC1-08[Decel short. Time4]. ThedEvdetectionlevelsettingsareincorrect. AdjustF1-10[SpeedDevLevel]andF1-11[SpeedDevDelay Time]. Theloadislockedup. Examinethemachine. Theholdingbrakeisstoppingthemotor. Releasetheholdingbrake. dv3 InversionDetection E5-11[EncZPulseOffset]issetincorrectly. CorrectlysetthevalueforΔθtoE5-11asspecifiedbythevalues onthemotornameplate. Thereisanewencoderorthemotorrotation DoZPulseOffsetTuning. directionchanged. Anexternalforceontheloadsiderotatedthemotor. • Makesurethatthemotorisrotatinginthecorrectdirection. • Findandrepairproblemsontheloadsidethatcausethemotor torotatefromtheloadside. 94 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

14 BiSS

Code Name Causes PossibleSolutions Noiseinterferencealongtheencodercable. Correctlygroundtheshieldedwireoftheencodercable. Theencodercableisdisconnectedorincorrectly Examineforwiringerrorsordisconnectedwiresintheencoder wired. cable,andrepairproblems. ThesettingforF1-05[Enc1RotatSelection]isthe Correctlyconnectthemotorwiringforeachphase(U,V,W). oppositeofthedirectionofmotorrotation. ThePGoptioncardortheencoderonthemotor Repairthewiringandre-energizethedrive,thenreplacethePG sideisdamaged. optioncardortheencoderiftheproblemcontinues. dv4 InversionPreventionDetection Anexternalforceontheloadsidemovedthemotor. • Makesurethatthemotorisrotatinginthecorrectdirection. • Findandrepairproblemsontheloadsidethatcausethemotor torotatefromtheloadside. • Disabledetectionofthisfaultforapplicationsthatrotatethe motorfromtheloadsideintheoppositedirectionofthespeed reference.ThedrivewillnotdetectthisfaultifF1-19=0 [Dev4ModeSelection=Disabled]. E5-11[EncZPulseOffset]issetincorrectly. CorrectlysetthevalueforΔθtoE5-11asspecifiedbythevalues onthemotornameplate. Thereisanewencoderorthemotorrotation DoZPulseOffsetTuning. directionchanged. Noiseinterferencealongtheencodercable Correctlygroundtheshieldedwireoftheencodercable. Theencodercableisdisconnectedorincorrectly Examineforwiringerrorsordisconnectedwiresintheencoder wired. cable,andrepairproblems. ThePGoptioncardortheencoderonthemotor Repairthewiringandre-energizethedrive,thenreplacethePG sideisdamaged. optioncardortheencoderiftheproblemcontinues. oFA00 OptionNotCompatiblewithPort TheoptioncardconnectedtoconnectorCN5-Ais Connecttheoptioncardtothecorrectconnector. notcompatible. Note: EncoderoptioncardsarenotcompatiblewithconnectorCN5- A. oFb00 OptionNotCompatiblewithPort TheoptioncardconnectedtoconnectorCN5-Bis Connecttheoptioncardtothecorrectconnector. notcompatible. Note: DO-A3,AO-A3,PG-B3,andPG-X3optionscanconnectto connectorCN5-B.UseconnectorCN5-Cwhenconnecting onlyoneencoderoptioncard. oFC50to OptionCardErrorOccurredat Afaultoccurredintheoptioncard. RefertothemanualforthePG-RT3orPG-F3optioncard. oFC55 OptionPortCN5-C oS Overspeed Thereisovershoot. • DecreaseC5-01[ASRPGain1]andincreaseC5-02[ASR ITime1]. • AdjustthepulsetraingainwithPulseTrainInputSetting ParametersH6-02toH6-05. ThereisanincorrectnumberofPGpulsessetinthe SetH6-02[]tothepulsetrainfrequencyduring100%reference drive. (maximummotorrotationspeed). TheoSdetectionlevelissetincorrectly. AdjustF1-08[OverspeedLevel]andF1-09[OverspeedDelay Time]. PGo Encoder(PG)FeedbackLoss Theencodercableisdisconnectedorwired Examineforwiringerrorsordisconnectedwiresintheencoder incorrectly. cable,andrepairproblems. Theencoderisnotreceivingpower. Examinetheencoderpowersupply. Theholdingbrakeisstoppingthemotor. Releasetheholdingbrake. EN PGoH Encoder(PG)HardwareFault Theencodercableisdisconnected. Connectallencodercablewires. oPE02 ParameterRangeSettingError Parameterssettingsarenotintheapplicablesetting range. 1. Push toshowU1-18[oPEFaultParameter],andfind parametersthatarenotintheapplicablesettingrange. 2. Correcttheparametersettings. Note: Ifmorethanoneerroroccursatthesametime,otheroPExx errorshavepriorityoveroPE02. SetE2-01≤E2-03[MotRatedCurrent(FLA)≤ MakesurethatE2-01>E2-03. MotNo-LoadCurrent]. Note: IfitisnecessarytosetE2-01<E2-03,firstlowerthevalue setinE2-03,andthensetE2-01. oPE06 ControlMethodSelectionError A1-02=1,3,or7[=CL-V/f,CLV,CLV/PM]isset, • Connectanencoderoptioncardtothedrive. b d u ri t v t e h . ereisnoencoderoptioncardconnectedtothe • SetA1-02correctly. ■ Preventing Noise Interference 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 20 m. YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 95

14 BiSS

• The signal “Sensor Up” must be connected to terminal IP on the PG-F3 option for cables longer than 10 m. Additionally, the “Sensor 0 V” must be connected to terminal IG. • Use separate conduit or cable tray dividers to separate option control wiring, main circuit input power wiring, and motor output power cables. • Ground the shield on the PG encoder side and the drive side. If electrical interference problems arise in the PG encoder signal, verify that the shield is properly grounded and ground one end of the signal line or remove the ground connection on both ends. • Properly connect the shield in cable to the IG on the option terminal or remove the ground connection on both ends. ◆ Specifications

Item Specification Model PG-F3

CompatiblePGEncoderTypes FritzKüblerGmbH,8.5873.HK3E.C323 HohnerAutomaticosS.L.,SMRS64-12104511-13 Note: Whenyouwanttouseotherencodersthanthoselisted,contactYaskawa. Multi-turn Notavailable PGEncoderWiringLength 10m(32ft.)maximum. PGEncoderPowerSupply Outputvoltage:5V±5%,8V±10% MaximumOutputCurrent:330mA(5V),150mA(8V) CompatibleControlMethods ClosedLoopVectorforPMmotors MaximumInputFrequency 20kHz PulseMonitorOutput MonitorforAandBphaseoutput MatchesRS-422Level PGEncoderDisconnectDetection Softwaredetection AmbientTemperature -10°Cto50°C(14°Fto122°F) Humidity max.95%RH(non-condensing) StorageTemperature -20°Cto60°C(-4°Fto140°F)allowedforshort-termtransportoftheproduct AreaofUse Indoor(freeofcorrosivegas,airborneparticles,etc.)

Altitude max.1000m(3280ft.)

96 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

15 Appendix

15 Appendix

EN

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 97

15 Appendix

98 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

15 Appendix

EN

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 99

15 Appendix

100 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

15 Appendix

EN

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 101

15 Appendix

102 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

Index Checksum Byte ................................................... 19 Command Byte ................................................... 18 Communication Byte............................................. 19 Data Byte .......................................................... 19 A Definition.......................................................... 20 A3 Interface..............................................................7 Speed Mode ....................................................... 20 Absolute Sensor System..........................................41, 43 DCP Slave Message................................................... 21 Activation ................................................................8 Checksum Byte ................................................... 25 Added Alarms Communication Byte............................................. 25 DI-A3............................................................... 15 Data Byte ......................................................22-24 Travel Direction Change Counter .............................. 87 Status Byte......................................................... 21 Added Digital Inputs.................................................. 87 DCP3................................................................17, 36 Added Digital Outputs DCP4................................................................17, 36 Travel Direction Change Counter .............................. 87 Deactivation..............................................................8 Added Faults Definition DI-A3............................................................... 15 DCP Master Message ............................................ 20 Travel Direction Change Counter .............................. 87 Dependencies Added Monitors Standard Parameters.............................................. 67 Ripple Compensation ............................................ 74 dEv Travel Direction Change Counter .............................. 86 Fault ................................................................ 94 Added Parameters Device Type............................................................ 68 DI-A3............................................................... 15 DI-A3 Ripple Compensation ............................................ 74 Added Alarms..................................................... 15 Travel Direction Change Counter .............................. 86 Added Faults ...................................................... 15 Adjustment Procedures............................................... 64 Added Parameters ................................................ 15 Advanced Light Load Search........................................ 15 Modified Parameters............................................. 15 Modified Parameters............................................. 16 DI-A3 Option Multi-Functional Support........................... 14 Appendix ............................................................... 97 Direct Landing......................................................... 81 B Direct Leveling ........................................................ 44 Brake Feedback..........................................................9 Drive Controller ....................................................... 34 Brake Monitoring........................................................7 dv/dt Threshold Tuning............................................... 80 Brake Response Monitor...............................................7 dv3....................................................................... 94 BRM ......................................................................7 dv4....................................................................... 95 Byte Dummy........................................................... 73 E C Edge Triggered ........................................................ 87 CANopen Lift................................................. 65, 67-68 Emergency Power Supply............................................ 31 Character Format...................................................... 25 Energy Saving Mode.................................................. 31 Character Set........................................................... 25 Error..................................................................... 94 Checksum Byte Error Register.......................................................... 68 DCP Master Message ............................................ 19 Errors.................................................................... 67 DCP Slave Message.............................................. 25 Extended Data Communication ..................................... 28 Command Bit .......................................................... 36 Extended Data Transmission......................................... 28 Command Byte F DCP Master Message ............................................ 18 Fast Stop................................................................ 87 Communication Byte Fast-Start ............................................................... 47 DCP Master Message ............................................ 19 Start Sequence .................................................... 47 DCP Slave Message.............................................. 25 Termination........................................................ 50 Communication Data Channel....................................... 25 Fast-Stop................................................................ 54 Consumer Heartbeat Times .......................................... 69 Fault..................................................................... 94 Control Character...................................................... 26 Fault Detection...........................................................9 Control Effort.......................................................... 71 Fault Reset................................................................9 Control Modes......................................................... 25 Faults.................................................................... 67 Control Word........................................................... 70 Function Test........................................................... 13 Controller Error Message ............................................ 28 G Crawl Travel .......................................................43, 47 General Overview.......................................................7 D I Data Byte DCP Master Message ............................................ 19 Identity Objects........................................................ 69 DCP Slave Message..........................................22-24 Idle State................................................................ 28 Data Transmission..................................................... 25 Initialization Message................................................. 28 Time-out Control ................................................. 25 Input Phase Loss Detection ......................................79-80 Data-Information-Type............................................... 29 dv/dt Method...................................................... 79 Date ..................................................................... 30 Standard............................................................ 79 DCP Interface.......................................................... 17 Inspection Travel...................................................... 36 Messages........................................................... 18 L DCP Master Message................................................. 18 Lift Controller................................................. 33, 41, 43 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 103

M Start Up ............................................................ 76 Manufacturer Device Name.......................................... 68 Wiring.............................................................. 75 Manufacturer Hardware Version .................................... 69 Specification Version ................................................. 69 Manufacturer Software Version ..................................... 69 Speed Mode MFDI.................................................................... 67 DCP Master Message ............................................ 20 MFDO .................................................................. 67 Standard Monitors..................................................... 67 Modes of Operation................................................... 71 Standard Parameters .................................................. 67 Modes of Operation Display......................................... 71 Dependencies...................................................... 67 Modified Parameters Scroll Items........................................................ 67 Advanced Light Load Search................................... 16 Start Parameter Message ............................................. 32 DI-A3............................................................... 15 Start Sequence Output Phase Loss Protection................................... 16 Fast-Start........................................................... 47 Monitors............................................................81, 84 Start Up Smart Controller Drives ......................................... 76 N Status Bit ............................................................... 36 Network Cable Connection .......................................... 17 Status Byte Noise Interference..................................................... 95 DCP Slave Message.............................................. 21 O Status Word ............................................................ 70 oFA00................................................................... 95 Supported Car Drive Objects ........................................ 70 oFb00 ................................................................... 95 Supported General Application Objects............................ 69 oFC50 to oFC55....................................................... 95 Supported General Communication Objects....................... 68 oPE02................................................................... 95 SV1...................................................................... 43 oPE06................................................................... 95 SV2...................................................................... 43 oS SV3...................................................................... 43 Fault ................................................................ 95 SV4...................................................................... 41 Output Phase Loss Protection........................................ 16 SV5...................................................................... 43 Modified Parameters............................................. 16 SV6...................................................................... 43 Overview Diagrams................................................... 55 SV7...................................................................... 43 P Switching Function.................................................... 30 Parameters..........................56-57, 59, 61-63, 81, 83-84, 94 T Password Target Position......................................................... 72 TDCC .............................................................. 84 Target Velocity......................................................... 72 PGo Termination Fault ................................................................ 95 Fast-Start........................................................... 50 PGoH Time..................................................................... 30 Fault ................................................................ 95 Time-out Control...................................................... 25 Position Conversion................................................... 72 Transmission Errors................................................... 33 Position Message...................................................... 33 Transmit PDOs ........................................................ 73 Position Range Limit ................................................. 72 Travel at Position Value.......................................................... 70 SV1................................................................. 43 Positioning ............................................................. 64 SV2................................................................. 43 Pre-defined Error Field............................................... 68 SV3................................................................. 43 Producer Heartbeat Times............................................ 69 SV5................................................................. 43 Profile Velocity ........................................................ 72 SV6................................................................. 43 R SV7................................................................. 43 Receive PDOs.......................................................... 73 V4................................................................... 41 Remote Display Control.............................................. 27 Travel Direction Change Counter................................... 84 Remote Keypad Control.............................................. 28 Added Alarms..................................................... 87 Replacement Instructions for Smart Controller Drives........... 75 Added Digital Outputs........................................... 87 Replacing a Drive ..................................................... 85 Added Faults ...................................................... 87 Requirements Added Monitors................................................... 86 Smart Controller Drives ......................................... 75 Added Parameters ................................................ 86 Reset Reset Counter ..................................................... 86 Communication Device.......................................... 28 Travel Sequence Definitions......................................... 35 Reset Counter V Travel Direction Change Counter .............................. 86 Velocity Actual Value................................................. 72 Ripple Compensation................................................. 73 Virtual Terminal Interface............................................ 70 Added Monitors................................................... 74 W Added Parameters ................................................ 74 Weight Measurement State........................................... 32 S Wiring.....................................................................7 Scroll Items Smart Controller Drives ......................................... 75 Standard Parameters.............................................. 67 SE4........................................................................9 Serial Communication Parameters.................................. 34 Smart Controller Drives Requirements...................................................... 75 104 YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum

Revision History

Pu D b a li t c e a o ti f on R N e u v m is b io e n r Section RevisedContent 15 AddedBiSSchapter June2022 G All Revisedandcorrectedwholedocument March2018 F 2,Appendix RevisedCertificateandNorm Reviseddocumentstructure August2017 E All AddedDI-A3OptionMulti-functionalSupport,6FRippleCompensation,AdvancedLightLoadSearch,OutputPhase LossProtection AddedReplacementinstructions February2016 D 4 Reviseddocumentstructure RevisedStandardsandScope April2015 C 1,Appendix RevisedCertificate Reviseddocumentstructure May2014 B All AddedDCP3interface October2013 A - FirstEdition

YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 105

AC Drive L1000A

Technical Manual Addendum

YASKAWA EUROPE GmbH YASKAWA AMERICA, INC. DRIVE CENTER (INVERTER PLANT) Hauptstraße 185, 65760 Eschborn, 2121, Norman Drive South, Waukegan, 2-13-1, Nishimiyaichi, Yukuhashi, Germany IL 60085, U.S.A. Fukuoka, 824-8511, Japan Phone: +49-6196-569-300 +1-800-YASKAWA (927-5292) Phone: +81-930-25-2548 E-mail: support@yaskawa.eu.com www.yaskawa.com www.yaskawa.co.jp www.yaskawa.eu.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. Original Instructions © 2022 YASKAWA EUROPE GmbH

TOEPC710616134 YASKAWA EUROPE GmbH Revision: G <6>-0 June 2022 Published in Germany *TOEPC710616134*