EZZ023535 - Synchronous Control
EZZ023535 - Synchronous Control
2017 / 08 / 31
Order No.
End User
End User
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Created on 2017-08-31
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Drawing No.
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EZZ023535
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YASKAWA AC Drive CR700
Supplemental Manual
(Synchronous Control)
(Software Version PRG: 010XX)
Table of Contents
1. Revision History ..........................................................................................................................2
2. Basic Specifications ................................................................................................................3
3. Synchronous Control ............................................................................................................4
3.1 . Overview .......................................................................................................................................... 4
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1. Revision History
Revision Revised Content Date
- First Edition 2017/08
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2. Basic Specifications
The CR700 is a drive designed especially for use with cranes. The basic specifications of the
CR700 are based on the information described in the CR700 Technical Manual. Refer to the
CR700 Technical Manual for more information about how to use the keypad and Auto-Tuning.
General Safety
• Install a holding brake.
• Implement safety measures such as fall prevention on the machine side.
• Ensure that the holding brake will be applied by an external sequence when there is an
emergency or the power supply is turned OFF.
• Implement a safety circuit that uses the fault relay of this product to apply the holding brake
when a fault occurs.
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3. Synchronous Control
3.1 Overview
Synchronous Control synchronizes the operation of two motors when the machine will be
operated using two independent motors.
This function can control tilting of the transported load caused by unsynchronized operation
and stress applied to the movement mechanism of the crane.
Synchronous Control has the following two modes:
Speed Synchronization Mode (SA-31 = 1)
The crane is operated by synchronizing the speed of the master and slave. The result of
multiplying the speed of the master by the gear ratio is used as the speed reference of the
slave.
Position Synchronization Mode (SA-31 = 2)
The crane is operated by synchronizing the speed and position of the master and slave.
Position Synchronization mode uses multi-function digital inputs, and the deviation in position
between the master and slave can be compensated using parameter setting values
(Advance/Retard Compensation) and detected value (Alignment).
Speed synchronizer
Slave
Master encoder
Gear calculation frequency
speed
reference
SA-31 = 2
Position synchronizer
Master encoder
Gear calculation Position controller
pulse count
Slave encoder
pulse count
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Master Fref After Fref After
PG Fref Gear Adj
Master encoder Slave mode
(U9-12) (U9-13) (U9-15)
speed (SA-31)
MFI Alignment
Calculation of Calculation of from standard frequency
Encoder 2 parameter Calculation of frequency frequency deviation Frequency
(F1-31) master reference reference reference
encoder speed
3.4 Block Diagram
(mechanical (digital
Encoder 1 parameter standard gear ratio) gear ratio)
(F1-01)
Ratio 2 Select SpdProp LowerLim (SA-56) Pos Trim Mode
MFDI (SA-55)
Position P Gain (SA-51)
MFI Alignment
to standard frequency
deviation
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3.5 Descriptions of Parameters
The table below lists terms and symbols used in this section to indicate which parameters are
available in which control modes.
Table 3.1 Symbols and Icons Used in Parameter Descriptions
Symbol Description
The parameter is available when operating the drive with V/f Control.
The parameter is available when operating the drive with V/f Control w/ PG.
The parameter is available when operating the drive with Open Loop Vector.
The parameter is available when operating the drive with Closed Loop Vector.
The parameter is available when operating the drive with Advanced Open Loop Vector.
The parameter is NOT available when operating the drive in the control mode.
Refers to a second motor when the drive is operating two motors. Switch between motor 1 and
Motor 2
motor 2 using the multi-function input terminals.
SA-31 0
Slave Mode
(1ABA) Selects the Slave mode. (0 - 2)
0: Disabled
1: Speed
The slave follows the speed of the master.
The direction of motor rotation depends on the direction of motor rotation of the master and
the Run command direction of the slave.
2: Position
The slave follows the speed and position of the master.
The direction of motor rotation is always the same direction as the master.
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Table 3.2 Slave Settings and Direction of Slave Motor Rotation Corresponding to Direction of
Master
b1-04 Multi- SA-31 = 1 SA-31 = 2
Reverse Function
Master: Master: Master: Master:
Operation Digital
Forward Reverse Forward Reverse
Selection Input
Forward
Run Forward Reverse Forward Reverse
command
b1-04 = 0
Reverse
Run Reverse Forward Forward Reverse
command
Forward
Run Forward Stop Forward Stop
command
b1-04 = 1
Reverse
Run Stop Stop Stop Stop
command
SA-32 Speed/Position Sync Selects whether or not to perform speed and position 1
(1ADF) Control @Dec synchronization during ramp to stop. (0, 1)
0: Disabled
1: Enabled
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SA-33 Ratio Num High
No. Default Setting
Name Description
(Hex.) (Range)
SA-33
1000
(1ABB) Ratio Num High Sets the upper four digits of the numerator of mechanical (0 - 9999)
RUN gear ratio 1.
When the mechanical speed of the master and slave with the same frequency reference is
different due to differences in the gear ratio and other factors, the mechanical speed of the
master and slave can be matched by setting mechanical gear ratio 1 (SA-33 to SA-36).
Mechanical gear ratio 2 (SA-37 and SA-38) can also be used by setting a multi-function digital
input to 55 (Ratio 2 Select).
The calculation formula of the mechanical gear ratio is presented next.
SA-33 SA-35
XXXX XXXX
Fref After Gear (U9-13) = Master PG Fref (U9-12) ×
XXXX XXXX
SA-34 SA-36
In the calculation of the mechanical gear ratio, if the number of gears in the numerator or
denominator is set to five or more digits, set the upper four digits of the numerator to SA-33,
the lower four digits of the numerator to SA-35, the upper four digits of the denominator to
SA-34, and the lower four digits of the denominator to SA-36. If the number of gears in the
numerator or denominator is set to four or fewer digits, use SA-33 (numerator) and SA-34
(denominator). The gear ratio can be switched with a multi-function digital input. SA-37
(numerator) and SA-38 (denominator) are used in this case.
When accuracy is not maintained with only the mechanical gear ratio settings, the gear ratio can
be finely adjusted using the digital gear ratio.
Fref After Adj (U9-15) = Fref After Gear (U9-13) × (Digital Gear Ratio + 100%)
The digital gear ratio (%) is the total value of the parameter setting value (SA-41), analog input
value, communication input value, and MOP adjustment value. 100% is added to the digital gear
ratio and that result is multiplied by U9-13.
SA-34
1000
(1ABC) Ratio Den High Sets the upper four digits of the denominator of mechanical (0 - 9999)
RUN gear ratio 1.
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SA-35 Ratio Num Low
No. Default Setting
Name Description
(Hex.) (Range)
SA-35
0
(1ABD) Ratio Num Low Sets the lower four digits of the numerator of mechanical (0 - 9999)
RUN gear ratio 1.
SA-36
0
(1ABE) Ratio Den Low Sets the lower four digits of the denominator of mechanical (0 - 9999)
RUN gear ratio 1.
SA-37
Sets the numerator of mechanical gear ratio 2. This gear 1
(1ABF) Ratio 2 Num
ratio is enabled when a multi-function digital input is set to (0 - 65535)
RUN
55 (Ratio 2 Select) and that digital input is turned ON.
When switching between mechanical gear ratio 1 and mechanical gear ratio 2 during run, the
mechanical gear ratio will be switched in the set time of Acceleration Time 2/Deceleration Time
2 (C1-03/C1-04).
When Position Synchronization mode [SA-31=2] is selected, the position deviation is kept as 0
from when the gear ratio first starts to be switched until the drive reaches Speed Agree (refer
to SA-57) again.
SA-38
Sets the denominator of mechanical gear ratio 2. This gear 1
(1AC0) Ratio 2 Den
ratio is enabled when a multi-function digital input is set to (0 - 65535)
RUN
55 (Ratio 2 Select) and that digital input is turned ON.
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SA-40 Position Units
No. Default Setting
Name Description
(Hex.) (Range)
0: cnts
Displays the position deviation as an encoder pulse count value.
1: rev
Displays the position deviation as the number of revolutions of the slave motor (0.001
revolutions).
2: deg
Displays the position deviation as the rotation angle of the slave motor (0.1 degrees).
3: rad
Displays the position deviation as the electrical angle of the slave motor (0.001 degrees).
SA-42
Sets the time until the MOP output value changes 100%. 50.0 s
(1AC4) MOP Adjust Time
The output value can be increased and decreased by (0.0 - 6000.0 s)
RUN
switching between multi-function digital inputs.
The MOP output can be changed with MOP Adjust Inc (58) and MOP Adjust Dec (59) as
multi-function digital inputs to make fine adjustments to the digital gear ratio when online. The
increase and decrease time of MOP output is set as the time until the gear ratio changes by 1
(100%).
100% adjustment
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SA-43 Ratio Adj Ramp
No. Default Setting
Name Description
(Hex.) (Range)
SA-43
10.0 s
(1AC5) Ratio Adj Ramp
Sets the time until the digital gear ratio changes 100%. (0.0 - 6000.0 s)
RUN
The digital gear ratio is the total value of the following setting values:
• Parameter setting value: Adjustment value by setting of SA-41 [Digital RatioAdj].
• MOP adjustment value: Value adjusted using the MOP Adjust Inc (58) and MOP Adjust Dec
(59) as multi-function digital inputs.
• Analog input value: Adjustment value using the Analog Ratio Adj (29) as multi-function
analog input.
• Communication input value: MEMOBUS communications gear ratio adjustment value
(register: 15DDH)
Shock due to changing the gear ratio can be reduced by setting the time until the digital gear
ratio changes 100%.
100% adjustment
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SA-44 Adv/Ret Mode Sel
No. Default Setting
Name Description
(Hex.) (Range)
0: Continuous
Compensates the position of the slave in the advance/retard direction for one second with the
compensation amount set to SA-45 when the multi-function digital input terminal that has been
allocated to Advance Slave or Retard Slave is turned ON.
1: Step
Compensates the position of the slave in the advance/retard direction one time with the
compensation amount set to SA-45 when the multi-function digital input terminal that has been
allocated to Advance Slave or Retard Slave is turned ON.
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SA-47 Slave Dev Sel
No. Default Setting
Name Description
(Hex.) (Range)
SA-47 2
Slave Dev Sel Selects the slave drive operation when position deviation
(1AC9) (0 - 2)
exceeds the setting value of SA-46.
0: No Detection
The drive continues operation.
1: Alarm Only
The FdEv alarm is displayed, but the drive continues operation.
2: Coast to Stop
The FdEv alarm is displayed, and the motor coasts to stop.
SA-48 0
MOP Mem @Pwr Off Selects the handling of the MOP adjustment value when
(1ACA) (0, 1)
the power supply is turned OFF.
0: Disabled
Resets the MOP adjustment value when the power supply is turned OFF.
1: Enabled
Retains the MOP adjustment value even after the power supply is turned OFF.
SA-52
Sets integral time for the position controller. 0.00 s
(1ACC) Position I Time
Note: Enabled only when set to Position Synchronization (0.00 - 50.00 s)
RUN
mode.
SA-53
Pos Filter Time Sets the filter time for position controller output. 0.00 s
(1ACD)
Note: Enabled only when set to Position Synchronization (0.00 - 1.50 s)
RUN
mode.
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SA-54 Pos PI Limit
No. Default Setting
Name Description
(Hex.) (Range)
SA-54 Sets the limit (+/-) on position controller output at maximum 8.00%
(1ACE) Pos PI Limit output frequency (E1-04) %. (0.00 - 10.00%)
RUN Note: Enabled only when set to Position Synchronization
mode.
0: Constant
Position controller output does not depend on the speed level of the master.
1: Speed Prop
Position controller output is directly proportional to the speed level of the master.
Example: When EA-04 is set to 60 Hz, SA-56 is set to 10%, and position controller output is
10%:
• SA-55 = 0
The PI output amount added to the frequency reference is 60 Hz × 10% = 6 Hz, regardless of
the speed level of the master.
• SA-55 = 1
① When the slave frequency reference (30 Hz) is larger than 6 Hz (E1-04 (60 Hz) × SA-56
(10%)):
② When the slave frequency reference is smaller than 6 Hz (E1-04 (60 Hz) × SA-56
(10%)):
Position controller output after adjustment =
E1-04 × Position controller output (10%) × SA-56 (10%) = 0.6 Hz
Position controller output is limited by SA-56.
SA-56
10.00%
(1AD0) SpdProp LowerLim Sets the lower limit value of the speed controller adjustment (0.00 - 100.00%)
RUN when SA-55 is set to 1.
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SA-57 RatioChg SpdAgrF
No. Default Setting
Name Description
(Hex.) (Range)
0: Alignment Disable
1: Manual Align
Performs position compensation with Alignment when Align Cmd (H1-□□ = 5F) is input.
Position compensation is not performed until the Alignment command is input.
2: Auto Align at Start
Input of Align Cmd (multi-function digital input) for the initial Alignment operation at start is not
required. Alignment operates when Slave Trigger and Master Trigger are input. Alignment
operations after the initial operation require input of Align Cmd (multi-function digital input) in
the same manner as manual Alignment.
3: Continuous Align
Input of Align Cmd is not required. Alignment operates when Slave Trigger and Master Trigger
are input.
If the Alignment command is set to a multi-function digital input (H1-xx = 5F), Alignment will not
operate until the Alignment command is input.
4: Window Align
Increments U9-23 (Window Counts) if the distance between the triggers is larger than SA-69
(Align Trg Window) when Slave Trigger and Master Trigger are input. Alignment will operate if
U9-23 (Window Counts) is larger than SA-70 (Align Trig Count). If the Alignment command is
set to a multi-function digital input (H1-xx = 5F), Alignment will not operate until the Alignment
command is input.
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Alignment will not operate in the following cases:
• Fault occurred on drive.
• Drive is not running.
• Forward Run command and Reverse Run command for the slave are switched at high speed.
• Position Synchronization mode is disabled by multi-function digital input (H1-□□ = 54).
• Position Synchronization mode is disabled by parameter setting (SA-31 = 1).
• Drive is set to LOCAL mode.
• Slave drive has received JOG command.
• Drive speed has drastically changed due to gear ratio change or re-engagement of drive axis.
• Position deviation was cleared by multi-function digital input terminal (H1-□□ = 5B).
(Caution)
• Alignment assumes low speed operation. However, the drive recognizes that a trigger signal
has been input when the trigger signal continues for 15 ms.
• When the slave accelerates to follow the master, the maximum Alignment speed of the slave
is 95% of maximum output frequency. Alignment will not function if the master is already
running at a speed of 95% of maximum output frequency or higher.
• When the slave decelerates to follow the master, the slave may run in reverse. However, when
reverse run is disabled (b1-04 = 1) for the slave, the slave drive is limited at zero speed and it
does not run in reverse.
• The acceleration and deceleration rates are fixed during Alignment operation. The creep
speed for a 1024 PPR encoder is approximately 20 Hz/second. However, the acceleration
and deceleration range can be adjusted with SA-62.
Slave
Slave Trigger switch
Gear
box motor
CR700
Slave encoder
Slave motor
PG-X3
PG-X3
Master
motor
Master Trigger switch
Master motor
Master encoder
CR700
PG-X3
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Master run input
In Alignment output
SA-62 SA-62
SA-62
Slave motor speed
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SA-62 Align Trim Rate
No. Default Setting
Name Description
(Hex.) (Range)
Master conveyor
Forward
Forward
Master
Trigger
switch
Mark
Slave conveyor
Forward
SA-63 Align Offset
+3.00 rev
Forward
Slave
Trigger
switch
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SA-64 Alignment Check
No. Default Setting
Name Description
(Hex.) (Range)
In Alignment
Figure 3.12 In Alignment (Multi-Function Digital Output) without Offset (SA-63 = 0.00 rev and SA-64 = 4096 cnt)
In Alignment
Figure 3.13 In Alignment (Multi-Function Digital Output) with Offset (SA-63 = +3.00 rev and SA-64 = 4096 cnt)
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SA-65 Trigger Sw Type
No. Default Setting
Name Description
(Hex.) (Range)
SA-65 Trigger Sw 0
(1AD6) Type Selects N.O. and/or N.C. for the inputs of the Master (0 - 3)
and Slave Trigger switches.
0: Both NO
1: Master NO Slave NC
2: Master NC Slave NO
3: Both NC
Alignment input
Master Trigger input
In Alignment output
Alignment input
Master Trigger input
Slave Trigger input
In Alignment output
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SA-66 Align Fault Sel
No. Default Setting
Name Description
(Hex.) (Range)
0: Disabled
1: Ignore First Trigger
Disables the position deviation between the first triggers. Use this to prevent the mistaken
detection of the two trigger patterns used for Alignment. For this setting, set SA-67 to a distance
between the sensors of 50% to 70%.
2: Fault
Detects AF (Alignment Fault) and coasts to stop when the position deviation between the
triggers exceeds the setting value of SA-67. When using this mode, it is effective to set the
deviation of SA-67 larger than the normal distance between triggers.
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Master run input
Slave
run input
Alignment input
Master Trigger
input
Slave Trigger
input
Master motor
speed
Slave decelerates for a long period of time.
Alignment input
Master Trigger
input
Slave Trigger
input
SA-67
Align complete output Max Align Dist
Alignment input
Master Trigger
input
Slave Trigger
input
Master motor
speed
The drive detects the fault when the
distance set by SA-67 has been surpassed
Slave motor Coast to stop
once.
speed
SA-67
Align complete output Max Align Dist
AF - Alignment Fault
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SA-67 Max Align Dist
No. Default Setting
Name Description
(Hex.) (Range)
SA-67 Sets the maximum distance between Master Trigger 1000 rev
Max Align Dist and Slave Trigger as the number of revolutions of the
(1AD8) (1 - 5000 rev)
slave motor. AF (Alignment Fault) is detected when
this distance is surpassed.
SA-70
Sets the count to trigger Alignment when SA-61=4. 3 times
(1ADB) Align Trig Count When U9-23 is the setting value of SA-70, Alignment (1 - 100 times)
will operate, and then U9-23 will be cleared after the
completion of Alignment.
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Master Trigger input
Slave Trigger input
SA-69 SA-69 SA-69 SA-69 SA-69
Align Align Align Align Align
Trg Window Trg Window Trg Window Trg Window Trg Window
3
Align
Align
Counts 2
Trig Count
(U9-23) 1 (SA-70 = 3)
0
Alignment is not performed because U9-23 has not reached SA-70.
SA-71 0
Repeat Trig Sel Selects how to process the trigger when the Master
(1ADC) (0, 1)
and Slave Trigger counts do not match.
0: Last Trigger
When multiple Master Triggers (or Slave Triggers) are input before the Slave Trigger (or Master
Trigger) input, only the last Master Trigger (or Slave Trigger) is valid.
1: First Trigger
When multiple Master Triggers (or Slave Triggers) are input before the Slave Trigger (or Master
Trigger) input, only the first Master Trigger (or Slave Trigger) is valid.
Alignment
distance
In Alignment
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4. Parameter List
4.1 F1: PG Option Setup (Encoder)
No. Default Setting
Name Description
(Hex.) (Range)
F1-32 PG 2 Rotation 0
Selection 0: Pulse A leads in FWD Direction (0, 1)
(3B1H)
1: Pulse B leads in FWD Direction
ON: Disables Slave Mode (SA-31). The slave drive will run according to
54 Slave Disable the normal frequency reference (setting of b1-01) and use the normal
acceleration and deceleration times.
Note: Enabled only when set to ELS mode.
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Setting Value Function Description
ON: Retards the slave position from the master encoder. Position deviation
57 Retard Slave is not accumulated. Refer to the descriptions of parameter SA-44 and
SA-45 for more information.
Note: Enabled only when set to Position Synchronization mode.
58 MOP Adjust Inc ON: Increases the MOP ratio adjustment value. Refer to the descriptions
of parameter SA-42 and SA-48 for more information.
59 MOP Adjust Dec ON: Decreases the MOP ratio adjustment value. Refer to the descriptions
of parameter SA-42 and SA-48 for more information.
5A MOP Adj Reset ON: Resets the MOP ratio adjustment value to 0. Refer to the descriptions
of parameter SA-42 and SA-48 for more information.
5C Pos Reg I Reset ON: Resets the integral value of the position controller to 0.
Note: Enabled only when set to Position Synchronization mode.
5D Slave Trigger Inputs the position detection switch for the slave.
Select whether to input the switch as N.O. or N.C. with SA-65.
5E Master Trigger Inputs the position detection switch for the master.
Select whether to input the switch as N.O. or N.C. with SA-65.
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4.3 H2: Multi-Function Digital Output Settings
Setting Value Function Description
53 Slave Pos Dev ON: Position deviation has exceeded Slave Dev Lvl (SA-46).
Note: Enabled only when set to Position Synchronization mode.
The output turns ON when the deviation between the two triggers is the
setting value of SA-64 or less.
The output turns OFF under the following circumstances.
55 In Alignment • The accumulated distance has exceeded the total value of SA-63 and
SA-64 when the first trigger was detected.
• A fault occurred and the slave stopped. Or position deviation was cleared
or disabled.
• The Advance Slave or Retard Slave command was input.
SA-32
Speed/Position Sync Selects whether or not to perform speed and 1
(1ADF) position synchronization during ramp to stop. 8
Control @Dec (0, 1)
Expert 0: Disabled
1: Enabled
SA-33
(1ABB) Sets the upper four digits of the numerator of
Ratio Num 1000
the mechanical gear ratio. 9
RUN High (0 - 9999)
Expert
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No. Default Setting
Name Description Ref.
(Hex.) (Range)
SA-34
(1ABC) Sets the upper four digits of the denominator of
Ratio Den 1000
the mechanical gear ratio. 9
RUN High (0 - 9999)
Expert
SA-35
(1ABD) Sets the lower four digits of the numerator of
Ratio Num 0
the mechanical gear ratio. 10
RUN Low (0 - 9999)
Expert
SA-36
(1ABE) Sets the lower four digits of the denominator of
Ratio Den 0
the mechanical gear ratio. 10
RUN Low (0 - 9999)
Expert
SA-37
(1ABF) Sets the numerator of gear ratio 2. This gear
1
Ratio 2 Num ratio is enabled when a multi-function digital 10
RUN (0 - 65535)
input is set to 55 (Ratio 2 Select) and that digital
Expert input is turned ON.
SA-38
(1AC0) Sets the denominator of gear ratio 2. This gear
1
Ratio 2 Den ratio is enabled when a multi-function digital 10
RUN (0 - 65535)
input is set to 55 (Ratio 2 Select) and that digital
Expert input is turned ON.
(1AC2) 0: cnts 0
Position Units 1: rev 11
RUN (0 - 3)
2: deg
Expert 3: rad
Note: Enabled only when set to Position
Synchronization mode.
SA-42
(1AC4) Sets the time until the MOP output value
50.0 s
MOP Adjust Time changes 100.00%. The output value can be 11
RUN (0.0 - 6000.0 s)
increased and decreased by switching between
Expert multi-function digital inputs.
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No. Default Setting
Name Description Ref.
(Hex.) (Range)
SA-43
(1AC5) Sets the time until the digital gear ratio changes
10.0 s
Ratio Adj Ramp 100%. 12
RUN (0.0 - 6000.0 s)
Expert
SA-45
Sets the amount of compensation that is used
(1AC7) for Advance/Retard Compensation of the slave 2048 cnt
Adv/Ret Amount drive. The compensation mode can be set with 13
RUN (0 to 65535 cnt)
SA-44.
Expert Note: Enabled only when set to Position
Synchronization mode.
SA-46
Sets the position deviation detection level. 4096 cnt
(1AC8) Slave Dev Lvl 13
Note: Enabled only when set to Position (0 to 65535 cnt)
Expert Synchronization mode.
SA-51
(1ACB) Sets proportional gain for the position controller.
5.00
Position P Gain Note: Enabled only when set to Position 14
RUN (0.00 - 100.00)
Synchronization mode.
Expert
SA-52
(1ACC) Sets integral time for the position controller.
0.00 s
Position I Time Note: Enabled only when set to Position 14
RUN (0.00 - 50.00 s)
Synchronization mode.
Expert
SA-53
(1ACD) Sets the filter time for position controller output.
0.00 s
Pos Filter Time Note: Enabled only when set to Position 14
RUN (0.00 - 1.50 s)
Synchronization mode.
Expert
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No. Default Setting
Name Description Ref.
(Hex.) (Range)
SA-54
Sets the limit (+/-) on position controller output
(1ACE) 8.00%
Pos PI Limit as a percentage of Maximum Output Frequency 15
RUN (E1-04). (0.00 - 10.00%)
Note: Enabled only when set to Position
Expert
Synchronization mode.
SA-56
(1AD0) Sets the lower limit value of the speed controller
10.00%
SpdProp LowerLim adjustment when SA-55 is set to 1. 15
RUN (0.00 - 100.00%)
Expert
SA-62
Sets the speed variation range when
(1AD3) compensating for the deviation in position 6.0 Hz
Align Trim Rate between Master Trigger and Slave Trigger. 19
RUN (0.1 - 30.0 Hz)
Increasing the setting value shortens the
Expert compensation time, and decreasing the setting
value lengthens the compensation time.
SA-64
Sets the detection range for Alignment. If the
(1AD5) deviation between the pulse count when Master 100 cnt
Alignment Check Trigger is input and the pulse count when Slave 20
RUN (0 to 65535 cnt)
Trigger is input is smaller than the setting value
Expert of SA-64, multi-function digital output terminal
H2-xx = 55 (In Alignment) turns ON.
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No. Default Setting
Name Description Ref.
(Hex.) (Range)
SA-70
(1ADB) Sets the count to trigger Alignment when
3 times
Align Trig Count SA-61=4. When U9-23 is the setting value of 24
RUN (1 - 100 times)
SA-70, Alignment will operate, and then U9-23
Expert will be cleared.
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4.6 U9: Crane Monitors
No. MFAO Signal
Name Description Unit
(Hex.) Level
U9-15
Displays the frequency reference after the digital 10 V: Maximum
(82E) Fref After Adj gear ratio has been applied. 0.1 Hz
frequency
Expert Note: Modbus values are displayed between -
3276.8 and 3276.7.* 1
10 V:
U9-16 Displays the count value every 5 ms of the cnt/5 ms @
master encoder pulses input to the slave. Maximum
(82F) Master Cts/5ms This monitor can be used to check the receive cnt
Output
Expert status of encoder pulses. Frequency (E1-
Note: Enabled only when set to Position 04)
Synchronization mode.
U9-19
Displays proportional control output of the 10 V:
(1A72) Position P Out position controller. 0.01%
100.00%
Expert Note: Enabled only when set to Position
Synchronization mode.
U9-20
Displays integral control output of the position 10 V:
(1A73) Position I Out controller. 0.01%
100.00%
Expert Note: Enabled only when set to Position
Synchronization mode.
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No. MFAO Signal
Name Description Unit
(Hex.) Level
U9-21
Displays the output of the position controller. 10 V:
(1A74) Position PI Out 0.01%
Note: Enabled only when set to Position 100.00%
Expert Synchronization mode.
10 V:
U9-22 cnt/5 ms @
Displays the deviation in the number of
Maximum
(1A75) Alignment Error revolutions between the master and slave when rev
Output
Alignment error was judged. The value is positive
Expert Frequency (E1-
when the master is ahead of the slave.
04)
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4.7 Troubleshooting
Table 4.2 Display of Faults, Causes, and Possible Solutions
The slave motor is locked. Check if the machine runs normally and if the
slave motor is locked.
Slave Dev Lvl (SA-46) is low. Increase the setting value of SA-46.
When Pos Accum Select (SA-39) is set to If the master encoder rotates even though the
FdEv Slave Pos Dev 1, the slave stops while the master encoder slave is stopped by the application, set SA-39
is rotating. to 0 (Only During Run).
The master input frequency is larger than Set E1-04 to a value 10% larger than the
Maximum Output Frequency (E1-04) of the maximum input frequency of the master.
slave.
The slave motor is locked. Check if the machine runs normally and if the
slave motor is locked.
When Pos Accum Select (SA-39) is set to If the master encoder rotates even though the
PL Loss of Position 1, the slave stops while the master encoder slave is stopped by the application, set SA-39
is rotating. to 0 (Only During Run).
The set speed of the slave is too high for Replace the encoder of the slave motor with a
the PPR of the encoder being used. low PPR type.
Deviation between the master and slave A fault has occurred or the trigger switches are
has exceeded the allowable amount connected wrong.
AF Alignment Fault (SA-67).
There is a problem with the trigger switches Check if the trigger switches are connected and
and/or wiring. whether or not the machine runs correctly.
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