YASKAWA AC Drive 1000-Series Option

Motor Encoder Feedback

HEIDENHAIN ERN1387 Interface
Installation Manual
Type PG-E3

To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.

安川インバータ 1000シリーズオプション
エンコーダインタフェース
（ERN1387用）
取扱説明書
形式 PG-E3

製品を安全にお使い頂くために，本書を必ずお読みください。
また，本書をお手元に保管していただくとともに，最終的に本製品をご使用になる
ユーザー様のお手元に確実に届けられるよう，お取り計らい願います。

MANUAL NO. TOBP C730600 52C

 Table of Contents

1 Preface and Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2 Product Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3 Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4 Option Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
5 Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
6 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
7 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
8 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Copyright © 2009 YASKAWA ELECTRIC CORPORATION

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or
transmitted, in any form or by any means, mechanical, electronic, photocopying, recording, or
otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with
respect to the use of the information contained herein. Moreover, because Yaskawa is constantly
striving to improve its high-quality products, the information contained in this manual is subject to
change without notice. Every precaution has been taken in the preparation of this manual.
Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for
damages resulting from the use of the information contained in this publication.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 1
1 Preface and Safety

1 Preface and Safety

Yaskawa manufactures products used as components in a wide variety of industrial systems
and equipment. The selection and application of Yaskawa products remain the responsibility
of the equipment manufacturer or end user. Yaskawa accepts no responsibility for the way its
products are incorporated into the final system design. Under no circumstances should any
Yaskawa product be incorporated into any product or design as the exclusive or sole safety
control. Without exception, all controls should be designed to detect faults dynamically and
fail safely under all circumstances. All systems or equipment designed to incorporate a
product manufactured by Yaskawa must be supplied to the end user with appropriate
warnings and instructions as to the safe use and operation of that part. Any warnings
provided by Yaskawa must be promptly provided to the end user. Yaskawa offers an express
warranty only as to the quality of its products in conforming to standards and specifications
published in the Yaskawa manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS
OFFERED. Yaskawa assumes no liability for any personal injury, property damage, losses,
or claims arising from misapplication of its products.

◆ Applicable Documentation
The following manuals are available for the option:

Option

Yaskawa AC Drive 1000-Series Option Read this manual first.

Motor Encoder Feedback The installation manual is packaged with
HEIDENHAIN ERN1387 Interface the option and contains information
PG-E3 Installation Manual (This book) required to install the option and set up
Manual No: TOBPC73060052† related drive parameters.

E3

Yaskawa Drive
Yaskawa AC Drive The drive manuals cover basic installation, wiring, operation
1000-Series procedures, functions, troubleshooting, and maintenance
Quick Start Guide information.
The manuals also include important information about
parameter settings and drive tuning.
Yaskawa AC Drive Access these sites to obtain Yaskawa instruction manuals:
1000-Series U.S.: http://www.yaskawa.com
Technical Manual Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
Other areas: contact a Yaskawa representative.

2 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual
 1 Preface and Safety

◆ Terms

Note: Indicates supplemental information that is not related to safety messages

Drive: Yaskawa AC Drive 1000-Series
Yaskawa AC Drive 1000-Series Option Motor Encoder Feedback HEIDENHAIN ERN1387
Option: Interface:
Type PG-E3
PG: Pulse Generator or Encoder mounted on the motor

◆ Registered Trademarks
Trademarks are the property of their respective owners.

◆ Supplemental Safety Information

Read and understand this manual before installing, operating, or servicing this option. Install
the option according to this manual and local codes.
The following conventions indicate safety messages in this manual. Failure to heed these
messages could cause fatal injury or damage products and related equipment and systems.

DANGER
Indicates a hazardous situation, which, if not avoided, will result in death or serious
injury.

WARNING
Indicates a hazardous situation, which, if not avoided, could result in death or
serious injury.

CAUTION
Indicates a hazardous situation, which, if not avoided, could result in minor or
moderate injury.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 3
1 Preface and Safety

NOTICE
Indicates an equipment damage message.

■ General Safety

General Precautions
• The diagrams in this book may include options and drives without covers or safety shields to
illustrate details. Be sure to reinstall covers or shields before operating any devices. Use the option
according to the instructions described in this manual.
• Any illustrations, photographs, or examples used in this manual are provided as examples only and
may not apply to all products to which this manual is applicable.
• The products and specifications described in this manual or the content and presentation of the
manual may be changed without notice to improve the product and/or the manual.
• When ordering new copies of the manual, contact a Yaskawa representative or the nearest Yaskawa
sales office and provide the manual number shown on the front cover.

DANGER
Heed the safety messages in this manual.
Failure to comply will result in death or serious injury.
The operating company is responsible for any injuries or equipment damage resulting
from failure to heed the warnings in this manual.

NOTICE
Do not modify the drive or option circuitry.
Failure to comply could result in damage to the drive or option and will void warranty.
Yaskawa is not responsible for any modification of the product made by the user. This
product must not be modified.
Do not expose the drive or option to halogen group disinfectants.
Failure to comply may cause damage to the electrical components in the option.
Do not pack the drive in wooden materials that have been fumigated or sterilized.
Do not sterilize the entire package after the product is packed.

4 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual
 2 Product Overview

2 Product Overview
◆ About This Product
The PG-E3 Option allows the user to connect an ERN1387 rotary encoder for motor speed
feedback to the drive and take advantage of the "Closed Loop Vector for PM Motors"
control mode. The option helps increase the control accuracy and performance.
This encoder signal allows the drive to compensate for subtle variations in the load, while
providing the drive with the necessary data to control the output frequency and maintain an
accurate constant speed.
The PG-E3 Option reads a maximum frequency of 20 kHz. Be sure to select an encoder with
an output of maximum 20kHz when operating at maximum speed.
When using the PG-E3 Option, the drive must be in the "Closed Loop Vector Control for PM
Motors" control mode. Refer to the Technical Manual of the drive for details.

◆ Applicable Models
The option can be used with the drive models in Table 1.
Table 1 Applicable Models

Drive Series Drive Model Number

L1000A All models

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 5
3 Receiving

3 Receiving
Please perform the following tasks upon receipt of the option:
• Inspect the option for damage.
Contact the shipper immediately if the option appears damaged.
• Verify receipt of the correct model by checking the model number printed on the name
plate of the option. (Refer to Figure 1 on page 7 for more information)
• Contact your supplier if you have received the wrong model or the option does not
function properly.

◆ Option Package Contents

Description: Option Ground Wires Screws (M3) Installation Manual

E3
MANUAL

E3
Quantity: 1 1 3 1

◆ Tools Required for Installation

• A Phillips screwdriver (M3 metric / #1, #2 U.S. standard size) is required to install the
option.
• A straight-edge screwdriver (blade depth: 0.6 mm (1/32”), width: 3.5 mm (1/8”)) is
required to wire the option terminal block.
• A pair of diagonal cutting pliers.
• A small file or medium-grit sandpaper.
Note: Tools required to prepare option cables for wiring are not listed in this manual.

6 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual
 4 Option Components

4 Option Components
◆ PG -E3 Option
Figure 1

A B C

PG-E3

D
E

Underside

E3
F

A – Terminal block TB1 D – Connector (CN5)

B – Model number E – Installation hole
C – Terminal block TB2 F – Ground terminal (installation
hole) <1>
<1> Terminal for ground wire packaged with the option card

Figure 1 PG-E3 Option Components

◆ Terminal Blocks TB1 and TB2

TB2
IP A+ A– C+ C– R+ R– a+ a–

TB1
IG B+ B– D+ D– b+ b– FE
E3
Refer to Table 5 on page 19 for details on TB1 and TB2 terminal functions and signal levels.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 7
5 Installation Procedure

5 Installation Procedure
◆ Section Safety

DANGER
Electric Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
Disconnect all power to the drive, wait at least the amount of time specified on the drive
front cover safety label. After all indicators are off, measure the DC bus voltage to
confirm safe level, and check for unsafe voltages before servicing. The internal capacitor
remains charged after the power supply is turned off.

WARNING
Electrical Shock Hazard
Do not remove the front cover of the drive while the power is on.
Failure to comply could result in death or serious injury.
The diagrams in this section may include options and drives without covers or safety
shields to show details. Be sure to reinstall covers or shields before operating any devices.
Use the option according to the instructions described in this manual.

Do not allow unqualified personnel to use equipment.

Failure to comply could result in death or serious injury.
Maintenance, inspection, and replacement of parts must be performed only by authorized
personnel familiar with installation, adjustment, and maintenance of this product.

Do not touch circuit boards while the power to the drive is on.
Failure to comply could result in death or serious injury.

8 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual
 5 Installation Procedure

WARNING
Do not use damaged wires, stress the wiring, or damage the wire insulation.
Failure to comply could result in death or serious injury.

Fire Hazard
Tighten all terminal screws to the specified tightening torque.
Loose electrical connections could result in death or serious injury by fire due to
overheating of electrical connections.

NOTICE
Damage to Equipment
Observe proper electrostatic discharge (ESD) procedures when handling the option,
drive, and circuit boards.
Failure to comply may result in ESD damage to circuitry.

Never shut the power off while the drive is running or outputting voltage.
Failure to comply may cause the application to operate incorrectly or damage the drive.

Do not operate damaged equipment.

Failure to comply may cause further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.

Do not use unshielded cable for control wiring.

Failure to comply may cause electrical interference resulting in poor system performance.
Use shielded twisted-pair wires and ground the shield to the ground terminal of the drive.

Properly connect all pins and connectors.

Failure to comply may prevent proper operation and possibly damage equipment.

Check wiring to ensure that all connections are correct after installing the option
and connecting any other devices.
Failure to comply may result in damage to the option.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 9
5 Installation Procedure

◆ Prior to Installing the Option

Prior to installing the option, wire the drive, make the necessary connections to the drive
terminals, and verify that the drive functions normally. Refer to the Quick Start Guide
packaged with the drive for information on wiring and connecting the drive.
Figure 2 shows an exploded view of the drive with the option and related components for
reference.
Figure 2

A
B
C
L
D

J E

F
H G

A – Insertion point for CN5 G – Removable tabs for wire routing

B – Option card H – Ground wire
C – Included screws I – Drive grounding terminal (FE)
D – Front cover J – Connector CN5-A
E – Digital operator K – Connector CN5-B
F – Terminal cover L – Connector CN5-C

Figure 2 Drive Components with Option

10 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual
 5 Installation Procedure

◆ Installing the Option

Remove the front covers of the drive before installing the option. Refer to the drive manual
for directions on removing the front covers. Cover removal varies depending on drive size.
1. Shut off power to the drive, wait the appropriate amount of time specified on the
drive for voltage to dissipate, then remove the digital operator (E) and front covers
(D, F).
DANGER! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Before
wiring terminals, disconnect all power to the equipment. The internal capacitor remains charged even after
the power supply is turned off. After shutting off the power, wait at least the amount of time specified on the
drive before touching any components.
Figure 3

Figure 3 Remove the Front Covers and Digital Operator

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 11
5 Installation Procedure

2. Insert the option (B) into the CN5-C (L) connector located on the drive and fasten it
into place using one of the included screws (C).
Connect the ground wire (H) to the ground terminal (I) using one of the remaining
screws (C). Connect the other end of the ground wire (H) to the remaining ground
terminal and installation hole on the option using the last remaining provided screw
(C).
Figure 4

A
B
C
L

Figure 4 Insert the Option and Connect the Ground Wire

Note: There are two screw holes on the drive for use as ground terminals. When connecting three
options, two ground wires will need to share the same drive ground terminal.

12 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual
 5 Installation Procedure

3. Route the option wiring.

Depending on the drive model, some drives may require routing the wiring through
the side of the front cover to the outside. In these cases, cut out the perforated
openings on the left side of the drive front cover as shown in Figure 5 (A) and leave
no sharp edges to damage wiring.
Route the wiring inside the enclosure as shown in Figure 5 (B) for drives that do not
require routing through the front cover.
For more information, refer to the Peripheral Devices & Options section of Yaskawa
Figure 5
AC Drive Technical Manual in your application.

A – Route wires through the openings B – Use the open space provided
provided on the left side of the inside the drive to route option
front cover. <1> wiring.

<1> The drive will not meet NEMA Type 1 requirements if wiring is exposed outside the enclosure.

Figure 5 Wire Routing Examples

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 13
5 Installation Procedure

4. Prepare wire ends as shown in Figure 6. Refer to Wire Gauges and Tightening
Torques on page 18 to confirm that the proper tightening torque is applied to each
terminal. Take particular precaution to ensure that each wire is properly connected
and wire insulation is not accidentally pinched into electrical terminals.
WARNING! Fire Hazard. Tighten terminal screws to the specified tightening torque. Loose electrical
connections could result in death or serious injury by fire due to overheating. Tightening screws beyond the
specified tightening torque may cause erroneous operation, damage the terminal block, or cause a fire.

NOTICE: Heat shrink tubing or electrical tape may be required to ensure that cable shielding does not
contact other wiring. Insufficient insulation may cause a short circuit that can damage the option or drive.
Figure 6

Shield Insulation

PG option terminal PG at motor

Ground Terminal
FE/SD Shield sheath
(Insulate with electrical tape
or shrink tubing)
E3
Figure 6 Preparing Ends of Shielded Cable

5. Wire the motor PG encoder to the terminal block on the option using a
HEIDENHAIN 17-pin cable. Refer to Figure 7 for wiring instructions.
Limit the length of all motor output power cables to less than 10 m.
Refer to Option Terminal Functions on page 19 for a detailed description of the
option board terminal functions.
Table 2 PG Encoder Cable Specification

PG Encoder Cable
Option Terminal
Color PG Encoder Side
IP Brown/Green Up
IG White/Green 0V
A+ Green/Black A+
A– Yellow/Black A–
B+ Blue/Black B+
B– Red/Black B–
C+ Gray C+
C– Pink C–
D+ Yellow D+
D– Purple D–
R+ Red R+
R– Black R–

14 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual
 5 Installation Procedure

Figure 7

R/L1 U/T1
S/L2 V/T1 M
T/L3 W/T1
Cable
YASKAWA TB1,TB2 (by HEIDENHAIN)
Drive IP
5V
0V IG
Shield in cable <1>
A+
A–
PG-E3 B+
Option B–
Encoder
C+
C–
D+
D–
R+
R–
FE <2>
CN5-C
a+
A pulse monitor signal
a–
b+
FE B pulse monitor signal
b–
E3
Ground wire

main circuit terminal control circuit terminal

Figure 7 PG-E3 Option and PG Encoder Connection Diagram
<1> Properly connect the shield in cable to terminal IG on the option Terminal Block
TB2 or remove the ground connection on both ends.
<2> 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 8

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 15
5 Installation Procedure

6. Replace and secure the front covers of the drive (D, F) and replace the digital
operator (E).
Figure 9

Figure 8 Replace the Front Covers and Digital Operator

Note: Take proper precautions when wiring the option so that the front covers will easily fit back onto
the drive. Make sure cables are not pinched between the front covers and the drive when
replacing the covers.

16 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual
 5 Installation Procedure

7. Set drive parameters for proper motor rotation.

The leading pulse determines the motor rotation direction. A PG encoder signal with
leading A pulse is considered to be rotating forward (counter-clockwise when
Figure 10
viewing rotation from motor load side).
The A pulse leads, followed
by the B pulse displaced at 90 degrees

A Pulse

E3 B Pulse
Time →

Figure 9 Displacement of A and B Pulses

After connecting the PG encoder outputs to the option, apply power to the drive and
manually rotate the motor and check the rotation direction by viewing monitor U1-05
on the digital operator.
Reverse motor rotation is indicated by a negative value for U1-05; forward motor
rotation is indicated by a positive value.
If monitor U1-05 indicates that the forward direction is opposite of what is intended,
set drive parameter F1-05 to 1 to switch the direction of how the option reads pulses
from the PG encoder output.
Please note that when the drive is initialized using A1-03 =1110, 2220, 3330, the
value for F1-05 will reset to factory default and the parameter will need to be
adjusted again to switch the direction.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 17
5 Installation Procedure

◆ Wire Gauges, Tightening Torque, and Crimp Terminals

Wire gauge and torque specifications are listed in Table 3.Yaskawa recommends using
crimp terminals with the specifications listed in Table 4 to facilitate wiring and ensure
proper connection.
Table 3 Wire Gauges and Tightening Torques

Tightening Bare Cable Crimp Terminals

Terminal Screw Torque Applicable Recomm. Applicable Recomm. Wire
Signal Size Nxm Gauges Gauge Gauges Gauge Type
(inxlb) mm2 (AWG) mm2 (AWG) mm2 (AWG) mm2 (AWG)
Stranded wire:
0.25 to 1.0
Shielded
a+, a–, b+, b–, (24 to 17) 0.75 0.25 to 0.5 0.5
twisted
FE Solid wire: (18) (24 to 20) (20)
pair, etc.
0.22 to 0.25 0.25 to 1.5
M2 (24 to16)
(1.95 to 2.21)
IP, IG, A+, A–,
B+, B–, C+,
<1> – – –
C–, D+, D–,
R+, R–

<1> Use HEIDENHAIN 17-pin Cable. Refer to PG Encoder Cable Specification on page 14 to for detail.

■ Crimp Terminals
Yaskawa recommends using CRIMPFOX 6 by Phoenix Contact or equivalent to crimp the
terminal ends.
Note: Properly trim wire ends so loose wire ends do not extend from the crimp terminals.

Table 4 Crimp Terminal Sizes

Wire Gauge Phoenix Contact L d1 d2

mm2 (AWG) Model mm (in) mm (in) mm (in)
0.25 (24) AI 0.25 - 6YE 10.5 (13/32) 0.8 (1/32) 2 (5/64)
0.34 (22) AI 0.34 - 6TQ 10.5 (13/32) 0.8 (1/32) 2 (5/64)
d1 6 mm d2
L 0.5 (20) AI 0.5 - 6WH 14 (9/16) 1.1 (3/64) 2.5 (3/32)

18 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual
 5 Installation Procedure

◆ Terminal Functions
Table 5 Option Terminal Functions
Terminal
Terminal Function Description
Block
PG encoder Power Supply
IG Supplies power to the PG encoder.
Common
B+ B Pulse Signal Input Input for the B pulse sine-wave from the PG encoder.
• Max. input frequency: 20 kHz
• Input signal differential: B+ – B–
B– Inverse B Pulse Signal Input
0.6 V to 1.2 V

D+ D Pulse Signal Input Input for the D pulse sine-wave from the PG encoder.
Input signal differential: D+ – D–
TB1
D– Inverse D Pulse Signal Input 0.6 V to 1.2 V

b+ B Pulse Monitor Signal Output Outputs a ratio of the B pulse frequency.

• Output method: Line driver
• Output voltage: RS-422 level
Inverse B Pulse Monitor Signal • Possible resolution:1/n
b–
Output Set F1-06 to monitor the pulse signal.
Varies by drive model.
FE Ground Ground terminal for shielded cable.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 19
5 Installation Procedure

Terminal
Terminal Function Description
Block
Supplies power to the PG encoder.
IP PG encoder Power Supply
Voltage range: 5 V ± 5%, 200 mA
A+ A Pulse Signal Input Input for the A pulse sine-wave from the PG encoder.
• Max. input frequency: 20 kHz
• Input signal differential: A+ – A–
A– Inverse A Pulse Signal Input
0.6 V to 1.2 V

C+ C Pulse Signal Input Input for the C pulse sine-wave from the PG encoder.
Input signal differential: C+ – C–

C– Inverse C Pulse Signal Input 0.6 V to 1.2 V

TB2
R+ R Pulse Signal Input Input for the R pulse (PG encoder home pulse) from
the PG encoder.
Input signal differential: R+ – R–
R– Inverse R Pulse Signal Input
0.2 V to 2.38 V

a+ A Pulse Monitor Signal Output Outputs a ratio of the A pulse frequency.

• Output method: Line driver
• Output voltage: RS-422 level
Inverse A Pulse Monitor Signal • Possible resolution:1/n
a–
Output Set F1-06 to monitor the pulse signal.
Varies by drive model.

20 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual
 6 Related Parameters

6 Related Parameters
The following parameters are used to set up the drive for operation with the option. Set
parameters as needed. Parameter setting methods can be found in the drive Quick Start
Guide or Technical Manual.
Table 6 Related Parameters

No. Available
Name Description Control Values
(Addr. Hex)
Mode
0: V/f Control
1: V/f Control with PG
2: Open Loop Vector Control
Control
A1-02 3: Closed Loop Vector Control Default: <1>
Method All Modes
(102) 5: Open Loop Vector Control for PM Range: <1>
Selection
6: Advanced Open Loop Vector Control for PM
7: Closed Loop Vector Control for PM
Set to 7 when using PG-E3.
F1-01 Default: <1>
PG 1 Pulses Sets the signal periods per revolution to be read from CLV
(380) Min: <1>
per Revolution the pulse generator. CLV/PM
<2> Max: <1>
Sets the stopping method when the PG encoder
becomes disconnected (PGo).
0: Ramp to stop (decelerates at time set to C1-02)
1: Coast to stop
PG Feedback 2: Fast Stop (decelerates at the time set to C1-09)
F1-02 CLV Default: 1
Loss Operation 3: Continue running
(381) CLV/PM Range: <1>
Selection 4: No alarm display
NOTICE: Due to potential damage to the motor and
machinery, do not use the "Continue running" and
"No alarm display" settings except under special
circumstances.
Sets the stopping method when overspeed is
detected.
0: Ramp to stop (decelerates at time set to C1-02)
PG Overspeed 1: Coast to stop
F1-03 CLV Default: 1
Operation 2: Fast Stop (decelerates at the time set to C1-09)
(382) CLV/PM Range: 0 to 3
Selection 3: Continue running
NOTICE: Due to potential damage to the motor and
machinery, do not use the "Continue running" setting
except under special circumstances.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 21
6 Related Parameters

No. Available
Name Description Control Values
(Addr. Hex)
Mode
0: Ramp to stop (decelerates at time set to C1-02)
1: Coast to stop
PG Deviation 2: Fast Stop (decelerates at the time set to C1-09) CLV
F1-04 Default: <1>
Operation 3: Continue running CLV/PM
(383) Range: 0 to 3
Selection NOTICE: Due to potential damage to the motor and
machinery, do not use the "Continue running" setting
except under special circumstances.
F1-05 0: Forward = A pulse leads CLV Default: <1>
PG 1 Rotation
(384) 1: Forward = B pulse leads CLV/PM Range: 0, 1
Sets the division ratio for pulses output from the PG
encoder. Set as a three-digit number: x is the first
digit, y is the second digit, and z is the third digit:
PG 1 Ratio for Default: 1
F1-06 When using the PG-E3 option card, the drive CLV
PG Pulse Min: 1
(385) disregards the value set for "x", and uses the formula CLV/PM
Monitor Max: 132
1/yz to determine the division rate for the pulse
generator. The setting range is consequently 1/32 to
1.
CLV Default: 115
F1-08 PG Overspeed Sets the level for detecting overspeed as a percentage
CLV/PM Min: 0
(387) Level of the maximum output frequency.
Max: 120
CLV Default: 0.0
F1-09 Overspeed Det. Sets the time required for the motor to exceed the
CLV/PM Min: 0.0
(388) Time level set in F1-08 to trigger a fault.
Max: 2.0
Excessive
Sets the degree of speed deviation to trigger a dEv CLV Default: 10
F1-10 Speed
fault. Set as a percentage of the maximum output CLV/PM Min: 0
(389) Deviation Det.
frequency. Max: 50
Level
Excessive
CLV Default: 0.5
F1-11 Speed Sets the time required a speed deviation situation to
CLV/PM Min: 0.0
(38A) Deviation Det. trigger a fault.
Max: 10.0
Time
Default: 2.0
F1-14 PG Disconnect Sets the time in seconds for PG encoder disconnect to CLV
Min: 0.0
(38D) Det. Time be detected. CLV/PM
Max: 10.0
Reverse 0: Disabled Default: 10
F1-18
Rotation Det. n: Number of times a dv3 situation must be detected CLV/PM Min: 0
(3AD)
for PG 1 to trigger a fault. Max: 10
Reverse 0: Disabled Default: 128
F1-19
Rotation Det. n: Number of times a dv4 situation must be detected CLV/PM Min: 0
(3AE)
for PG 1 to trigger a fault. Max: 5000
F1-20 PG 1 Hardware 0: Disabled. No fault if the connection is lost. CLV Default: 1
(3B4) Disconnect 1: Enabled. Fault if connection is lost. CLV/PM Range: 0, 1

22 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual
 6 Related Parameters

No. Available
Name Description Control Values
(Addr. Hex)
Mode
PGoH Default: 80
F1-51 Set the level for detecting PG Hardware Fault
Detection CLV/PM Min: 1
(3D3) (PGoH). Set as a percentage of Sinθ2 + Cosθ2 .
Level Max: 100

<1> Varies by drive models.

<2> The output frequency of the PG encoder can be calculated as follows:
Operation at max.
output frequency ＝
Motor speed at maximum frequency output (r/min)
60
× PG rating (p/rev) E3

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 23
7 Troubleshooting

7 Troubleshooting
◆ 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 10 m.
• Separate the control wiring to the option, main circuit input power wiring, and motor
output power cables.
• Ground the shield on the PG encoder side and the drive side. If noise 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.
■ Interface Circuit
Figure 11

PG-E3 PG Encoder

A–,B–,R–
120 Ω
A+,B+,R+
2.5 V

C–,D–
1 kΩ C+,D+

2.5 V

26LS31 Level
a+
a–

b+ Monitor Signal

b–

Figure 10 Interface Circuit

24 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual
 7 Troubleshooting

◆ Drive-Side Error Codes

Table 7 lists the various fault codes related to the option and pulse generator. Refer to the
drive Technical Manual for further details on fault codes.
Check the following items first when an error code occurs on the drive:
• Make sure the PG encoder cable is properly connected.
• Check the cables between the PG encoder and the option.
• Make sure the option is properly installed to the drive.
Table 7 Fault Displays, Causes, and Possible Solutions
Digital Operator Display Fault Name
Speed Deviation (for Control Mode with PG)
dEv The deviation between the speed reference and speed feedback is greater than the
setting in F1-10 for longer than the time set to F1-11.
Cause Possible Solution
The load is too heavy. Reduce the load.
The acceleration and
deceleration times are set too
Increase the acceleration and deceleration times (C1-01 through C1-08)./
short. / Acceleration and
Decrease the acceleration and deceleration ramps (C1-01 through C1-08)
deceleration ramps are set too
large.
The load is locked up. Check the machine.
Parameters are set
Check the settings of parameters F1-10 and F1-11.
inappropriately.
Motor brake is engaged. Ensure the motor brake releases properly.
Brake control sequence is Correct the brake control sequence and then verify that the brake has been
incorrect. released.
Digital Operator Display Fault Name
Z Channel Pulse Fault Detection
dv1
The motor turned one full rotation while failing to detect the Z channel pulse.
Cause Possible Solution
The PG encoder is disconnected • Rewire the PG encoder and make sure all wiring including shielded wiring is
or is not wired properly, or the properly connected
PG option or PG encoder are • If the problem continues after cycling power, replace the PG option or the PG
damaged. encoder.

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 25
7 Troubleshooting

Digital Operator Display Fault Name

Z Channel Pulse Noise Fault Detection
dv2 The Z channel pulse is out of phase by more than 5 degrees for the number of
times specified in parameter F1-17.
Cause Possible Solution
PG encoder cable noise Separate the PG encoder cable wiring from the source of the noise (e.g., drive
interference. output wiring).
The PG encoder is disconnected • Rewire the PG encoder and make sure all wiring including shielded wiring is
or is not wired properly, or the properly connected
PG option or PG encoder are • If the problem continues after cycling power, replace the PG option or the PG
damaged. encoder.
Digital Operator Display Fault Name
Inversion Detection
dv3 • Torque reference and acceleration are in opposite directions.
• The speed reference and actual motor speed differ by over 30% for the number
of pulses set to parameter F1-18.
Cause Possible Solution
E5-11 is not set properly. Set the value for Δθ to E5-11 as specified on the motor nameplate.
• Make sure the motor is rotating in the proper direction.
An external force on the load
• Investigate problems on the load side causing motor rotation in the opposite
side caused the motor to move.
direction.
Noise interference along the PG
encoder cable is affecting the A
channel or B channel. • Rewire the PG encoder and make sure all wiring including shielded wiring is
properly connected
The PG encoder is disconnected • If the problem continues after cycling power, replace the PG option or the PG
or is not wired properly, or the encoder.
PG option or PG encoder are
damaged.
The PG encoder rotational
direction set to F1-05 is in the
Make sure motor wiring for each phase (U, V, W) is connected properly.
opposite direction of the motor
wiring.
Digital Operator Display Fault Name
Inversion Prevention Detection
Pulses indicate that the motor is rotating in the opposite direction of the speed
dv4 reference. Set the number of pulses to trigger inverse detection to F1-19.
Note: To avoid nuisance faults, be sure to disable inverse detection in applications
where the motor may rotate in the opposite direction of the speed reference. Set
F1-19 to 0 to disable this feature.
Cause Possible Solution
• Set the value for Δθ to E5-11 as specified on the motor nameplate.
E5-11 is not set properly. • If the problem continues after cycling power, replace the PG option or the PG
encoder.

26 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual
 7 Troubleshooting

Noise interference along the PG • Make sure the motor is rotating in the proper direction.
encoder cable is affecting the A • Investigate problems on the load-side that may be causing the motor to rotate in
or B pulse. the opposite direction.
PG encoder is disconnected or is • Rewire the PG encoder and make sure all wiring including shielded wiring is
not wired properly, or the PG properly connected
option or PG encoder are • If the problem continues after cycling power, replace the PG option or the PG
damaged. encoder.
Digital Operator Display Fault Name
oFA00 Non-Compatible Option connected to drive port CN5-A
Cause Possible Solution
Non-compatible option Use only compatible options. Connect PG-E3 to CN5-C. For other option cards,
connected to drive port CN5-A. refer to the Installation Manual for that option card.
Digital Operator Display Fault Name

oFb00 Non-Compatible Option connected to drive port CN5-B

Cause Possible Solution

Non-compatible option Use only compatible options. Connect PG-E3 to CN5-C. For other option cards,
connected to drive port CN5-B. refer to the Installation Manual for that option card.
Digital Operator Display Fault Name

oFC01 Option Connection Error at drive port CN5-C

Cause Possible Solution

Option at drive port CN5-C was
Switch the power off and reconnect the option.
changed during run.
Digital Operator Display Fault Name
PG Encoder Option A/D Conversion Error
oFC50
Error with the A/D conversion level (VCC level), or A/D conversion timed out.
Cause Possible Solution
The option card is damaged. Replace the option card
Digital Operator Display Fault Name
PG Encoder Option Analog Circuit Error
oFC51
Incorrect signal level (+2.5 V signal)
Cause Possible Solution
The option card is damaged. Replace the option card
Digital Operator Display Fault Name
Overspeed
oS
The motor speed feedback exceeded the F1-08 setting.
Cause Possible Solution
Increase the settings for C5-01 (Speed Control Proportional Gain 1) and reduce
Overshoot is occurring.
C5-02 (Speed Control Integral Time 1).

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 27
7 Troubleshooting

Incorrect speed feedback scaling

• Set H6-02 to the value of the speed feedback signal frequency when the motor
when terminal RP is used as
runs at the maximum speed.
speed feedback input in V/f
• Adjust the input signal using parameters H6-03 through H6-05.
control.
Incorrect PG encoder pulse
Check and correct parameter F1-01.
number set.
Check the setting for the overspeed detection level and the overspeed detection
Inappropriate parameter settings.
time (F1-08 and F1-09).
Digital Operator Display Fault Name
PG Encoder Disconnected
PGo Detected when no PG encoder pulses received for a time longer than setting in
F1-14.
Cause Possible Solution
PG encoder cable is
Reconnect the cable.
disconnected.
PG encoder cable wiring is
Correct the wiring.
wrong.
PG encoder does not have
Make sure the correct power supply is properly connected to the PG encoder.
enough power.
Brake control sequence is Correct the brake control sequence and then verify that the brake has been
incorrect. released.
Digital Operator Display Fault Name
PG Encoder Hardware Fault
PGoH
PG encoder cable is disconnected.
Cause Possible Solution
PG encoder cable is
Reconnect the cable.
disconnected.

28 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual
 7 Troubleshooting

Table 8 Operation Error Displays, Causes, and Possible Solutions

Digital Operator Display Fault Name
Parameter Range Setting Error
oPE02
Use U1-18 to find parameters set outside range.
Cause Possible Solution
Set parameters to the proper values.
Parameters were set outside the
Note: When multiple errors occur at the same time, other errors
possible range.
are given precedence over oPE02.
Digital Operator Display Fault Name
Control Method Selection Error
oPE06
Correct the setting for the control method.
Cause Possible Solution
Control mode requires installing
• Connect a PG option.
a PG option, but no PG option is
• Correct the value set to A1-02.
installed (A1-02 = 7).

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 29
8 Specifications

8 Specifications
Table 9 Option Specifications
Items Specifications
Model PG-E3
Compatible PG
ERN1387 (HEIDENHAIN)
Encoder Type
Multi-turn Not available
PG Encoder Wiring
Length 10 m (32 ft.) maximum

PG Encoder Power Output voltage: 5 V ± 5%

Supply Max. Output Current: 200 mA
Compatible Control
Closed Loop Vector for PM motors
Modes
Maximum Input
Frequency 20 kHz

Pulse Monitor Monitor for A and B pulse output

Output Matches RS-422 Level
PG Encoder
Disconnect Software detection
Detection
Ambient –10°C to 50°C (14 °F to 122 °F)
Temperature
Humidity 95% RH or lower with no condensation
Storage
Temperature –20°C to 60°C (-4 °F to 140 °F) allowed for short-term transport of the product

Area of Use Indoor (free of corrosive gas, airborne particles, etc.)

Altitude 1000 m (3280 ft.) or lower

30 YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual
◆ Revision History
Revision dates and manual numbers appear on the bottom of the back cover.

MANUAL NO.  TOBP C730600 52B E3

Published in Japan November 2009 09-7 1
Revision number
Date of original publication
Date of publication

Date of
Rev. No Section Revised Content
Publication
March 2010 2 Entire Document Edited for clarity.

November 2009 1 Entire Document Edited for clarity.

July 2009 − − First edition

YASKAWA ELECTRIC TOBP C730600 52C 1000-Series Option PG-E3 Installation Manual 31
YASKAWA AC Drive 1000-Series Option
Motor Encoder Feedback
HEIDENHAIN ERN1387 Interface
Installation Manual

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© 2009-2010 YASKAWA ELECTRIC CORPORATION. All rights reserved.

MANUAL NO. TOBP C730600 52C

Published in Japan March 2010 09-7 2 -0
10-3-3