Yaskawa E7 Drive Technical Manual User Manual
Page 22
Date: 02/25/2010, Rev: 10-02
Page 22 of 34
TM.F7SW.064
Notes:
In speed follower mode (P1-01 = 1, 2, 3), the follower motor direction is determined based on the run
command direction, the master encoder direction, and the exact P1-01 setting.
In standard ELS mode (P1-01 = 4), the follower motor direction is always the same as the master
encoder direction. Forward (terminal S1) and reverse (terminal S2) run commands are treated
identically.
Parameter F1-05 (PG Rotation) only affects the encoder 1 input (follower encoder) when the dual PG
feedback option (PG-W2, PG-Y2, or PG-Z2) is used. It does not affect the encoder 2 input or pulse
monitor output.
In either ELS mode, the Position P Gain setting (P3-01) is scaled in relation to the drive’s Max
Frequency (E1-04), so if the E1-04 setting is changed the proportional contribution of the position
regulator will be influenced.
The follower drive’s Maximum Output Frequency (E1-04) must be set higher than the
maximum input frequency from the master source for proper position control. As a general
rule, set E1-04 in the follower to be 10% (or at least equal to P3-04 Position PI Limit) greater
than the maximum input frequency of the master source. Failure to do so can result in large
continuous amounts of Position Error (U1-96).
The exact gear ratio (including remainder) must be known and able to be expressed using the
gear ratio parameters. Any error in the gear ratio settings will result in follower motor drift.
5.2 Electronic Lineshaft with Sign
When Follower Mode Selection P1-01 = 5 (ELS – Sign Run mode), the drive behaves identically to when
P1-01 = 4 (Standard ELS mode), except when a reverse run command (terminal S2) is given. A reverse
run command will cause the follower drive to match speed and position in the opposite direction of the
master.
In the Standard ELS mode, when an Advance Follower input (H1-0X = 82) is active, the follower drive
moves in the absolute positive direction with respect to the master and in the absolute negative direction
when the Retard Follower input is active. These functions behave the same way in ELS – Sign Run mode
when a forward run command (terminal S1) is given. When a reverse run command (terminal S2) is given
during ELS – Sign Run mode, the Advance Follower input will move the follower drive in the absolute
negative direction while the Retard Follower input will move the follower drive in the absolute positive
direction.