Yaskawa A1000 - Manual (Page 18)

2 Electronic Line Shaft
18 YASKAWA TM.A1000SW.064 Electronic Line Shaft with Alignment A1000 Custom Software Supplement
In the Standard ELS mode, when an Advance Follower input (H1-0 = 82) is active, the follower drive moves in the
absolute positive direction with respect to the follower and in the absolute negative direction when Retard Follower input
is active.
These functions behave the same way in ELS - Sign Run mode when a forward Run command is given. When a reverse
Run command 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.
The diagrams below outline the Follower direction and Advance/Retard behavior for P1-04 settings and Forward/Reverse
Run command selections
Figure 5
Figure 5 Follower Direction and Advance/Retard Behavior
When the drive is put into LOCAL mode (digital input or keypad button) or when the drive is given a forward or reverse
jog command, the frequency reference switches back to standard frequency reference and uses the selected Accel/Decel
times.
• In ELS mode, the Position P Gain setting (P3-01) is scaled in relation to the drive Max Frequency (E1-04). If the E1-04
setting is changed, the proportional contribution of the position regulator will be influenced. (The integral contribution
is also influenced since it is directly proportional to the proportional contribution).
• The Maximum Output Frequency (E1-04) of the follower drive 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 (U7-08).
• 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.
FWD FWD
Adv
Ret
REV REV
Ret
Adv
REV
Adv
Ret
FWD
REV FWD
Adv
Ret
FWD FWD
Adv
Ret
REV REV
Ret
Adv
FWD
REV
FWD
Adv
Ret
REV
Ret
Adv
FWD Run Command REV Run Command
P1-01 = 4
P1-01 = 5
Master Follower Master Follower