Type Applications 2 Model A1000 Doc No.

E-F-02-A1000-01
Yaskawa Drives Technical Data Title A1000 Control Modes and Features

A1000 offers seven different control modes for running your application. The table below lists an overview and features for each control mode.
Open Loop Vector Advanced Open Loop Vector Closed Loop Vector
Control Mode V/f Control V/f with PG Open Loop Vector Control Closed Loop Vector Control Comments
for PM Motors for PM Motors for PM Motors
Parameter Setting A1-02 = 0 A1-02 = 1 A1-02 = 2 (default) A1-02 = 3 A1-02 = 5 A1-02 = 6 A1-02 = 7 －
Open loop vector control for Open loop vector control for Current vector control for PM
Controls the V/f pattern using Current vector control without Current vector control PM motors without PG PM motors without PG motors with feedback
Control Modes V/f control －
PG feedback from the motor a PG encoder using motor feedback feedback feedback (with speed control device))
(no speed controller used) (uses a speed controller)
For general variable speed For fairly accurate control For general variable speed For applications requiring For variable speed For variable speed For high performance control
applications. Particularly using a PG encoder on the applications. For applications high performance control that applications requiring robust applications running an IPM using a PM motor with
useful when running multiple machine side. requiring high performance use motor feedback control and running an IPM or motor feedback.
Major Applications motors from a single drive. without the use of a motor Example: Simple servo-like SPM motor without feedback High performance control Example: Simple servo-like －
For use when replacing a encoder. applications, machines Excellent for applications with using motor feedback applications, machines
drive running a motor with requiring accurate torque derated torque load and Example: Torque Limit, Zero requiring accurate torque
unknown characteristics control and torque limits Energy Savings. Speed Control control and torque limits
Required Required Required
PG Option Card Unnecessary Unnecessary Unnecessary Unnecessary －
(PG-B3 or PG-X3) (PG-B3 or PG-X3) (PG-X3)
Indicates the speed range for the drive to
Speed Control control the motor. Note that continuous
1:40 1:40 1:200 1:1500 1:20 1:100 1:1500
Range operation will cause the motor temperature to
rise.
Indicates speed error for applications running
Basic Operation

Speed Control
±2 to 3% ±0.03% ±0.2% ±0.02% ±0.2% ±0.2% ±0.02% at rated load or when the load is stable. Motor
Accuracy
should operate at 25℃ ±10ºC.
Indicates how closely the actual motor speed
3 Hz 3 Hz
Speed Response Over 5 Hz Over 50 Hz Over 5 Hz Over 5 Hz Over 50 Hz corresponds to the frequency reference when
(approx.) (approx.)
motor torque is not saturated.
Determines the amount of motor torque
Starting Torque 150% at 3 Hz 150% at 3 Hz 200% at 0.3 Hz 200% at 0 r/min 100% at 5% speed 200% at 0 r/min 200% at 0 r/min created at low speeds and the corresponding
output frequency. Varies by drive capacity.
Resistance Between Lines, Resistance Between Lines, Rotational Auto-Tuning, Rotational Auto-Tuning, Stationary Auto-Tuning,
Stationary Auto-Tuning, Stationary Auto-Tuning,
Auto-Tuning Energy Saving Energy Saving Stationary Auto-Tuning 1 and 2, Stationary Auto-Tuning 1 and 2, Resistance Between Lines －
Resistance Between Lines Only Resistance Between Lines Only
(Auto-Tuning rarely required) (Auto-Tuning rarely required) Resistance Between Lines Only Resistance Between Lines Only Only, Z-Pulse Tuning
YES YES
(not available during accel/decel, (not available below the Limits the maximum motor torque to protect
Torque Limit N/A N/A YES N/A YES
below the minimum frequency, minimum frequency and the machine and load.
and not in reverse) during reverse operation)
Allows the drive to control tension created by
Advanced Functions

Torque Control N/A N/A N/A YES N/A N/A YES the motor, and to control motor torque directly
during both forward and reverse operation.
YES YES Controls the amount of motor slip to prevent
(Droop Control disabled at (Droop Control disabled at shock to the machinery, and used when
Droop Control N/A N/A N/A N/A N/A
0 Hz and during reverse 0 Hz and during reverse switching the application for operation with a
operation) operation) torque motor.
Useful for simply positioning control like "servo
Zero Servo Control N/A N/A N/A YES N/A N/A YES lock", eliminating the need for an external
control device.
Estimates or detects motor speed in either
Speed Search: YES YES YES YES YES YES YES
direction to quickly and smoothly restart a
Speed Estimation (bi-directional speed detection) (bi-directional speed detection) (bi-directional speed detection) (bi-directional speed detection) (bi-directional speed detection) (bi-directional speed detection) (bi-directional speed detection)
coasting motor without stopping it first.

Issued: August 21, 2008 Revised: 1/3

 Type Applications 2 Model A1000 Doc No. E-F-02-A1000-01
Yaskawa Drives Technical Data Title A1000 Control Modes and Features

Open Loop Vector Advanced Open Loop Vector Closed Loop Vector
Control Mode V/f Control V/f with PG Open Loop Vector Control Closed Loop Vector Control Comments
for PM Motors for PM Motors for PM Motors
Applies voltage to a motor operating with a
Automatic Energy YES YES
YES YES YES YES N/A light-load rating to maximize motor
Saving Control (IPM motors only) (IPM motors only)
performance and conserve energy.
Reduces the deceleration time by absorbing
regenerative power into the motor windings.
High-Slip Braking YES YES N/A N/A N/A N/A N/A
Enabled in motors up to 160 kW and those
using the Heavy Duty rating.
Used for loads with low rigidity to better follow
Feed Forward Control N/A N/A N/A YES N/A YES YES changes in the speed reference. Accuracy can
be compared to servo drives.
Calculates the amount of deceleration needed
KEB Ride-Thru when momentary power loss is detected so
Advanced Functions

YES YES YES YES YES YES YES

Function that the application can continue operation
without stopping.
Overexcites the motor to offer a faster stopping
Overexcitation time without the use of braking resistor. Absorbs
YES YES YES YES N/A N/A N/A
Deceleration regenerative energy into the motor windings and
improves deceleration.
Automatically tunes the drive to load for better
Inertia Tuning N/A N/A N/A YES N/A N/A YES responsiveness. Beneficial in applications
using ASR.
Prevents overvoltage problems that can result
Overvoltage from regeneration. Used in applications where
YES YES YES YES YES YES YES
Suppression some difference in the frequency reference
and output frequency is permitted.
High frequency injection expands the speed
Harmonic injection N/A N/A N/A N/A N/A YES N/A control range when running an IPM motor,
and offers greater accuracy at zero speed.
Note 1: Execute Rotational Auto-Tuning whenever it is possible to decouple the motor from the load. Open Loop Vector requires that the drive take various measurements from the motor while there is no
resistance from the load.
Note 2: Open Loop Vector is possible only when operating a single motor from the drive. The motor rated current should be between 50% to 100% of the drive’s current rating.
Note 3: Speed Estimation Speed Search is possible only when operating a single motor from the drive. The motor must also be the same frame size as the drive or smaller, and operating no faster than 130
Hz.
Note 4: Since the motor loss increases during High Slip Braking, the braking frequency must be 5% ED or less and the braking time no longer than 90 seconds. Once High Slip Braking starts, the drive
cannot restart until the motor has come to a complete stop.
Note 5: Feed Forward improves motor response to changes in the frequency reference. Use ASR and Inertia Tuning for loads affected by an external force.
Note 6: Torque limits are disabled during acceleration and deceleration when using Open Loop Vector. Although motor speed may drop when applying the torque limit at constant speed, it will still remain
above the minimum frequency, and the motor will not be allowed to rotate in reverse (the opposite direction of the frequency reference).

Issued: August 21, 2008 Revised: 2/3

 Type Applications 2 Model A1000 Doc No. E-F-02-A1000-01
Yaskawa Drives Technical Data Title A1000 Control Modes and Features

Application Notes

■ V/f Control (A1-02 = 0) ■ V/f Control with PG (A1-02 = 1) ■ Open Loop Vector Control (A1-02 = 2) ■ Closed Loop Vector Control (A1-02 = 3)
Drive capable of controlling High-precision speed High performance drive High performance drive
multiple motors control for line operation without sensors or feedback using motor feedback

･A single A1000 can run ･ Motor feedback allows for accurate ･Feedback allows for high-precision positioning,
applications with multiple motors speed control. zero-speed control, torque control

(コンベア) A1000 M
A1000 Thermal relay A1000
M1 A1000 M
M
M2 PG
PG PG Speed Feedback Option Card
M3 PG Speed Feedback Option Card
(PG-B3 or PG-X3) (PG-B3 or PG-X3)

■ Open Loop Vector Control for PM (A1-02=5) ■ Advanced Open Loop Vector Control for PM (A1-02 = 6) ■ Closed Loop Vector Control for PM (A1-02=7)
High performance drive capable of High performance drive Ultra-high performance drive running
running SPM and IPM motors running an IPM motor a PM motor with a pulse generator feedback

･Feedback allows for high-precision positioning,

zero-speed control, torque control

A1000 A1000 PM
A1000
PM IPM

PG

PG Speed Feedback Option Card

(PG-B3 or PG-X3)

Issued: August 21, 2008 Revised: 3/3