Welcome

Yaskawa
Yaskawa Training
Training Caf
Caf

Welcome to Yaskawa Electric Americas

Training Caf Express
Todays Topic is
Load Sharing
To make this Caf enjoyable for all, please follow these tips on web class
etiquette.
Please do not put us on hold. Others will hear the hold music.
Do not use a speaker phone. Background noise can be heard.
Dont be shy, we welcome comments and questions.
(Press *6* to mute and unmute your phone)
You can also type questions into the Chat window. Please send to Host and
Presenter if you choose this option.
To view the presenter, click the Video tab in the upper right corner.
Questions not answered during the Caf can be e-mailed to
training@yaskawa.com or can be entered into the survey sent to you at the end
of the class.

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Definition
Yaskawa
Yaskawa Training
Training Caf
Caf

What is load sharing?

The distribution of load between multiple
mechanical movers that share a common load.
Directly Indirectly coupled
coupled

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Examples
Yaskawa
Yaskawa Training
Training Caf
Caf

Load sharing examples

Conveyor
Extruders
Draw Works/Top Drive
Mixers
Rock crusher

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Advantages
Yaskawa
Yaskawa Training
Training Caf
Caf

Advantages to load sharing

Increased HP capability
Space
Smaller motors
Can still operate at reduced capacity if one
motor goes down
Allows for simple expansion

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Disadvantages
Yaskawa
Yaskawa Training
Training Caf
Caf

Disadvantages of load sharing

Complexity
More components to maintain
Multiple motors
Requires controller interfacing/sequencing

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Methods
Yaskawa
Yaskawa Training
Training Caf
Caf

Load sharing methods

Multiple motors across the line
One drive, multiple motors
Multiple drives, multiple motors
One drive per motor

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Across the line
Yaskawa
Yaskawa Training
Training Caf
Caf

Multiple motors across the

line
Advantages
Simple
Inexpensive

Disadvantages
No speed control
High in-rush current
Contactor sequencing

Note: With motors becoming higher efficiency and lower

slip, this method is becoming more difficult to implement.

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Single Drive, Multiple
Yaskawa
Yaskawa Training
Training Caf
Caf Motors

Single Drive, Multiple Motors

Advantages
Single drive
Speed control
Soft start
Disadvantages
Oversized drive
V/f only
All motors the same
External overload required for each motor
Drive failure = downtime

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Multiple Drives
Yaskawa
Yaskawa Training
Training Caf
Caf

Multiple Drives
One drive per motor

Advantages
Soft start
Vector Control
Speed Regulation

Disadvantages
Increased components
Increased complexity

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Multiple Drives Set-up
Yaskawa
Yaskawa Training
Training Caf
Caf

Master Drive Slave Drive(s)

Flux vector, A1-02 = 3 Flux vector, A1-02 = 3
Speed mode Torque mode
Provides torque reference Same size as master
and speed limit for slave drive (generally)
drives Receives torque
reference from master
drive
Speed limit defined via
digital preset or analog
input from master drive

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Multiple Drive Set-up
Yaskawa
Yaskawa Training
Training Caf
Caf Wiring

Interconnection diagram
Master Slave

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Multiple Drives Set-up
Yaskawa
Yaskawa Training
Training Caf
Caf Master Parameters

Master Drive Parameters

A1-02 (Control Mode) = 3: Flux Vector
For accurate torque reference
H4-01 (FM Selection) = 5: Motor Speed
Speed limit for slave drive(s)
H4-04 (AM Selection) = 9: Torque Reference
Torque reference for slave drive(s)
H4-07 (FM Level Select) = 1: +/- 10Vdc
H4-08 (AM Level Select) = 1: +/- 10Vdc
Provides proper direction for slave drive operation

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Multiple Drives Set-up
Yaskawa
Yaskawa Training
Training Caf
Caf Slave Parameters

Slave Drive Parameters

A1-02 (Control Mode) = 3: Flux Vector
To operate in torque mode
C1-01 (Accel Time 1) = 0.0 sec
C1-02 (Decel Time 1) = 0.0 sec
C2-01 (S-curve at Accel Start) = 0.0 sec
C2-02 (S-curve at Accel End) = 0.0 sec
C2-03 (S-curve at Decel Start) = 0.0 sec
0 sec accel/decel and S-curve time for better tracking
C5-02 (ASR Integral Time) = 0.0
Eliminate integral term in speed loop

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Multiple Drives Set-up
Yaskawa
Yaskawa Training
Training Caf
Caf Slave Parameters

Slave Drive Parameters (cont)

D5-01 (Torque Control Selection) = 1: Torque Mode
If drive is to be in torque control at all times
If speed mode required, see Alternatives
D5-05 (Speed Limit Bias) = 110%
Allow full speed range operation (forward and reverse)
E1-04 (Maximum output frequency) = 66Hz (or 110% of masters
maximum output frequency)
Allow speed overhead

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Multiple Drives Set-up
Yaskawa
Yaskawa Training
Training Caf
Caf Slave Parameters

Slave Drive Parameters (cont)

H3-01 (A1 Signal Selection) = 1: +/- 10V
Bipolar speed limit signal
H3-02 (A1 Gain) = 110%
Speed limit overhead; to ensure slave drive remains in torque mode
H3-04 (A3 Signal Selection) = 1: +/- 10V
Bipolar torque reference
H3-05 (A3 Selection) = 13: Torque Reference
H3-06 (A3 Gain) = 200%
To allow overload operation
H3-09 (A2 Selection) = 1F: Not Used
Eliminate any interference A2 may cause

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Multiple Drives Set-up
Yaskawa
Yaskawa Training
Training Caf
Caf Slave Parameters

Slave Drive Parameters (cont)

H4-01 (FM Selection) = 15: A1 Input Level
Pass through speed limit signal if multiple slaves present
H4-04 (AM Selection) = 17: A3 Input Level
Pass through torque reference signal if multiple slaves present

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Multiple Drive - Cautions
Yaskawa
Yaskawa Training
Training Caf
Caf

Important Considerations
Direction
Ensure motors are rotating in the proper direction so that they do
not fight each other
Bi-polar analog input/output for master and slave
Drive will be able to follow speed and torque across all four
quadrants
Slave maximum output frequency 10% higher than master
This will ensure that the slave has some speed overhead to ensure
drive remains in torque mode
Run command on slave applied at all times
If run command removed during deceleration, slave will go into
speed mode and decelerate according to its deceleration time
This can result in the master and slave fighting each other during deceleration

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Multiple Drive Cautions
Yaskawa
Yaskawa Training
Training Caf
Caf

Important Considerations
Speed limit bias of 110% (D5-05 = 110%) on slave
This allows the drive to have a higher speed limit than the master in
the reverse direction
0 sec accel/decel times for slave drive
This eliminates any delay in the response of the slave drive
Slave drive FM and AM monitors set to mimic analog input
levels on systems with 2 or more slaves
If maximum torque is required upon start, it may be
beneficial to use dwell function on master to allow flux to
build up on slave(s)

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Multiple Drive -
Yaskawa
Yaskawa Training
Training Caf
Caf Alternatives

Alternatives

If speed mode required on slave drive(s)

D5-01 (Torque Control Select) = 0: Speed Mode
(default)
H1-0x = 71: Speed/Torque Selection

Note: This may be required on systems where the motors are not rigidly coupled
together at all times

Note: Speed reference will be higher on slaves due to higher maximum frequency
setting and analog input gain setting

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Multiple Drive -
Yaskawa
Yaskawa Training
Training Caf
Caf Alternatives

Alternatives (cont)
Digital speed limit
Choice 1 Parameter setting
D5-03 (Speed Limit Selection) = 2: Program Setting

D5-04 (Speed Limit) = 110%

Choice 2 Keypad
B1-01 (Reference Selection) = 0: Operator

D1-01 (Preset 1) = Maximum Output Frequency

May be used on systems where the motors are rigidly coupled
together at all times.

Note: This may be beneficial for systems that are rigidly coupled together at all times.

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Load Sharing - Not
Yaskawa
Yaskawa Training
Training Caf
Caf

What is NOT load sharing?

ELS (Electronic Line Shaft)

Why not?
ELS is meant to maintain a geared position
ratio, not distribute load

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services
 Class Dismissed
Yaskawa
Yaskawa Training
Training Caf
Caf

Thank you for attending the Yaskawa Electric

America Training Caf.

Please see the Caf Schedule in the partner login
section of Yaskawa.com for future classes.

Training Caf classes are held approximately
once per month.

Please complete the survey sent to you at the end
of the class to help us improve the quality and
relevance of the Training Caf.

Yaskawa Training Caf Through the Combined Efforts of Drives Engineering and Technical Training
Services