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Welcome to Yaskawa Electric America’s
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Today’s Topic is
Load Sharing
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■ What
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Definition
is load sharing?
The distribution of load between multiple
mechanical movers that share a common load.
Directly
coupled
Indirectly coupled
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■ Load
Examples
sharing examples
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Conveyor
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Extruders
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Draw Works/Top Drive
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Mixers
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Rock crusher
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Advantages
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■ Advantages
to load sharing
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Increased HP capability
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Space
• Smaller motors
Can still operate at reduced capacity if one
motor goes down
● Allows for simple expansion
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Disadvantages
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■ Disadvantages
of load sharing
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Complexity
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More components to maintain
• Multiple motors
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Requires controller interfacing/sequencing
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■ Load
Methods
sharing methods
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Multiple motors across the line
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One drive, multiple motors
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Multiple drives, multiple motors
• One drive per motor
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Multiple motors across the
line
Advantages
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Across the line
Simple
Inexpensive
Disadvantages
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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.
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Single Drive, Multiple
Motors
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Single Drive, Multiple Motors
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Advantages
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Single drive
Speed control
Soft start
Disadvantages
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Oversized drive
V/f only
All motors the same
External overload required for each motor
Drive failure = downtime
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Multiple Drives
Multiple Drives
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Advantages
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One drive per motor
Soft start
Vector Control
Speed Regulation
Disadvantages
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Increased components
Increased complexity
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■
Master Drive
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Flux vector, A1-02 = 3
Speed mode
Provides torque reference
and speed limit for slave
drives
Multiple Drives – Set-up
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Slave Drive(s)
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Flux vector, A1-02 = 3
Torque mode
Same size as master
drive (generally)
Receives torque
reference from master
drive
Speed limit defined via
digital preset or analog
input from master drive
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Multiple Drive – Set-up
Wiring
Interconnection diagram
Master
Slave
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■
Multiple Drives – Set-up
Master Parameters
Master Drive Parameters
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A1-02 (Control Mode) = 3: Flux Vector
• For accurate torque reference
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H4-01 (FM Selection) = 5: Motor Speed
• Speed limit for slave drive(s)
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H4-04 (AM Selection) = 9: Torque Reference
• Torque reference for slave drive(s)
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H4-07 (FM Level Select) = 1: +/- 10Vdc
H4-08 (AM Level Select) = 1: +/- 10Vdc
• Provides proper direction for slave drive operation
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Multiple Drives – Set-up
Slave Parameters
Slave Drive Parameters
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A1-02 (Control Mode) = 3: Flux Vector
• To operate in torque mode
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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
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C5-02 (ASR Integral Time) = 0.0
• Eliminate integral term in speed loop
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■
Multiple Drives – Set-up
Slave Parameters
Slave Drive Parameters (con’t)
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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
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D5-05 (Speed Limit Bias) = 110%
• Allow full speed range operation (forward and reverse)
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E1-04 (Maximum output frequency) = 66Hz (or 110% of master’s
maximum output frequency)
• Allow speed overhead
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■
Multiple Drives – Set-up
Slave Parameters
Slave Drive Parameters (con’t)
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H3-01 (A1 Signal Selection) = 1: +/- 10V
• Bipolar speed limit signal
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H3-02 (A1 Gain) = 110%
• Speed limit overhead; to ensure slave drive remains in torque mode
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H3-04 (A3 Signal Selection) = 1: +/- 10V
• Bipolar torque reference
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H3-05 (A3 Selection) = 13: Torque Reference
H3-06 (A3 Gain) = 200%
• To allow overload operation
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H3-09 (A2 Selection) = 1F: Not Used
• Eliminate any interference A2 may cause
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■
Multiple Drives – Set-up
Slave Parameters
Slave Drive Parameters (con’t)
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H4-01 (FM Selection) = 15: A1 Input Level
• Pass through speed limit signal if multiple slaves present
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H4-04 (AM Selection) = 17: A3 Input Level
• Pass through torque reference signal if multiple slaves present
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Multiple Drive - Cautions
Important Considerations
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Direction
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Bi-polar analog input/output for master and slave
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Drive will be able to follow speed and torque across all four
quadrants
Slave maximum output frequency 10% higher than master
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Ensure motors are rotating in the proper direction so that they do
not “fight” each other
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
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If run command removed during deceleration, slave will go into
speed mode and decelerate according to its deceleration time
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This can result in the master and slave fighting each other during deceleration
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Multiple Drive – Cautions
Important Considerations
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Speed limit bias of 110% (D5-05 = 110%) on slave
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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
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This eliminates any delay in the response of the slave drive
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Slave drive FM and AM monitors set to mimic analog input
levels on systems with 2 or more slaves
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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)
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Multiple Drive Alternatives
Alternatives
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If speed mode required on slave drive(s)
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D5-01 (Torque Control Select) = 0: Speed Mode
(default)
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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
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Multiple Drive Alternatives
Alternatives (con’t)
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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.
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Load Sharing - Not
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What is NOT load sharing?
ELS (Electronic Line Shaft)
Why not?
ELS is meant to maintain a geared position
ratio, not distribute load
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Class Dismissed
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