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Control Techniques Unidrive 1 Series, User Manual

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Control Techniques Unidrive 1 Series User Manual Download Page 125

Safety 

Information

Product 

Information

Mechanical 

Installation

Electrical 

Installation

Getting 
Started

Menu 0

Running 

the motor

Optimisation

Macros

Advanced 

Parameters

Technical 

Data

Diagnostics

UL Listing 

Information

Unidrive User Guide                                                                                                                                                                                        

125

Issue Number: 9                                                          www.controltechniques.com

 

Jog 

reference 

Bipolar 
reference 

select 

Jog selected 

indicator 

Menu 6

Sequencer

1.10

1.05

1.13

Pre-filter 

reference 

Pre-ramp 

reference 

Maximum 
freq./speed 

"clamp"

Minimum 

freq./speed 
"clamp" 

(Maximum 
reverse 

freq./speed) 

Negative 

minimum 
speed 

select 

Reference 

enabled 

indicator 

Reverse 
selected 

indicator 

Skip freq./ 

speed 1

Reference in skip 
freq./speed band 

indicator

 

Velocity 

feed-forward 
reference 

Feed-forward 

selected 

indicator

1.12

x(-1)

1.39

1.40

1.08

[1.06]
[1.07]

[1.07]
[1.06]

[1.06]

[1.06]

[1.06]

[1.07]

1.06

1.07

1.11

Sequencer (Menu 6)

1.02

1.03

Menu 2

Skip freq./ 

speed 2

Skip freq./ 

speed 3

Skip freq. 1
speed band 

1, 2, 3

Skip freq. 2
speed band 

1, 2, 3

Skip freq. 3
speed band 

1, 2, 3

1.29

1.30

1.31

1.32

1.33

1.34

1.35

Menu 8

JOG

RUN FORWARD

RUN REVERSE

Summary of Contents for Unidrive 1 Series

Page 1: ...EF www controltechniques com User Guide Unidrive Model sizes 1 to 5 Universal Variable Speed AC Drive for induction and servo motors Part Number 0460 0083 09 Issue Number 9...

Page 2: ...rate an Environmental Management System EMS which is certified to the International Standard ISO 14001 Further information on the EMS our Environmental Policy and other relevant information is availab...

Page 3: ...hapter 1 Safety Information on page 7 contains general safety information It is essential that the warnings are observed and the information considered when working with or designing a system using th...

Page 4: ...ns 37 4 2 AC supply requirements 40 4 3 Supplying the drive with DC DC bus paralleling 40 4 4 Ratings 40 4 5 Output circuit and motor protection 41 4 6 Braking 43 4 7 Ground leakage 44 4 8 EMC Electro...

Page 5: ...10 13 Menu 13 Digital lock orientation 160 10 14 Menu 14 Programmable PID function 166 10 15 Menu 15 Regen 169 10 16 Menu 16 Small option module set up 171 10 17 Menu 17 Large option module set up 17...

Page 6: ...r is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used A Unidrive EMC Data Sheet is also available giving detailed EMC i...

Page 7: ...additional safety devices such as electro mechanical interlocks and overspeed protection devices may be required The drive must not be used in a safety critical application without additional high int...

Page 8: ...rated below Model Nominal rating Output current A Typical Input current A kW hp 1201 0 37 0 5 2 1 2 4 1202 0 55 0 75 2 8 3 5 1203 0 75 1 3 8 4 6 1204 1 1 1 5 5 6 6 5 1205 2 2 3 9 5 8 6 2201 3 4 12 10...

Page 9: ...and date code Approvals Drive ratings UNI3401 VTC 15kW STDJ41 IT IS ESSENTIAL TO READ THE MANUAL BEFORE CONNECTING THE DRIVE VOLTAGE 50 60 Hz 3Ph INPUT OUTPUT 380 480V 380 480V CURRENT A 27A 34 0A OV...

Page 10: ...e applied to the motor is directly proportional to the frequency except at low speed where the drive uses motor parameters to apply the correct voltage to keep the flux constant under varying load con...

Page 11: ...trol module and one or more power modules For power ratings greater than 160kW 200hp multiple power modules up to a maximum of 8 can be connected in parallel When multiple power modules are used an ou...

Page 12: ...all option module UD55 User Guide Cloning interface small option module UD70 User Guide Large option module and software UD71 User Guide Serial communications large option module UD73 User Guide Profi...

Page 13: ...foam Gasket foam Gasket foam UL Warning label Power connector Power connector UL Warning label UL Warning label UL Warning label UL Warning label 1 2 3 4 5 6 7 8 9 10 11 21 22 23 24 25 26 27 28 29 30...

Page 14: ...e inputs which must be located very close to the drives Space must be made available for the filters and allowance made for carefully segregated wiring Both levels of precautions are covered in sectio...

Page 15: ...until it is released from the middle cover 5 Remove the four screws that are now revealed 6 Remove the middle cover All the power terminals and ribbon cable connectors are now accessible 3 4 Ingress...

Page 16: ...e mounted The following drawings show the dimensions of the drive and mounting holes for each method to allow a back plate to be prepared Lifting the drive The weights of model sizes 3 and 4 are 22kg...

Page 17: ...ta Diagnostics UL Listing Information Unidrive User Guide 17 Issue Number 9 www controltechniques com Figure 3 7 Surface mounting of model sizes 3 and 4 Model size 3 Model size 4 Back plate Back plate...

Page 18: ...re 3 8 Through panel mounting of model sizes 1 and 2 N When drives are through panel mounted a baffle plate is required to ensure the correct level of air flow is maintained through the heatsink For f...

Page 19: ...4 N When drives are through panel mounted a baffle plate is required to ensure the correct level of air flow is maintained through the heatsink For further information please refer to section 3 9 Baff...

Page 20: ...Macros Advanced Parameters Technical Data Diagnostics UL Listing Information 20 Unidrive User Guide www controltechniques com Issue Number 9 Figure 3 10 Unidrive Size 5 overall dimensions 35 5mm 1 39...

Page 21: ...ive User Guide 21 Issue Number 9 www controltechniques com Figure 3 11 Unidrive Size 5 mounting dimensions 139mm 5 472in 154mm 6 063in 256mm 10 079in 144mm 5 669in 1248mm 49 134in Rear view of power m...

Page 22: ...11mm 0 433in 8mm 0 315in 315mm 282mm Outline of the power module Aperture 33 5mm Location of aperture in relation to the outline of the power module Locations and dimensions of the mounting holes in r...

Page 23: ...Advanced Parameters Technical Data Diagnostics UL Listing Information Unidrive User Guide 23 Issue Number 9 www controltechniques com Table 3 1 General views of the mounting brackets Model size Throug...

Page 24: ...low the greater the surface area of the enclosure walls the better is the dissipation capability Only the surfaces of the enclosure that are unobstructed not in contact with a wall or floor can dissip...

Page 25: ...ollowing Using a lower PWM switching frequency to reduce the dissipation in the drives Reducing the ambient temperature outside the enclosure and or applying forced air cooling to the outside of the e...

Page 26: ...e 3 17 The air supply must be obtained from outside the enclosure and the exhaust air must exit the enclosure The maximum permissible heatsink temperature is 95 C 203 F Take the following precautions...

Page 27: ...emove the exhaust air 2 It is recommended that the airflow is ducted into the front of the drive This airflow must be at least 400m3 hr 235ft3 min equivalent air speed of 1m s 3 3ft s through the fron...

Page 28: ...s for model sizes 1 and 2 Attaching a fabricated baffle plate to the heatsink Table 3 2 Methods of attaching the baffle plate Figure 3 20 Dimensions for the fabrication of baffle plates for model size...

Page 29: ...Bookcase FS5106 25 07 4200 6113 4 mm2 10 AWG 2 1kg 5lb UNI3201 to 3202 Bookcase FS5113 50 53 4200 6116 10 mm2 6 AWG 3 8kg 9lb UNI3203 Bookcase FS5113 63 34 4200 6117 10 mm2 6 AWG 3 8kg 9lb UNI3204 Boo...

Page 30: ...I1401 to UNI1405 A 230mm 9 055in B 25mm 0 984in C 218mm 8 583in D 47 5mm 1 870in H 95mm 3 740in L 240mm 9 449in W 45mm 1 772in Z 4 5mm 0 177in Ground Terminal M5 Figure 3 21 Unidrive size 1 bookcase m...

Page 31: ...0mm 14 961in B 35mm 1 378in C 60mm 2 362in F 364mm 14 331in G 16 5mm 0 650in H 68mm 2 677in L 390mm 15 354in S 300mm 5mm 11 811in 0 197in U 3x 2 5mm2 AWG14 W 85mm 3 346in Z 5 5mm 0 217in Ground Termin...

Page 32: ...2401 UNI2203 UNI2402 to UNI2403 A 385mm 15 157in 385mm 15 157in B 35mm 1 378in 35mm 1 378in C 120mm 4 724in 120mm 4 724in D 364mm 14 331in 364mm 14 331in E 16 5mm 0 650in 16 5mm 0 650in H 68mm 2 677in...

Page 33: ...20 37 Model UNI3203 UNI3404 UNI3204 UNI3405 UNI4401 to UNI4402 UNI4403 to UNI4404 UNI4405 A 315mm 12 402in 310mm 12 205in 330mm 12 992in 420mm 16 535in 420mm 16 535in B 105mm 4 134in 105mm 4 134in 120...

Page 34: ...User Guide www controltechniques com Issue Number 9 Unidrive Size 5 bookcase mounted filter Ensure the LOAD terminals face the drive Figure 3 28 Unidrive size 5 bookcase mounted filter B W A C G Z L H...

Page 35: ...oltechniques com 3 12 Power terminals 3 12 1 Location of power and ground terminals Figure 3 29 Locations of the power and ground terminals on Unidrive Size 1 to 4 Figure 3 30 Locations of the power a...

Page 36: ...screw 0 5 N m 4 4 lb in CT part number Schaffner part number Power connections Ground connections Max cable size Torque Size Torque 4200 6104 FS5101 10 07 4 mm2 10 AWG 0 8 N m 7 1 lb in M5 2 2 N m 19...

Page 37: ...a potentially lethal voltage after the AC supply has been disconnected If the drive has been energised the AC supply must be isolated at least ten minutes before work may continue Normally the capacit...

Page 38: ...com Issue Number 9 Figure 4 2 Unidrive Size 3 to 4 power connections A thermal overload protection device should be connected as shown in Figure 4 7 on page 44 and must interrupt the AC supply on tri...

Page 39: ...C bus choke IN95 Interface board W V U L1 L2 L3 U W V U W V Contactor Isolator IN96 Phase control board DC bus choke IN95 Interface board Ground Sharing choke Sharing choke AC supply for fan when fitt...

Page 40: ...ith a high rated capacity Line reactors are particularly recommended for use with the following drive models when one of the above factors exists or when the supply capacity exceeds 175kVA UNI1201 UNI...

Page 41: ...urrent must be set to suit the motor There is also provision for the use of a motor thermistor to prevent overheating of the motor e g due to loss of cooling 4 5 1 Cable types and lengths Since capaci...

Page 42: ...re to all the other cores and the screen shorted together 4 5 2 Multiple motors Open loop only If the drive is to control more than one motor make connections as shown in Figure 4 5 and Figure 4 6 The...

Page 43: ...e information please contact the supplier of the drive 4 6 Braking Internal connection does not require the cable to be armoured or shielded In built in the Unidrive software is overload protection fo...

Page 44: ...ast once every half cycle 3 B detects AC pulsating DC and smooth DC fault currents Type AC should never be used with drives Type A can only be used with single phase drives Type B must be used with th...

Page 45: ...nd connection must be provided which does not pass through a connector or flexible power cord WARNING Optional ground connection External controller 0V If the control circuit 0V is to be grounded this...

Page 46: ...dance Use a cable with individually shielded twisted pairs Connect the cable shields to 0V at both the drive and the encoder using the shortest possible links pigtails The cable should preferably not...

Page 47: ...ure 4 10 Feedback cable twisted pair Figure 4 11 Feedback cable connections To ensure suppression of radio frequency emission observe the following Use a cable with an overall shield Clamp the overall...

Page 48: ...d placing sensitive signal circuits in a zone 300mm 12in all around the power module 6 Ensure chassis directly grounded to the back plate using fixing screws Screw threads tapped into the back plate m...

Page 49: ...a minimum and ensure that all sensitive equipment and circuits are at least 0 3m 12 in away The coupling bar may be grounded to a known low impedance ground nearby for example a large metallic struct...

Page 50: ...rcuits in the drive by basic insulation only The installer must ensure that the external control circuits are insulated from human contact by at least one layer of insulation rated for use at the AC s...

Page 51: ...ommon 0V common Analog input 0V common 1 2 5 6 3 11 9 10 8 21 22 23 24 25 26 27 28 29 30 31 Preset ref USA Status relay Drive normal 0V common Analog frequency reference 1 Motor thermistor FREQUENCY T...

Page 52: ...sistance 200 at 20mA Common to all modes Resolution 12 bit plus sign Sampling period default setting PWM switching frequency dependent OL 1 4ms for 3 6 12kHz 1 9ms for 4 5 9kHz CL 345 s for 3 6 12kHz...

Page 53: ...current 240mA total including any digital outputs Protection Current foldback above 240mA 23 0V common digital Function Common connection for external digital devices 24 Digital input output F1 OL AT...

Page 54: ...dependent 5 5ms for 3 6 12kHz 7 4ms for 4 5 9kHz Disable or trip function 1ms 31 0V common digital Function Common connection for external digital devices 5 Analog input 1 10V frequency reference inpu...

Page 55: ...s For encoder cable screening see section 4 10 Feedback cable twisted pair on page 47 Description of the frequency and direction connections 7 Phase channel U 8 Phase channel U 9 Phase channel V 10 Ph...

Page 56: ...tem Each power module must be given a unique address The control module must be notified of the number of power modules it is to control The new settings must be saved in the control module software 4...

Page 57: ...uration setting Figure 4 20 Setting the configuration switches in the control module 4 11 3 Saving the configuration When the drive is first powered up and the system contains more than one power modu...

Page 58: ...y shows the parameter value or the specific trip type Figure 5 1 Keypad 5 2 Keypad operation 5 2 1 Control buttons The keypad consists of 1 Four arrow buttons 2 One mode button 3 Three control buttons...

Page 59: ...nce standard security has been cleared the left and right buttons are used to navigate between menus can only be used to move between menus if standard security has been opened For further information...

Page 60: ...ion or feature of the drive as follows Key Press Parameter View Mode Parameter Edit Mode jumps to xx 00 Sets value to 0 jumps to 00 yy Jumps to LSB Menu 0 xx 00 0 01 0 02 0 03 0 04 0 05 0 50 0 49 0 48...

Page 61: ...led The drive has detected that the AC supply has been lost and is attempting to maintain the DC bus voltage by decelerating the motor dc DC applied to the motor Enabled The drive is applying DC injec...

Page 62: ...arameters by setting parameter xx 00 to 1000 and press the button Opening user security Enter the security code into parameter xx 00 Closing user security Set parameter xx 00 to 2000 and press the mod...

Page 63: ...equirements Defines the unique address for the drive Any number in the permitted range 0 0 to 9 9 which has a zero in it should not be used as these are used to address groups of drives This is the mo...

Page 64: ...1 5 50 RW Uni 0 15 Ramp mode selector 2 04 Stnd Hd 0 FASt 1 Stnd Ct 2 Stnd Ct 2 RW Txt 0 16 Stop mode selector 6 01 COASt 0 rP 1 rP dcI 2 dcI 3 td dcI 4 COASt 0 rP 1 no rP 2 rP POS 3 rP 1 no rP 2 RW T...

Page 65: ...09 0 or 1 0 1 RW Bit 0 40 Autotune 5 12 3 25 0 or 1 0 RW Bit P 0 41 PWM switching frequency 5 18 3 kHz 0 4 5 kHz 1 6 kHz 2 9 kHz 3 12 kHz 4 3 0 RW Txt 0 42 Motor no of poles 5 11 2 POLE 0 to 32 POLE 1...

Page 66: ...requency speed ref 1 remote Frequency speed ref 2 local Keypad reference Precision reference not used with Menu 0 Preset references see the Unidrive Advanced User Guide JOG SELECT RUN FORWARD RUN REVE...

Page 67: ...Motor speed 0 16 0 39 0 18 0 19 Post ramp reference 0 12 S ramp 0 06 0 07 Speed loop integral gain 0 08 Stop mode selector THERMISTOR Speed loop derivative gain 0 09 0 10 CL Speed loop PID gains 15 w...

Page 68: ...ncy 2 1 22 1 000 0 Hz 0 RW Bi 0 26 Standard ramp voltage 2 08 200V drive 0 to 400 V 400V drive 0 to 800 V 200V drive 375 400V drive EUR 750 USA 775 RW Uni 0 27 Current control P gain 4 13 0 to 30 000...

Page 69: ...rrent range FLC Full load current of the drive maximum continuous output current up to 40o C ambient temperature Displayed in Pr 11 32 0 22 IMAX A Maximum overload output current of the drive up to 40...

Page 70: ...15 Pre ramp reference 0 11 Reference selection Precision reference not used with Menu 0 All preset references not used with Menu 0 ANALOG INPUT PRESET REF SELECT RUN FORWARD RUN REVERSE RESET Minimum...

Page 71: ...D USA DRIVE RUNNING Total motor current No of poles Power factor Rated voltage Rated speed Rated current Rated frequency PWM switching frequency 0 41 0 42 to 0 47 Motor parameters 0 14 Power stage Vol...

Page 72: ...at larger values produce lower deceleration The rate applies in both directions of rotation This parameter has a European and USA default setting of 0 in Unidrive VTC The default setting of Pr 0 05 de...

Page 73: ...value of stator winding resistance to be stored in a parameter in the drive The three Vector modes allow the resistance to be measured under different circumstances Closed loop Pr 0 07 Pr 3 10 operat...

Page 74: ...of motor speed that is obtained from the speed feedback The value of Pr 0 10 is applied to the analog output on terminal 9 to indicate speed When the frequency speed is constant Pr 0 12 Pr 0 11 Durin...

Page 75: ...rom running at speeds that cause mechanical resonances in the machine During acceleration and deceleration the drive passes through the skip bands but it does not stabilize in a skip band Up to two sk...

Page 76: ...ntrol Torque control Braking when Pr 0 15 Ramp mode selector is set at Stnd Ct default Synchronizing the drive to a spinning motor Pr 0 39 set at 1 Loss of AC supply when Pr 6 03 AC supply loss mode s...

Page 77: ...elected the value of Pr 0 10 is shown on the upper display This allows the motor frequency speed to be monitored without the need to select the parameter 2 If the keypad is subsequently used to select...

Page 78: ...two levels of protection occur as follows 1 When a PWM switching frequency of 6kHz 9kHz or 12kHz is selected the PWM switching frequency is automatically halved This reduces switching losses in the I...

Page 79: ...meters to menu 0 in Unidrive The following menu 0 parameters are found in Unidrive VTC Any parameter not listed below is the same as open loop Unidrive Pr 0 14 indicates the total motor current the ve...

Page 80: ...set count is cleared Auto reset will not occur on an External trip Et This parameter defines the time between a trip and an auto reset subject to the 10s minimum trip time for IGBT over current trips...

Page 81: ...en serial communications are used 3 Press or momentarily close the RESET contact The new setting takes effect and all the parameters revert to the appropriate default values for the new mode Ensure th...

Page 82: ...rature channel A Quadrature channel A Marker pulse channel Z Commutation channel U Commutation channel V Commutation channel V Commutation channel W Commutation channel W U V W U V W Braking resistor...

Page 83: ...misation Macros Advanced Parameters Technical Data Diagnostics UL Listing Information Unidrive User Guide 83 Issue Number 9 www controltechniques com 30 31 28 29 26 27 24 25 23 21 22 10 11 8 9 6 7 4 5...

Page 84: ...n Pr 0 42 Set maximum frequency Enter Maximum frequency in Pr 0 02 Hz Set acceleration deceleration rates Enter Acceleration rate in Pr 0 03 s 100Hz Deceleration rate in Pr 0 04 s 100Hz Autotune Set P...

Page 85: ...ip Encoder PPR pulses per revolution Enter PPR in Pr 16 12 Enter motor nameplate details Enter Motor rated power factor Pr 0 43 Motor rated voltage in Pr 0 44 V check if or connection Motor rated spee...

Page 86: ...transformation ratio of 0 33 3 1 if the resolver has a transformation ratio of 0 5 2 1 set Pr 16 10 1 SINCOS Encoder power supply Pr 16 15 0 5V Pr 16 15 1 8V Save parameter and cycle power to clear S...

Page 87: ...feedback device Please refer to the documentation that came with UniSoft or VTCSoft for instructions on how to install the drive commissioning software Action Detail Before power up Ensure Enable is c...

Page 88: ...n entering the motor nameplate details max min speeds and acceleration deceleration rates click on the relevant field enter the value here and click Change Action Detail Before power up Ensure Enable...

Page 89: ...rive menu select Program all parameters to upload the parameters to the drive Autotune Close the enable signal terminal 30 Click Autotune to enable the drive to perform the autotune If the drive trips...

Page 90: ...nameplate details max min speeds and acceleration deceleration rates click on the relevant field enter the value here and click Change Select Servo mode of operation Action Detail Before power up Ens...

Page 91: ...on Enter PPR in Pr 16 12 Programming the drive In the Drive menu select Program all parameters to upload the parameters to the drive Close the enable signal terminal 30 Click Autotune to enable the dr...

Page 92: ...for a given output frequency i e 4 pole motor 50 Hz 1 500 rpm 2 pole motor 50 Hz 3 000 rpm Pr 0 44 5 09 Motor rated voltage Defines the voltage applied to the motor at rated frequency Pr 0 47 5 06 Mot...

Page 93: ...irable for the drive to test the motor on power up or before a run The stator resistance and voltage offset values can be viewed in Pr 5 17 and Pr 5 23 respectively Pr 0 40 5 12 Autotune The motor mus...

Page 94: ...he volts frequency ratio must be kept constant to ensure rated torque is available from the motor over the frequency range Pr 0 43 5 10 Motor rated power factor Defines the angle between the motor rat...

Page 95: ...h can have a significant effect on rotor resistance and thus rated speed The following conditions must apply for the slip optimiser to function correctly As detailed above in the autotune section the...

Page 96: ...inertia reflected through the gear box if used stiffness compliance angle user defined deflection of the motor shaft when full torque is applied drive rated current motor nameplate details Tuning the...

Page 97: ...1 loss of torque 2 excessive heating of the motor 3 in extreme cases the motor can run out of control to maximum speed If the load cannot be removed and it is solely an inertia a high current autotune...

Page 98: ...tual value the error The integral gain Pr 3 11 responds proportionally to the accumulation of the error It is used to eliminate steady state error and under dynamic conditions provide stiffness to the...

Page 99: ...tching frequency The default switching frequency for the drive is 3kHz however this can be increased up to a maximum value of 12kHz If the switching frequency is increased the following apply 1 Increa...

Page 100: ...this bit is set the motor output frequency is twice the displayed value The maximum open loop output frequency increases from 1 000Hz to 2 000Hz The following parameters need to be re scaled when thi...

Page 101: ...ce analog input 2 is the PID reference and analog input 3 is the PID feedback A digital input selects between an analog speed reference and the PID control Macro 6 Axis limit control The Axis limit co...

Page 102: ...on except that menu 0 has less parameters 0V common Analog frequency speed reference 1 remote 0 10V SPEED TORQUE 0V common Analog frequency speed reference 2 local 4 20mA OL AT SPEED CL AT ZERO SPEED...

Page 103: ...thermistor Signal connector 24 25 26 27 28 29 30 31 1 2 4 5 6 3 8 11 9 10 Macro 4 Torque control 2004 The Torque control macro configures the drive for use in Torque control mode selectable via a digi...

Page 104: ...reference can be either unipolar or bipolar Status relay Drive healthy Frequency speed reference 1 0 10V PID feedback TORQUE 0V common PID reference 0 10V OL AT SPEED CL AT ZERO SPEED RESET RUN FORWAR...

Page 105: ...ion before and or after running the motor See Pr 13 08 in Chapter 10 Advanced Parameters for further information 0V common Analog frequency speed reference 1 remote 0 10V SPEED TORQUE 0V common BRAKE...

Page 106: ...eed ref 2 Keypad reference Precision reference not used with Menu 0 Preset references use Macro 3 JOG SELECT RUN FORWARD RUN REVERSE RESET Menu 0 changes from default configuration 6 0 35 0 05 Referen...

Page 107: ...CY CL SPEED TORQUE Motor control Current limit Speed loop proportional gain Synchronize to a spinning motor Motor speed 0 39 0 03 0 04 0 06 0 07 Speed loop integral gain 0 08 No of poles Power factor...

Page 108: ...P OL EXTERNAL TRIP CL DRIVE ENABLE Motorized pot zero start select 0 27 0 28 0 29 0 30 Motorized pot bipolar select Motorized pot rate Motorized pot output scale factor Motorized pot reset indicator 0...

Page 109: ...ontrol Current limit Speed loop proportional gain Synchronize to a spinning motor Motor speed Motor active current 0 16 0 39 0 03 0 04 0 15 0 18 0 19 Pre ramp reference Post ramp reference 0 11 0 12 S...

Page 110: ...p frequencies speeds PRESET SELECT A Preset reference 2 0 26 0 27 0 28 Preset reference 3 Preset reference 4 Preset reference 1 B 0 0 1 1 A 0 1 0 1 Preset speed 1 2 3 4 Maximum freq speed clamp 0 XX 0...

Page 111: ...urrent limit Speed loop proportional gain Synchronize to a spinning motor Power stage Motor active current 0 16 0 39 0 03 0 04 0 15 0 18 0 19 Pre ramp reference Post ramp reference 0 11 0 12 S ramp 0...

Page 112: ...selector Freq speed control Frequency speed reference Torque control OL Not used CL Speed over ride Analog input 1 scaling 0 29 0 30 0 27 Analog input 2 Analog input 2 scaling Minimum frequency speed...

Page 113: ...oop proportional gain Synchronize to a spinning motor Motor speed Motor active current TORQUE ENABLE 0 16 0 39 0 03 0 04 0 15 0 18 0 19 Pre ramp reference Post ramp reference 0 11 0 12 S ramp 0 06 0 0...

Page 114: ...back PID 0 16 Analog input 3 mode selector 0 19 0 24 PID output low limit 0 25 PID output scale factor 0 28 0 14 Analog input 1 mode selector Analog input 2 scaling 0 29 Analog input 3 scaling Pr Func...

Page 115: ...oportional gain Synchronize to a spinning motor Motor speed Motor active current 0 39 0 03 0 04 Pre ramp reference Post ramp reference 0 11 0 12 0 06 0 07 Speed loop integral gain 0 08 No of poles Pow...

Page 116: ...ward indicator 0 15 0 17 0 16 0 22 Run reverse indicator Limit reverse indicator Limit reverse invert Frequency speed reference Direction control Bi directional frequency speed reference RUN enabled R...

Page 117: ...to a spinning motor Motor speed Motor active current 0 18 0 39 0 03 0 20 Pre ramp reference Post ramp reference 0 11 0 12 0 06 0 07 Speed loop integral gain 0 08 Stop mode selector No of poles Power f...

Page 118: ...rent magnitude Preset references see the Unidrive Advanced User Guide OL Not used CL JOG SELECT RUN FORWARD RUN REVERSE Current threshold RESET 0 35 0 14 0 05 Reference selector ANALOG INPUT 1 INPUT 2...

Page 119: ...quency PWM switching frequency 0 41 0 42 0 47 Motor parameters 0 13 CL Speed loop PID gains Power stage THERMISTOR OL EXTERNAL TRIP CL DRIVE ENABLE Speed loop derivative gain 0 09 0 10 Voltage mode se...

Page 120: ...n reference not used with Menu 0 Preset references see the Unidrive Advanced User Guide 0 35 Reference encoder Feedback resolver position 0 21 Feedback encoder Reference resolver position 0 19 Referen...

Page 121: ...TATION COMPLETE DRIVE ENABLE Speed loop derivative gain 0 09 0 10 Pr Function 0 11 Pre ramp reference 0 12 Post ramp reference 0 13 Motor active current 0 14 Relative jog reference 0 15 Position loop...

Page 122: ...g highlights the macro terminal differences for Unidrive VTC Any terminal not listed below have the same function as open loop Unidrive Macros 1 and 5 Analog outputs 1 and 2 terminals 9 and 10 are pos...

Page 123: ...h parameters Some parameters have different ranges and or default values between Unidrive VTC and open loop Unidrive These differences are listed in section 10 21 Unidrive VTC parameter range and defa...

Page 124: ...bits 1 3 Preset reference Scan timer reset Preset reference selected indicator Preset references 1 to 8 Analog input 1 Analog input 2 Memory Menu 7 1 36 1 37 1 41 1 16 1 48 1 15 1 50 1 17 1 21 1 28 1...

Page 125: ...p reference Maximum freq speed clamp Minimum freq speed clamp Maximum reverse freq speed Negative minimum speed select Reference enabled indicator Reverse selected indicator Skip freq speed 1 Referenc...

Page 126: ...000 0 Hz 30 000 rpm 0 RW Bi 1 25 Preset reference 5 1 000 0 Hz 30 000 rpm 0 RW Bi 1 26 Preset reference 6 1 000 0 Hz 30 000 rpm 0 RW Bi 1 27 Preset reference 7 1 000 0 Hz 30 000 rpm 0 RW Bi 1 28 Prese...

Page 127: ...chanical Installation Electrical Installation Getting Started Menu 0 Running the motor Optimisation Macros Advanced Parameters Technical Data Diagnostics UL Listing Information Unidrive User Guide 127...

Page 128: ...2 15 Acceleration rate 5 Rev Acceleration rate 1 2 16 Acceleration rate 6 Rev Acceleration rate 2 2 17 Acceleration rate 7 Rev Acceleration rate 3 2 18 Acceleration rate 8 Rev Acceleration rate 4 Acce...

Page 129: ...cceleration limit 2 08 Standard ramp voltage Ramp control N t N t Deceleration Forward Decel rate Reverse Decel rate _ 2 01 Post ramp reference 2 02 Ramp Closed loop only enable Current control Menu 4...

Page 130: ...W Uni 2 19 Jog acceleration rate 0 to 3 200 0 s 100Hz VT 0 to 32 0 s 1 000rpm SV 0 to 32 000 s 1 000rpm 0 2 0 RW Uni 2 20 Forward deceleration ramp selector 0 to 9 0 RW Uni 2 21 Deceleration rate 1 Fo...

Page 131: ...b D connector 1 2 3 4 3 13 F A D B D B 3 21 3 22 No of encoder lines Pulses per revolution Frequency input select Frequency slaving enable 1 1536 3 14 3 15 Slaving ratio numerator Slaving ratio denomi...

Page 132: ...r 48 49 50 51 52 53 UD53 Resolver option module Sin high Sin low Cos low Cos high Exit high Exit low Encoder Resolver 13 14 1 2 3 4 5 6 5V 15V 3 23 Encoder 1 supply voltage select 3 26 Encoder 1 speed...

Page 133: ...tor At speed lower limit _ 3 07 10 07 Above at speed window indicator At speed upper limit _ 10 06 At speed indicator 1 03 Pre ramp reference 3 09 Absolute at speed detect mode 3 01 Final speed demand...

Page 134: ...r 1 0 RW Bit 3 14 Slaving ratio numerator 0 to 1 000 1 RW Uni 3 15 Slaving ratio denominator 0 001 to 1 000 1 RW Uni 3 16 Frequency output enable 0 or 1 0 RW Bit 3 17 Frequency scaling ratio select bi...

Page 135: ...03 Torque demand Torque reference offset Torque reference Torque reference offset enable Motor thermal time constant Motor protection mode At 100 load indicator Current limit active indicator Active...

Page 136: ...rent limits Symmetrical Drive rated continuous current Motor rated current Speed feedback Final speed demand Over riding current limit 3 05 Zero speed threshold Speed loop output Torque reference offs...

Page 137: ...ontroller 4 18 11 32 5 07 4 05 Motoring Regenerating Current limits Symmetrical Drive rated continuous current Motor rated current Speed feedback Final speed demand Over riding current limit 3 05 Zero...

Page 138: ...demand IMAX RO Bi P 4 04 Current demand IMAX RO Bi P 4 05 Motoring current limit 0 to IMAX 150 175 RW Uni 4 06 Regenerating current limit 0 to IMAX 150 175 RW Uni 4 07 Symmetrical current limit 0 06...

Page 139: ...Hertz L1 L2 L3 5 05 DC Bus voltage 5 09 Motor rated voltage 5 07 5 08 Motor rated current Motor rated full load RPM 5 06 Motor rated frequency 5 23 Voltage offset 5 17 Stator resistance 5 15 5 16 Vol...

Page 140: ...Hertz L1 L2 L3 5 05 DC Bus voltage _ Current controller 5 09 Motor rated voltage 5 07 5 08 Motor rated current Motor rated full load RPM 5 06 Motor rated frequency 5 29 5 30 Motor saturation breakpoin...

Page 141: ...ant Filter _ 5 07 5 11 Motor rated current Motor number of poles 5 02 Motor voltage 4 02 Motor active current 5 03 Motor power kW 3 x V x I 5 18 5 19 PWM switching frequency High stability space vecto...

Page 142: ...0 RW Bit P 5 13 Dynamic V f select 0 09 0 or 1 0 RW Bit 5 14 Voltage mode selector 0 07 Ur_S 0 Ur_l 1 Ur 2 Fd 3 Ur_l 1 RW Uni P 5 15 Boost voltage 0 08 0 to 25 0 3 RW Uni 5 16 Jog boost voltage 0 to 2...

Page 143: ...ch 2 Logic 1 6 11 Keypad RUN key enable 6 12 Keypad STOP key enable 6 13 Keypad FWD REV key enable 1 11 Reference enabled indicator 1 12 Reverse selected indicator 1 13 Jog selected indicator RUN STOP...

Page 144: ...y enable 0 or 1 0 RW Bit 6 12 Keypad stop key enable 0 or 1 0 RW Bit 6 13 Keypad fwd rev key enable 0 or 1 0 RW Bit 6 15 Drive enable 0 or 1 1 RW Bit 6 16 Electricity cost kWh 0 to 600 0 Currency kWh...

Page 145: ...ameter V f x 1 Analog input 1 Analog input 3 A D 7 15 Analog input 3 mode selector 7 16 Analog input 3 scaling Any unprotected variable parameter 7 18 Function 3 destination parameter Any variable par...

Page 146: ...0 0 20 1 20 0 2 4 20 tr 3 20 4 tr 4 4 20 Lo 5 20 4 Lo 6 4 20 Pr 7 20 4 Pr 8 th SC 9 th 10 EUR th 10 USA VOLt 0 RW Txt R 7 16 Analog input 3 scaling 0 to 4 000 1 000 RW Uni 7 17 Analog input 3 invert 0...

Page 147: ...chanical Installation Electrical Installation Getting Started Menu 0 Running the motor Optimisation Macros Advanced Parameters Technical Data Diagnostics UL Listing Information Unidrive User Guide 147...

Page 148: ...r source parameter x 1 x 1 8 11 F1 invert 8 01 Input output F2 Input output F2 state indicator 8 15 F2 output enable Any unprotected bit parameter Any bit parameter 8 13 F2 destination or source param...

Page 149: ...tination or source parameter Input F5 Any unprotected bit parameter x 1 8 22 F5 invert F5 state indicator 8 05 8 09 External trip inhibit input F7 mode select Hardware enable 10 32 External trip activ...

Page 150: ...source parameter Pr 0 00 to Pr 20 50 Pr 10 33 RW Uni R P 8 14 F2 invert 0 or 1 0 RW Bit 8 15 F2 output enable 0 or 1 0 RW Bit R 8 16 F3 destination or source parameter Pr 0 00 to Pr 20 50 Pr 6 31 RW U...

Page 151: ...chanical Installation Electrical Installation Getting Started Menu 0 Running the motor Optimisation Macros Advanced Parameters Technical Data Diagnostics UL Listing Information Unidrive User Guide 151...

Page 152: ...1 input 1 invert Any bit parameter x 1 9 06 Function 1 input 2 source parameter 9 07 Function 1 input 2 invert 9 08 Function 1 output invert 9 09 Function 1 delay x 1 Function 1 output indicator 9 01...

Page 153: ...gic twos 9 29 Binary sum logic ones LSB 9 31 Binary sum logic fours MSB 9 32 Binary sum logic output value Any unprotected bit parameter 9 33 Binary sum logic destination parameter 9 24 Motorized pot...

Page 154: ...t 9 16 Prog logic function 2 input 2 source Pr 0 00 to Pr 20 50 Pr 0 00 RW Uni P 9 17 Prog logic function 2 input 2 invert 0 or 1 0 RW Bit 9 18 Prog logic function 2 output invert 0 or 1 0 RW Bit 9 19...

Page 155: ...temperature alarm indicator 0 or 1 RO Bit P 10 19 Ambient temperature alarm indicator 0 or 1 RO Bit P 10 20 Last trip 0 to 200 RO Txt S P 10 21 Second last trip 0 to 200 RO Txt S P 10 22 Third last t...

Page 156: ...ter 0 27 assignment Pr 0 00 to Pr 20 50 EUR Pr 8 27 USA Pr 6 04 RW Uni P 11 18 Parameter 0 28 assignment Pr 0 00 to Pr 20 50 EUR Pr 4 13 USA Pr 1 01 RW Uni P 11 19 Parameter 0 29 assignment Pr 0 00 to...

Page 157: ...12 05 Threshold Detector 1 hysteresis Any unprotected variable parameter 12 07 Threshold Detector output destination parameter 1 Any variable parameter 12 13 Threshold Detector 2 input source 12 14 T...

Page 158: ...0 RW Uni 12 06 Comparator 1 output invert 0 or 1 0 RW Bit 12 07 Comparator 1 output destination parameter Pr 0 00 to Pr 20 50 Pr 0 00 RW Uni R P 12 13 Comparator 2 input source parameter Pr 0 00 to Pr...

Page 159: ...chanical Installation Electrical Installation Getting Started Menu 0 Running the motor Optimisation Macros Advanced Parameters Technical Data Diagnostics UL Listing Information Unidrive User Guide 159...

Page 160: ...pen loop logic diagram 13 16 Reference encoder revolution counter 40 41 43 44 46 47 UD51 2nd encoder option module A A B B Z Z 16 03 Encoder position 16 02 Encoder RPM A A B B Z Z V 0V 3 26 Encoder RP...

Page 161: ...06 Reference input destination selector 13 03 Max speed 13 02 Reference encoder input 13 01 13 09 13 10 Position loop error Position loop gain Position speed limit 16384 1 encoder revolution Position...

Page 162: ...Z Z V 0V 3 27 Encoder position 3 26 Encoder RPM 15 way sub D connector 48 49 50 51 52 53 UD53 Resolver option module Sin high 16 03 Resolver position 16 02 Resolver RPM Sin low Cos low Cos high Exit...

Page 163: ...n selector 13 05 Percentage input select 1 05 Jog reference x 1 13 11 Orientation position reference _ Orientation 13 12 13 18 Orientation acceptance window Orientation complete indicator _ 1 11 Refer...

Page 164: ...ge input select 0 or 1 0 RW Bit 13 06 Reference input destination parameter Pr 0 00 to Pr 20 50 0 RW Uni R P 13 07 Reference encoder ratio 0 to 4 000 1 RW Uni 13 08 Position loop mode selector 0 to 2...

Page 165: ...chanical Installation Electrical Installation Getting Started Menu 0 Running the motor Optimisation Macros Advanced Parameters Technical Data Diagnostics UL Listing Information Unidrive User Guide 165...

Page 166: ...Programmable PID function 14 19 14 02 14 20 14 03 14 21 14 04 14 07 _ 14 22 14 09 10 01 14 08 Any variable parameter Any variable parameter Any variable parameter Any bit parameter Main reference sou...

Page 167: ...14 10 14 11 14 12 14 17 14 13 14 14 14 18 14 01 14 15 14 16 Any unprotected variable parameter PID derivative gain PID integral gain PID proportional gain PID hold integrator enable PID output high li...

Page 168: ...able source parameter Pr 0 00 to Pr 20 50 Pr 0 00 RW Uni P 14 10 PID proportional gain 0 to 4 000 1 RW Uni 14 11 PID integral gain 0 to 4 000 0 5 RW Uni 14 12 PID derivative gain 0 to 4 000 0 RW Uni 1...

Page 169: ...15 07 DC Bus voltage set point 15 21 Voltage gain 15 19 Current control proportional gain 15 20 Current control integral gain 15 15 Soft start contactor is closed Enable Regen sequencer Modulation 15...

Page 170: ...frequency 0 18 3 0 4 5 1 6 2 9 3 12 4 kHz 0 RW Txt P 15 09 High stability space vector modulation 0 19 0 or 1 0 RW Bit 15 10 Quasi square operation select 0 20 0 or 1 0 RW Bit 15 11 Sinusoidal rectif...

Page 171: ...rameter 16 21 x 1 16 41 Open collector outputs select 16 22 16 23 Output enable 16 07 Input output state indicator 6 6 Input output F7 x 1 16 40 Destination or source parameter Any unprotected bit par...

Page 172: ...Positive logic select Invert 16 30 16 31 16 10 Input output state indicator 6 6 Input F10 x 1 16 40 All parameters are shown at their default setting Destination parameter Any unprotected bit paramete...

Page 173: ...eir default setting Analog input destination parameter Any unprotected variable parameter Analog input scaling Analog input invert 16 15 16 14 16 04 Analog input level 6 6 Analog input 4 A D x 1 16 16...

Page 174: ...nu 16 UD50 logic diagram part 4 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals 16 20 Analog output 3 scaling 6 6 Analog output 3 Any variable parameter A...

Page 175: ...tput 3 scaling 0 000 to 4 000 1 000 RW Uni 16 21 F7 input destination output source Pr 0 00 to Pr 20 50 Pr 0 00 RW Uni R P 16 22 F7 input output invert 0 or 1 0 RW Bit 16 23 F7 output enable 0 or 1 0...

Page 176: ...minals Output terminals The parameters are all shown at their default settings 16 06 Encoder 1 output select Parameter Range Default Type OL CL OL VT SV 16 01 Option module code 0 to 100 2 RO Uni P 16...

Page 177: ...r serial comms disable 6 0V 5 15V 8 0V Parameter Range Default Type OL CL OL VT SV 16 01 Option module code 0 to 100 4 RO Uni P 16 02 SINCOS encoder rpm 30 000 rpm RO Bi P 16 03 SINCOS encoder revolut...

Page 178: ...terminals Output terminals The parameters are all shown at their default settings 6 Excitation high Excitation low Excitation 3 1 2 1 16 10 Resolver turns ratio select Parameter Range Default Type OL...

Page 179: ...o 255 0 RW Uni P 17 13 Auto run 0 or 1 1 RW Bit 17 14 Global run time trip enable 0 or 1 0 RW Bit 17 15 RS485 Trip enable 0 or 1 0 RW Bit 17 16 IO link RS485 synchronisation source 0 or 1 0 RW Bit 17...

Page 180: ...Slot 3 Destination Node 0 20 09 Reserved 0 Reserved 0 OUT Slot 3 Source Destination 0 20 10 Reserved 0 Reserved 0 IN Slot 1 0 20 11 Trip Delay Time ms 48 Trip Delay Time ms 48 IN Slot 2 0 20 12 Reser...

Page 181: ...RW Uni 2 22 Deceleration rate 2 Forward deceleration rate 2 0 to 3 200 0 s 100Hz 60 0 RW Uni 2 23 Deceleration rate 3 Forward deceleration rate 3 0 to 3 200 0 s 100Hz 60 0 RW Uni 2 24 Deceleration rat...

Page 182: ...rrent controller open loop or the torque producing current controller closed loop The gain of these controllers can be modified with Pr 4 13 and Pr 4 14 This voltage is used as the level for both stan...

Page 183: ...maximum frequency as defined by Pr 1 06 Closed loop 0 Speed control mode The torque demand is equal to the speed loop output 1 Torque control The torque demand is given by the sum of the torque refere...

Page 184: ...op 4 Speed control with torque feed forward The drive operates under speed control but a torque value may be added to the output of the speed controller This can be used to improve the regulation of s...

Page 185: ...ither provides current limits or closed loop torque control by modifying the drive output frequency The control loop is also used in its torque mode during mains loss or when the controlled mode stand...

Page 186: ...4 x Pr 4 13 x R Pr 5 24 x 10 3 Where Pr 4 13 current loop proportional gain calculated above R per phase stator resistance Pr 5 24 per phase motor leakage inductance mH 10 22 6 Sequencing Modes There...

Page 187: ...ode requires terminals to be held active and therefore the run stop and fwd rev keypad buttons on the drive are ignored even if they are enabled Sequencing mode 4 Wire Proof PLC Mode Run permit or Sto...

Page 188: ...rd where the input frequency of the encoder being followed is too low to obtain a smooth feed forward term from it In this case the user can provide an alternative speed reference to be used as the fe...

Page 189: ...added to the normal post ramp speed reference Its value may be written from the keypad via serial comms from an analog input or from an encoder input This parameter can also be used by the position co...

Page 190: ...tput current at 40 C 104 F ambient A Maximum permissible continuous output current at 50 C 122 F ambient A Typical input current A Maximum continuous input current A Model kW hp 3kHz 4 5kHz 6kHz 9kHz...

Page 191: ...0 75 1 0 2 1 2 1 2 1 3 0 4 5 UNI1402 LFT 1 1 1 5 2 8 2 8 2 8 4 3 5 5 UNI1403 LFT 1 5 2 0 3 8 3 8 3 3 5 8 6 8 UNI1404 LFT 2 2 3 0 5 6 4 0 3 3 8 2 8 6 UNI1405 LFT 4 0 5 0 9 5 4 3 3 3 10 0 12 0 UNI2401 L...

Page 192: ...e humidity and cooling method Ambient temperature range 0oC to 50oC 32oF to 122oF Output current de rating must be applied at ambient temperatures between 40oC 104oF and 50oC 122oF absolute maximum Mi...

Page 193: ...del Typical input current Fuse rating Cable size UNI1201 2 4 A 6A 1 5 mm2 16 AWG UNI1202 3 5 A 10A 2 5 mm2 14 AWG UNI1203 4 6 A 10A 2 5 mm2 14 AWG UNI1204 6 5 A 10A 2 5 mm2 14 AWG UNI1205 8 6 A 16A 2...

Page 194: ...at the maximum speed Values quoted are at a distance of 1m from the drive 11 1 19 Torque settings Drive and filters Table 11 4 Drive power terminal data Table 11 5 Drive control terminal data Table 11...

Page 195: ...to a low voltage power supply network which supplies buildings used for domestic purposes The second environment is one that includes all establishments other than those directly connected to a low vo...

Page 196: ...category First environment Second environment Restricted distribution Unrestricted distribution Either distribution UNI1201 to UNI3204 UNI1401 to UNI4401 Rated input current of drive 100A Specified RF...

Page 197: ...4200 6116 FS5113 50 53 50 A 44 1 A 12 8 W 31 mA 143 mA IP20 See Note 2 below 4200 6117 FS5113 63 34 63 A 55 6 A 14 3 W 29 mA 126 mA IP20 4200 6106 FS5113 100 35 100 A 88 2 A 25 5 W 48 5 mA 209 mA IP20...

Page 198: ...28 Loss of signal current on Analog input 2 terminal 7 when configured for 4 to 20mA trip on loss current signal input Trip level 3mA cL3 Current signal loss on analog input 3 29 Loss of signal curre...

Page 199: ...of the UD55 cloning small option module has been found to be corrupt If the trip has occurred at power up the memory is automatically reformatted and all the parameter sets are erased If the trip occ...

Page 200: ...following Pr 0 03 Acceleration rate set too low Pr 0 04 Deceleration rate set too low Short circuit at the output of the drive Break down of motor insulation check with Megger Incorrect motor map valu...

Page 201: ...ubicle ventilation paths Check cubicle door filters Increase ventilation Decrease acceleration deceleration rates Reduce duty cycle Reduce motor load OU Over Volts on the DC bus 2 Over voltage thresho...

Page 202: ...vice is working correctly and the interconnections are correctly made SEP UD5x Small option module fault 9 Indicates a trip in the UD5x small option module Possible causes of failure are as follows UD...

Page 203: ...or more information tr XX User trips 70 to 99 159 to 179 191 to 200 70 to 99 159 to 179 191 to 200 Trip codes defined by the user XX indicates the trip code number For use with the UD70 Application mo...

Page 204: ...e ES CC step HF86 Interrupt Watchdog failure HF87 Internal ROM check error HF88 Watchdog Failure HF89 Unused Interrupts nmi as source HF90 Stack Overflow HF91 Stack Underflow HF92 Software Error undef...

Page 205: ...to 3 5000 rms symmetrical Amperes Unidrive size 4 10 000 rms symmetrical Amperes Unidrive size 5 18 000 rms at 268Vac rms for Unidrive LV and 528Vac rms for Unidrive maximum 13 2 Maximum continuous o...

Page 206: ...195 EMC Compliance 48 EMC General requirements 45 EMC Electromagnetic compatibility 44 Enclosure 24 Enclosure sizing 24 Encoder connections 54 Encoder supply 55 F Feedback device cable screening 47 F...

Page 207: ...ule 12 RFI filters 29 197 Routine maintenance 36 Running the motor 81 S S4 S5 duty cycle 10 Safety Information 7 Safety label 205 Saving parameters 61 Second encoder small option module 12 Sequencing...

Page 208: ......

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