Menu 6
96
Commander SK Advanced User Guide
www.controltechniques.com Issue Number: 9
The drive sequencer uses bits (Pr
6.30
to Pr
6.39
) as inputs rather than looking at the terminals directly. This allows the user to define the use of each
terminal according to the requirements of each application.
Although these parameters are R/W, they are volatile and not stored on power down. Every time the drive powers up, they will be reset to OFF (0).
The drive uses these sequencer bits to control the operation of the drive providing the keypad reference has not been selected. If the keypad
reference has been selected, all the sequencing bits (apart from Pr
6.33
Forward/Reverse) are disregarded such that only the keypad keys are used
to control the drive. Pr
6.33
is still enabled to allow the motor direction to be changed by a terminal connection when in keypad control. If the keypad
reference has been selected, the run and stop keys are always operational.
The drive checks the state of the 'Run Forward' and 'Run Reverse' bits first. If either are set to On (1) but not both, then the drive will run in the
commanded direction. If both are found to be OFF (0) then the sequencer looks at the 'Run' bit and if it is set then the drive runs in the direction
commanded by the 'Forward/Reverse' bit (OFF (0) = forward, On (1) = reverse).
If the 'Jog' bit is set, the sequencer sets Pr
1.13
to On (1) to select the jog reference.
Pr
6.04
has a number of pre-determined set-ups that change the functions of the terminals. If the required set-up is not available in one of the pre-
determined set-ups, Pr
6.04
can be set to USEr to allow the desired set-up to be implemented.
Setting Pr 6.40 'Enable sequencer latching' to On (1) allows the Run Forward, Run Reverse and Run bits to become active from momentary inputs.
When sequencer latching is enabled from the setting of Pr
6.04
, a /Stop input must also be applied by using a digital input programmed to Pr
6.39
.
When the /Stop input becomes inactive, each of the three latches are reset. When the latches are disabled, they become transparent.
Pr 6.01 = mode 1 or 2 selected
As default, terminals B5 and B6 are configured as Run Forward and Run Reverse terminals. When either the Run Forward or Run Reverse is
selected, there is no delay (apart from normal sampling delays) before the drive will run in the direction requested. If the drive is running forward or
running reverse, there is also no delay when the run forward terminal or run reverse terminal is opened to stop the drive. Also, there is no delay if the
run forward terminal is opened and the run reverse terminal closed or vice-versa to allow a change of motor direction.
Pr 6.01 = mode 0, 3 or 4 selected
When either the Run Forward or Run Reverse is selected, there is no delay (apart from normal sampling delays) before the drive will run in the
direction requested. If the drive is running forward or running reverse, there is a delay of 60ms from when the terminal is opened until the command
is carried out by the drive. Also, there is a delay of 60ms from when the run forward terminal is opened, to when the run reverse terminal must be
closed or vice-versa to allow a change of motor direction. If the run reverse terminal or vice-versa is not closed within this 60ms, the drive will enter
the programmed stopping mode.
The delay of 60ms is to allow the direction of motor rotation to be changed without entering a stopping mode i.e. if DC injection braking mode was
selected and there was no 60ms delay, when the run forward terminal was opened, the drive would immediately go into the DC injection braking
mode rather then ramp down and ramp back up in the reverse direction.
This 60ms delay can cause problems in some applications where a very fast response is required between motor direction changes when coast to
stop or DC injection braking stopping modes is set.
One solution to the above is to set Pr
6.04
to mode 2 or 3 so that terminal B6 is set up as a forward/reverse terminal. This eliminates the 60ms delay
when changing from forward to reverse or reverse to forward in all modes.
The following diagram shows the main operation of the sequencer in normal terminal and keypad modes. The diagram shows normal terminal control
where the sequencer bits are used as inputs and keypad mode where the keypad keys are used as inputs.
In normal terminal operation, the sequencer has been designed to operate with run Forward and Run Reverse controls, and can be set up to
accommodate a Run and Forward/Reverse selector.
Run Forward / Run Reverse Configuration
If Run Forward or Run Reverse control is required, then bits Pr
6.30
and Pr
6.32
should be used to control the drive (digital inputs should not be
routed to Run and Forward/Reverse bits Pr
6.33
and Pr
6.34
)
Run - Forward/Reverse Configuration
If Run control with Forward/Reverse selector is required, then bits Pr
6.33
and Pr
6.34
should be used to control the drive (digital inputs should not be
routed to the Run Forward and Run Reverse bits Pr
6.30
and Pr
6.32
)
6.37
Sequencing bit: Jog reverse
Coding
Bit
SP
FI
DE Txt VM DP ND RA NC NV
PT
US RW BU PS
1
1
1
Range
OFF(0) or On(1)
Default
OFF(0)
Update rate
2 ms
6.38
Unused parameter
6.39
Sequencing bit: /Stop
Coding
Bit
SP
FI
DE Txt VM DP ND RA NC NV
PT
US RW BU PS
1
1
1
Range
OFF(0) or On(1)
Default
OFF(0)
Update rate
2 ms
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