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Emerson 2202, Advanced User'S Manual

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Emerson 2202 Advanced User'S Manual Download Page 51

Introduction

Parameter 

x.00

Parameter 

description format

Keypad and 

display

Serial 

communications

CT Modbus 

RTU

PLC Ladder 

programming

CTSoft

Menu 0

Advanced parameter 

descriptions

Menu 2

Commander SK Advanced User Guide                                                                                                                                                                                        

51

Issue Number: 9                                                          www.controltechniques.com

Figure 10-9

Since the ramp rate is defined in s/100Hz (s/1000Hz when Pr 

2.39 =

 0) and the S ramp parameter is defined in s

2

/100Hz (s

2

/1000Hz when Pr 

2.39

 = 

0), the time T for the 'curved' part of the S can be determined quite easily by dividing the two variables thus:

T = S ramp rate of change / Ramp rate

Enabling S ramp increases the total ramp time by the period T since an additional T/2 is added to each end of the ramp in producing the S.

This voltage is used as the level for standard ramp modes. If it is set too low the machine will coast to rest, and if it is set too high and no braking 
resistor is used it may trip on OV. The minimum level should be greater than the voltage produced on the DC bus by the highest supply voltage.
Normally the DC bus voltage will be approximately the rms supply voltage x 

√2

 

If the output frequency does not decrease in 10 seconds after the drive has been given a stop command, the drive will disable. This can occur at low 
speeds with long cables on a soft supply.

The acceleration rate is selected as follows.

0

Ramp rate selection by terminal input

1

 to 

8

Ramp rate defined by parameter number, i.e. 1 = Pr 

2.11

, 2 = Pr

 2.12

, etc.

9

Ramp rate selection by parameter Pr 

1.50

When parameter Pr 

2.10 

is set to 0 the acceleration ramp rate selected depends on the state of bit parameters Pr

 2.32

 to Pr 

2.34

. These bits are for 

control by digital inputs such that ramp rates can be selected by external control. The ramp rate selected depends on the binary code generated by 
these bits as follows:

2.08

Standard ramp voltage

Coding

Bit

SP

FI

DE Txt VM DP ND RA NC NV

PT

US RW BU PS

1

1

1

1

1

Range

0 to DC_VOLTAGE_SET_MAX V

Default

110V rating drive: 375
200V rating drive: 375
400V rating drive: Eur: 750, USA: 775
575V rating drive: 895
690V rating drive: 1075

Update rate

Background

2.09

Unused parameter

2.10

Acceleration rate selector

Coding

Bit

SP

FI

DE Txt VM DP ND RA NC NV

PT

US RW BU PS

1

1

1

Range

0 to 9

Default

0

Update rate

5ms

t

Acceleration
Actual Speed

Programmed

ramp rate

T

T

T/2

T/2

T/2

T/2

S ramp

acceleration
ramp

Demanded Speed

NOTE

Summary of Contents for 2202

Page 1: ...Advanced User Guide Commander SK AC variable speed drive for 3 phase induction motors from 0 25kW to 110kW 0 33hp to 150hp Part Number 0472 0001 09 Issue 9 www controltechniques com ...

Page 2: ...Techniques have the potential to save energy and through increased machine process efficiency reduce raw material consumption and scrap throughout their long working lifetime In typical applications these positive environmental effects far outweigh the negative impacts of product manufacture and end of life disposal Nevertheless when the products eventually reach the end of their useful life they ...

Page 3: ...dbus RTU specification 16 7 PLC Ladder programming 24 8 CTSoft 26 9 Menu 0 30 10 Advanced parameter descriptions 33 10 1 Overview 33 10 2 Menu 1 Speed reference selection limits and filters 34 10 3 Menu 2 Ramps 46 10 4 Menu 3 Speed sensing thresholds and frequency input and output 55 10 5 Menu 4 Current control 61 10 6 Menu 5 Motor control 72 10 7 Menu 6 Drive sequencer and clock 84 10 8 Menu 7 An...

Page 4: ...cross high voltage capacitors to produce a constant voltage DC bus The DC bus is then switched through an IGBT bridge to produce AC at a variable voltage and a variable frequency This AC output is synthesized by a pattern of on off switching applied to the gates of the IGBTs This method of switching the IGBTs is known as Pulse Width Modulation PWM Software structure For the majority of application...

Page 5: ...g an EEF failure when the drive is next powered up 2 2 Loading default parameters When default parameters are loaded the new default parameter set is automatically saved to the drive EEPROM See Pr 29 in the Commander SK Getting Started Guide or Pr 11 43 in this Advanced User Guide 2 3 Eur USA parameter set differences The following table gives the differences between the Eur and USA default parame...

Page 6: ... limit setting is the maximum applied to the current limit parameters in motor map 2 See introduction to section 10 5 Menu 4 Current control for the definition TORQUE_PROD_CURRENT_MAX 999 9 Maximum torque producing current This is used as a maximum for torque and torque producing current parameters It is MOTOR1_CURRENT_LIMIT_MAX or MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is currently...

Page 7: ... displayed on the drive s LED display Source and destination parameters cannot be set to 32 bit parameters Parameters Pr 4 01 Pr 4 02 and Pr 4 17 are special cases and can be used as a source All routing within the drive is 16 bit If a counter in SyPTLite has a 32 bit output and this output is routed to a drive parameter for example Pr 1 21 when the count reaches the set range of Pr 1 21 the value...

Page 8: ... via the drive serial communications port 5 11 Number of motor poles Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range Auto 0 2P 1 4P 2 6P 3 8P 4 Default Auto 0 Second motor parameter Pr 21 11 Update rate Background Coding Attribute Bit 1 bit parameter SP Spare not used FI Filtered some parameters which can have rapidly changing values are filtered when displayed on the drive ...

Page 9: ...on is changed the old destination is written to zero unless the destination change is the result of loading defaults or transferring parameters from a SmartStick When defaults are loaded the old destination is set to its default value 4 Cannot select any of the 32 bit parameters 3 4 4 Parameters actioned on exit of edit mode and on drive reset Some parameters Pr 6 04 Pr 11 27 Pr 11 42 Pr 11 43 and...

Page 10: ...es In keypad mode they are used to increase and decrease the speed of the motor 4 2 Control keys The START key is used to start the drive in keypad mode The STOP RESET key is used to stop and reset the drive in keypad mode It can also be used to reset the drive in terminal mode 4 3 Selecting and changing parameters This procedure is written from the first power up of the drive and assumes no termi...

Page 11: ...ter edit mode the UP and DOWN keys are used to change parameter values This will increase or decrease the parameter value by the minimum unit value on display To allow values to be changed more quickly it is possible to press the MODE and UP or the MODE and DOWN keys together to allow either 1000 s of units 100 s of units 10 s of units or units to be adjusted Example It is required that a decelera...

Page 12: ...be successful in transmitting a reply as the host transmitter will cause contention on the 2 wire interface Examples of EIA232 to EIA485 converters one to one CT Comms cable CT part number 4500 0087 USB Comms cable CT part number 4500 0096 Amplicon 485Fi CT Comms cable is specifically designed to convert EIA232 to EIA485 with Control Techniques products These converters are for one to one connecti...

Page 13: ...19 2kbaud 5 2 2 Multi drop converters Multi drop converters are available from the following suppliers Amplicon Magic 485F25 or Magic 485F9 485F25 refers to a 25 way D type connector and 485F9 refers to a 9 way D type connector www amplicon co uk E mail support amplicon co uk Westermo MA44 www westermo dircon co uk E mail sales westermo co uk EIA485 RJ45 connector Pin function 1 Connection for bui...

Page 14: ... between drives and therefore the maximum power available is the same as for a single drive If pin 4 is not linked to the other drives on the network and has an individual load then the maximum power 100mA can be taken from pin 4 of each drive The serial communications cable must be shielded The shields must be connected as shown in Figure 5 1 A data communications cable should not be run parallel...

Page 15: ...t of noise problems it may be helpful to connect the shield of the cable to 0V at the drive T Bar connector splitter Unshielded and shielded T bar connector splitters are available from the following suppliers Unshielded Part number CNX3A02KNW www insight com Part number 34011 UTP Y adaptor unshielded twisted pair www lindy co uk RJ45 female to 2 x female www dttuk co uk connectors and components ...

Page 16: ...in frame processing All frames must therefore be transmitted as a continuous stream without any gaps greater or equal to the silence period If an erroneous gap is inserted then receiving nodes may start frame processing early in which case the CRC will fail and the frame will be discarded MODBUS RTU is a master slave system All master requests except broadcast requests will lead to a response from...

Page 17: ...he register file type code is NOT transmitted by MODBUS and all register files can be considered to map onto a single register address space All parameters in the drive are holding registers CT parameter mapping All CT products are parameterized using the menu param notation Indexes menu and param are in the range 0 through 99 The menu param is mapped into the MODBUS register space as menu 100 par...

Page 18: ... is exceeded the slave will issue an exception code 2 Table 6 1 Master request Table 6 2 Slave response FC6 Write single register Writes a value to a single 16bit register The normal response is an echo of the request returned after the register contents have been written The register address can correspond to a 32bit parameter but only 16 bits of data can be sent Table 6 3 Master request Code Des...

Page 19: ...ble to write to 32 Bit parameters using FC16 Byte Description 0 Slave source node address 1 Function code 0x6 2 Register address MSB 3 Register address LSB 4 Register data MSB 5 Register data LSB 6 CRC LSB 7 CRC MSB Byte Description 0 Slave node address 1 through 247 0 is global 1 Function code 0x10 2 Start register address MSB 3 Start register address LSB 4 Number of 16bit registers MSB 5 Number ...

Page 20: ...tended data types Standard MODBUS registers are 16bit and the standard mapping maps a single X Y parameter to a single MODBUS register To support 32bit data types integer and float the MODBUS multiple read and write services are used to transfer a contiguous array of 16bit registers Slave devices typically contain a mixed set of 16bit and 32bit registers To permit the master to select the desired ...

Page 21: ...ll sign extent the least significant word if a 16 bit parameter is accessed as a 32 bit parameter The number of 16 bit registers must be even during a 32 bit access Example If Pr 20 21 is a 32 bit parameter with a value of 0x12345678 Pr 20 22 is a 16 bit parameter with a value of 0xABCD and Pr 20 23 is a 16 bit parameter with a value of 0x0123 Type field bits 15 14 Selected data type Comments 00 I...

Page 22: ... message format The slave exception message has the following format Read Start register address Number of 16bit registers Response Comments Pr 20 21 2020 1 0x5678 Standard 16 bit access to a 32bit register will return low 16bit word of truncated data Pr 20 21 18404 2 0x12345678 Full 32bit access Pr 20 21 18404 1 Exception 2 Number of words must be even for 32bit access Pr 20 22 2021 1 0xABCD Stan...

Page 23: ...lue then the write block is terminated However the slave does not raise an exception response rather the error condition is signalled to the master by the number of successful writes field in the response Parameter over range during block read write FC23 There will be no indication that there has been a value out of range during a FC23 access 6 1 10 CRC The CRC is a 16bit cyclic redundancy check u...

Page 24: ... Arithmetic blocks Comparison blocks Timers Counters Multiplexers Latches Bit manipulation Typical applications of the PLC ladder program include Ancillary pumps Fans and control valves Interlocking logic Sequences routines Custom control words Limitations The PLC ladder program has the following limitations The maximum program size is 3kbytes including the header and optional source code The user...

Page 25: ...sociated PLC ladder program parameters see parameter Pr 11 47 Pr 11 48 and Pr 11 50 in section 10 12 1 PLC ladder programming on page 150 User program trips Trip Diagnosis t090 PLC ladder program attempted divide by zero t091 PLC ladder program attempted access to non existent parameter t092 PLC ladder program attempted to write to a read only parameter t094 PLC ladder program attempted to write a...

Page 26: ... file available within the installation directory for the latest information During the startup of CTSoft a number of initialisation files are accessed These files enable CTSoft to store and retrieve system user specific and parameter data On initialisation the startup dialog is displayed allowing you to create a new project open a previously saved project or to work with a drive which automatical...

Page 27: ...tune 5 12 5 17 5 23 5 24 5 10 5 11 Binary sum 9 29 9 30 9 31 9 32 9 33 9 34 Brake control 12 40 to 12 47 Braking 10 11 10 10 10 30 10 31 6 01 2 04 10 12 10 39 10 40 Catch a spinning motor 6 09 5 12 5 17 Copying 11 42 Coast to stop 6 01 Comms 11 23 to 11 26 6 42 6 43 Cost per kWh electricity 6 16 6 17 6 24 6 25 6 26 Current controller 4 13 4 14 Current feedback 4 01 4 02 4 17 4 04 4 20 4 24 4 26 10...

Page 28: ...ble 5 20 PID controller Menu 14 Power up parameter 11 22 11 21 Precision reference 1 18 1 19 1 20 1 44 Preset speeds 1 15 1 21 to 1 28 1 14 1 42 1 45 1 46 1 47 1 48 1 50 Programmable logic Menu 9 PWM output 3 17 8 21 Ramp accel decel mode 2 04 2 08 6 01 2 03 10 30 10 31 10 39 Regenerating 10 10 10 11 10 30 10 31 6 01 2 04 10 12 10 39 10 40 Relay output 8 07 8 17 8 27 12 41 Reset 10 33 8 02 8 12 8 ...

Page 29: ...ser Guide 29 Issue Number 9 www controltechniques com V F mode 5 14 5 15 Variable selector 1 12 08 12 09 12 10 12 11 12 12 12 13 12 14 12 15 Variable selector 2 12 28 12 29 12 30 12 31 12 32 12 33 12 34 12 35 Voltage mode 5 14 5 17 5 23 5 15 Voltage rating 11 33 5 09 5 05 Warning 10 19 10 12 10 17 10 18 10 40 Zero speed indicator bit 3 05 10 03 Table 8 1 Feature look up table Feature Parameter num...

Page 30: ...ed 3 Hz 0 0 Pr 1 23 21 Preset speed 4 Hz 0 0 Pr 1 24 22 Load display units Ld Pr 4 21 23 Speed display units Fr Pr 5 34 24 Customer defined scaling 1 000 Pr 11 21 25 User security code 0 Pr 11 30 27 Power up keypad reference 0 Pr 1 51 28 Parameter copying no Pr 11 42 29 Load defaults no Pr 11 43 30 Ramp mode select 1 Pr 2 04 31 Stop mode select 1 Pr 6 01 32 Dynamic V to f select OFF 0 Pr 5 13 33 C...

Page 31: ...rable parameter 10 71 Pr 61 set up parameter Pr 11 01 72 Pr 62 set up parameter Pr 11 02 73 Pr 63 set up parameter Pr 11 03 74 Pr 64 set up parameter Pr 11 04 75 Pr 65 set up parameter Pr 11 05 76 Pr 66 set up parameter Pr 11 06 77 Pr 67 set up parameter Pr 11 07 78 Pr 68 set up parameter Pr 11 08 79 Pr 69 set up parameter Pr 11 09 80 Pr 70 set up parameter Pr 11 10 81 Frequency reference selected...

Page 32: ...ration rate Deceleration rate Ramps 02 01 Minimum speed Maximum speed Speed clamps 83 Post ramp reference Hz 85 Motor frequency 86 Motor voltage 87 Motor speed rpm 88 89 Motor active current Motor current Current measurement 15 Jog reference Digital I O read word Pr 90 Terminal Binary value for XX B3 1 B4 2 B5 4 B6 8 B7 16 T5 T6 64 Reference selected Hz 04 T2 T4 T6 T5 B3 B4 B5 B6 B7 XX XX Key Read...

Page 33: ...ve rapidly changing values are filtered when displayed on the drive keypad for easy viewing DE Destination indicates that this parameter can be a destination parameter Txt Text the parameter uses text strings instead of numbers VM Variable maximum the maximum of this parameter can vary DP Decimal place indicates the number of decimal places used by this parameter ND No default when defaults are lo...

Page 34: ...ference coarse 550 Hz 0 0 B 1 19 Precision reference fine 0 000 to 0 099 Hz 0 000 B 1 20 Precision reference update disable OFF 0 or On 1 OFF 0 5 ms 1 21 Preset speed 1 18 550 Hz 0 0 5 ms 1 22 Preset speed 2 19 550 Hz 0 0 5 ms 1 23 Preset speed 3 20 550 Hz 0 0 5 ms 1 24 Preset speed 4 21 550 Hz 0 0 5 ms 1 25 Preset speed 5 550 Hz 0 0 5 ms 1 26 Preset speed 6 550 Hz 0 0 5 ms 1 27 Preset speed 7 550...

Page 35: ...7 1 21 Preset speed 1 1 22 Preset speed 2 1 23 Preset speed 3 1 24 Preset speed 4 1 25 Preset speed 5 1 26 Preset speed 6 1 27 Preset speed 7 1 28 Preset speed 8 Power down value 1 17 M Keypad reference 1 51 1 50 Menu 1C Preset reference selected indicator 1 49 Menu 1C Reference selected indicator Precision reference coarse Precision reference update disable Memory 1 20 1 18 Precision reference fi...

Page 36: ...0Hz Skip Frequencies Menu 1 C Menu 2 1 02 Pre ramp reference 1 03 XX XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals XX XX 1 46 1 47 Menu 8 1 45 Digital inputs Preset select 0 Preset select 1 Preset select 2 Pr 1 47 0 0 0 0 1 1 1 1 Pr 1 46 0 0 1 1 0 0 1 1 Pr 1 45 0 1 0 1 0 1 0 1 Output 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 15 Preset reference selector 1 50 Preset...

Page 37: ...anced User Guide 37 Issue Number 9 www controltechniques com Figure 10 4 Menu 1D logic diagram XX XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals XX XX 1 35 Menu 2 Reference in rejection zone 1 29 Skip frequency 1 1 30 Skip band 1 1 31 Skip frequency 2 1 32 Skip band 2 1 33 Skip frequency 3 1 34 Skip band 3 1 02 1 03 Pre filter reference Pre ramp reference Me...

Page 38: ...compensation and current limit can increase the motor frequency further 1 01 Frequency reference selected 81 Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 Range 550 Hz Update rate 5ms 1 02 Pre skip filter reference 82 Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 Range 550 Hz Update rate 5ms 1 03 Pre ramp reference 83 Coding Bit SP FI DE Txt VM DP ND RA NC...

Page 39: ...e If it is not set all negative references are treated as zero Possible negative references are Preset speeds 1 to 8 Keypad reference Precision reference Analog reference from I O Solutions Module Reference from a comms Solutions Module Both standard analog inputs are unipolar and setting this bit does not allow bipolar analog references to be applied to the drive However the I O Solutions Module ...

Page 40: ... control by digital inputs such that references can be selected by external control If any of the bits are set the appropriate reference is selected indicated by Pr 1 49 If more than one bit is set the highest numbered will have priority In modes 1 and 2 a preset speed will be selected instead of the voltage or current selection if the preset selected is any preset speed other than preset speed 1 ...

Page 41: ...ed if Pr 1 49 2 2 Preset 2 selected 3 Preset 3 selected 4 Preset 4 selected 5 Preset 5 selected 6 Preset 6 selected 7 Preset 7 selected 8 Preset 8 selected With a value other than 0 or 1 this means that the corresponding preset speed will be used as the selected reference Pr 1 01 When this parameter is set to 0 the preset selected depends on the state of bit parameters Pr 1 45 Pr 1 46 and Pr 1 47 ...

Page 42: ...eference update disable on When this parameter is set to OFF the pre ramp reference Pr 1 01 is updated with the precision reference parameters Pr 1 18 and Pr 1 19 If the precision reference parameters are changed while this parameter is set to OFF the pre ramp reference will be updated immediately When this parameter is set to On the precision reference update parameters Pr 1 18 and Pr 1 19 are co...

Page 43: ...p reference parameters defining the centre of the band When the selected reference is within a band the lower limit of the band is passed through to the ramps such that reference is always less than demanded This parameter indicates that the selected reference is within one of the skip frequency regions such that the motor speed is not as demanded 1 21 Preset speed 1 18 1 22 Preset speed 2 19 1 23...

Page 44: ...ference select Pr 1 44 Precision reference select highest priority If more than one of these parameters is active the highest priority take precedence Indicates the reference currently being selected 1 Analog reference 1 selected 2 Analog reference 2 selected 3 Preset reference selected 4 Keypad reference selected 5 Precision reference selected 1 36 Analog reference 1 1 37 Analog reference 2 Codin...

Page 45: ...s that one of the analog references is being selected Selects the value of the keypad reference on power up Value Display Function 0 0 keypad reference is zero 1 LASt keypad reference is the last used value 2 PrS1 keypad reference is copied from Preset speed 1 Pr 1 21 1 50 Preset reference selected indicator Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 1 to 8 Update rate ...

Page 46: ...200 0 s 100 Hz 5 0 5 ms 2 16 Acceleration rate 6 0 0 to 3200 0 s 100 Hz 5 0 5 ms 2 17 Acceleration rate 7 0 0 to 3200 0 s 100 Hz 5 0 5 ms 2 18 Acceleration rate 8 0 0 to 3200 0 s 100 Hz 5 0 5 ms 2 19 Jog acceleration rate 0 0 to 3200 0 s 100 Hz 0 2 5 ms 2 20 Deceleration rate selector 0 to 9 0 5 ms 2 21 Deceleration rate 1 04 0 0 to 3200 0 s 100 Hz 10 0 33 0 5 ms 2 22 Deceleration rate 2 0 0 to 32...

Page 47: ...Acceleration selected indicator Menu 2B 1 0 2 19 Jog acceleration 1 13 Jog select 1 2 3 4 5 6 7 8 2 31 21 05 2 21 2 22 2 23 2 24 2 25 2 26 2 27 2 28 Deceleration 1 motor map 2 Deceleration 1 Deceleration 2 Deceleration 3 Deceleration 4 Deceleration 5 Deceleration 6 Deceleration 7 Deceleration 8 Deceleration selected indicator Menu 2C 1 0 2 29 Jog deceleration t N t N Acceleration rate Deceleration...

Page 48: ...1 0 1 0 1 0 1 Output 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 2 10 Acceleration rate selector 2 30 Acceleration selected indicator Menu 2A XX XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals XX XX 1 50 Preset reference selected indicator 2 36 2 37 Menu 8 2 35 Digital inputs Deceleration select 0 Deceleration select 1 Deceleration select 2 Pr 2 37 0 0 0 0 1 1 1 1 Pr 2 3...

Page 49: ...l at the programmed deceleration rate subject to the current limits programmed The DC Bus voltage controller is not active in these modes Standard Ramp In modes 1 2 the voltage rising to the standard ramp level Pr 2 08 causes a proportional controller to operate the output of which changes the demanded current in the motor As the controller regulates the bus voltage the motor decelerates at a fast...

Page 50: ...r losses in the motor when compared to mode 0 0 OFF S ramp disabled 1 On S ramp enabled Setting this parameter enables the S ramp function S ramp is disabled during deceleration when the standard ramp voltage controller is active When the motor is accelerated again after decelerating in standard ramp the acceleration ramp used by the S ramp function is reset to zero The S ramp function is only ava...

Page 51: ... x 2 If the output frequency does not decrease in 10 seconds after the drive has been given a stop command the drive will disable This can occur at low speeds with long cables on a soft supply The acceleration rate is selected as follows 0 Ramp rate selection by terminal input 1 to 8 Ramp rate defined by parameter number i e 1 Pr 2 11 2 Pr 2 12 etc 9 Ramp rate selection by parameter Pr 1 50 When p...

Page 52: ...tput therefore with a programmed ramp time of 5 seconds the ramp output will reach 50 Hz from 0 in 2 5 seconds depending on the setting of Pr 2 39 The deceleration rate is selected as follows 0 Ramp rate selection by terminal input 1 8 Ramp rate defined by parameter number i e 1 Pr 2 21 2 Pr 2 22 etc 9 Ramp rate selection by parameter Pr 1 50 When parameter Pr 2 20 is set to 0 the deceleration ram...

Page 53: ...from the jog reference It is not used to go from the jog to the run state This prevents the fast ramps normally used with jog from being used when changing between running and jogging There are eight deceleration rates programmable for normal operation plus one for jogging The ramp rates are expressed as a time for a change of 100 Hz on the ramp output therefore with a programmed ramp time of 5 se...

Page 54: ...n 0 05s 2 Maximum ramp time of 16000 seconds 4 hours resolution 0 5s Example If Pr 2 11 Acceleration rate 1 is set to 10 the following acceleration time would apply according to the value of Pr 2 39 2 31 Deceleration selected indicator Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 1 to 8 Update rate 5ms 2 32 Acceleration select bit 0 2 33 Acceleration select bit 1 2 34 Acc...

Page 55: ... Not used 3 14 Not used 3 15 Not used 3 16 Not used 3 17 Frequency output or PWM output scaling 0 000 to 4 000 1 000 BR 3 18 Maximum output frequency 1 to 10 kHz 5 B 3 19 Not used 3 20 Not used 3 21 Not used 3 22 Hard frequency reference 550 Hz 0 0 128 ms 3 23 Hard frequency reference selector OFF 0 or On 1 OFF 0 5 ms 3 24 Not used 3 25 Not used 3 26 Not used 3 27 Not used 3 28 Not used 3 29 Posit...

Page 56: ... Menu 2 Ramp control Menu 4 Current control 2 01 Post ramp reference Menu 5 Slip compensation 5 01 Motor frequency _ 3 05 10 03 Zero speed Zero speed threshold _ 1 07 21 02 Minimum speed _ 3 06 2 10 05 Below set speed At speed window _ 10 07 Above set speed _ 10 06 At speed 0 1 0Hz 0 1 0Hz 3 23 Hard frequency selector 1 11 Reference enabled 3 22 Hard frequency reference 10 04 Running at or below m...

Page 57: ...11 Menu 3B logic diagram B7 3 43 Maximum frequency reference 3 45 Frequency reference 3 44 Frequency reference scaling 8 25 Terminal B7 digital input destination 0 00 21 51 32 bit position counter Position scaling 3 33 3 34 3 29 Position 3 32 0 00 21 51 Frequency output or PWM output scaling 3 17 Menu 8A PWM Frequency Maximum output frequency 3 18 XX XX Key Read write RW parameter Read only RO par...

Page 58: ...ion is given Pr 10 06 On 1 The At speed window is thus defined as Set speed Pr 3 06 2 The speed detector system also includes an overspeed trip The level cannot be set by the user but the drive produces an overspeed trip if the output frequency Pr 5 01 exceeds 1 2 x Maximum frequency and regenerating and in current limit Scale factor applied to the frequency or PWM output Defines the maximum frequ...

Page 59: ...icates the current value of the position counter 3 19 to 3 21 Unused parameters 3 22 Hard frequency reference Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 550 Hz Default 0 0 Update rate 128 ms 3 23 Hard frequency reference selector Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default OFF 0 Update rate 5 ms 3 24 to 3 28 Unused parameters 3 29 Position Cod...

Page 60: ...and greater Pr 1 19 is automatically updated with the 2 LSBs Example With a maximum reference frequency of 12kHz the resolution is 12 bits With a maximum reference frequency of 2kHz the resolution is 9 bits Scale factor applied to the frequency reference Indicates the percentage of the frequency input value up to the maximum reference frequency Pr 3 43 3 34 Position scaling denominator Coding Bit ...

Page 61: ..._MAX 165 0 B 4 08 Torque reference USER_CURRENT_ MAX 0 0 B 4 09 Not used 4 10 Not used 4 11 Torque mode selector OFF 0 or On 1 OFF 0 B 4 12 Not used 4 13 Current controller Kp gain 0 to 250 20 B 4 14 Current controller Ki gain 0 to 250 40 B 4 15 Motor thermal time constant 0 to 250 89 B 4 16 Motor thermal protection mode OFF 0 or On 1 OFF 0 B 4 17 Reactive current DRIVE_CURRENT_MAX A B 4 18 Overri...

Page 62: ...ence 4 24 User current maximum scaling Torque to current conversion 5 06 21 06 Motor rated frequency 4 04 Current demand 0 1 4 17 4 20 Percentage load Current to torque conversion 4 26 Percentage torque Active current 4 02 Current magnitude 4 01 Magnetising current 1 0 Display Current limit 4 07 21 29 5 07 21 07 Motor rated current 5 10 21 10 Rated power factor 11 32 Maximum heavy duty drive curre...

Page 63: ...ited to 1 50 x rated drive current allowing a safety margin between the maximum normal operating current and the peak limit level DRIVE_CURRENT_MAX is full scale current feedback i e rated drive current x 2 0 The relationship between the voltage and current is shown in the following vector diagram Level x rated drive current Over current trip 2 2 Open loop peak limit 1 75 Open loop maximum standar...

Page 64: ...ximum current limits scale the current limits correctly and calculate the rated active and magnetising currents The user may enter the nameplate values in Pr 5 07 and Pr 5 10 respectively and the drive will operate satisfactorily Alternatively the drive can perform an auto tune test on the motor to measure the power factor at rated load by measuring Rs stationary test σLs stationary test and Ls ro...

Page 65: ...voltage is held constant and the motor flux reduces with frequency This is referred to as field weakening or constant power operation In this region the relationship between torque and active current is approximately as follows where K is a constant related to the motor Torque K x active current x frequency at voltage limit actual frequency Normally the point at which the voltage limit is reached ...

Page 66: ... required for torque to be applied in the reverse direction For a negative value program a digital input to the analog input invert bit This will give a negative value on the analog input destination parameter This will allow the direction of rotation to be controlled by the polarity of the analog input If operating in torque control due to small errors in current measurement at low frequencies wi...

Page 67: ... of instability will occur when operating around the point where field weakening begins These oscillations can be reduced by increasing the proportional gain A system has been included to prevent regulation because of the opposite actions of the ramps and the current limit This can reduce the actual level that the current limit becomes active by 12 5 This still allows the current to increase up to...

Page 68: ...ature is produced by K x Motor rated current and that τ is the thermal time constant of the point in the motor that reaches it maximum allowed temperature first τ is defined by Pr 4 15 The estimated motor temperature is given by Pr 4 19 as a percentage of maximum temperature If Pr 4 15 has a value of 0 the thermal time constant is taken as 1 If the rated current defined by Pr 5 07 or Pr 21 07 depe...

Page 69: ...for some action to be taken by the drive from cold with constant motor current is given by Alternatively the thermal time constant can be calculated from the trip time with a given current from For example if the drive should trip after supplying 150 overload Pr 4 01 for 60 seconds with K 1 05 then The thermal model temperature accumulator is reset to zero at power up and accumulates the temperatu...

Page 70: ...ing as a percentage of rated active current where the 100 rated active current is Pr 5 07 x Pr 5 10 Therefore A positive value in this parameter indicates motoring load and a negative value indicates a regenerating load 0 Ld Value of Pr 4 20 displayed 1 A Value of Pr 4 01 displayed This parameter defines whether the load indication in the display status mode displays percentage load or output curr...

Page 71: ...cy Pr 5 06 post ramp reference Pr 2 01 Modification of this parameter may be required when using the drive with a high speed motor which inherently has low inductance This parameter should only be set to On if OI AC trips are occurring when the drive is carrying out a mains loss stop or DC injection brake with a high speed motor Only available with drive firmware V01 08 04 onwards size 2 to 6 4 24...

Page 72: ...power factor 09 0 00 to 1 00 0 85 B 5 11 Number of motor poles 40 Auto 0 2P 1 4P 2 6P 3 8P 4 Auto 0 B 5 12 Auto tune 38 0 to 2 0 B 5 13 Dynamic V to F select 32 OFF 0 or On 1 OFF 0 B 5 14 Voltage mode select 41 Ur S 0 Ur 1 Fd 2 Ur A 3 Ur I 4 SrE 5 Ur I 4 Fd 2 B 5 15 Low frequency voltage boost 42 0 0 to 50 0 of motor rated voltage 3 0 1 0 B 5 16 Not used 5 17 Stator resistance 0 000 to 65 000 Ω 0 ...

Page 73: ...pensation 4 17 Active current 4 02 Magnetising current Current magnitude 4 01 5 10 Rated power factor 5 07 5 09 Rated current Rated voltage 5 06 Rated frequency Motor map 1 5 11 Number of poles 21 10 Rated power factor 21 07 21 09 Rated current Rated voltage 21 06 Rated frequency Motor map 2 21 11 Number of poles 21 15 Motor map 2 selected 11 45 Motor map select Hz to rpm 5 04 Motor rpm 11 21 Cust...

Page 74: ...rectly with the rated full load speed parameter Pr 5 08 This calculation relies on the number of motor poles being set up correctly in Pr 5 11 or if auto mode is selected Pr 5 11 Auto then it relies on a reasonably accurate value of motor rated speed being set in Pr 5 08 to allow correct calculation of the motor poles This is shown on the drive s display when Pr 23 is set to SP or Cd When set to C...

Page 75: ...s commissioned because the nameplate value may be inaccurate Slip compensation will operate correctly both below rated speed and within the field weakening region Slip compensation is normally used to correct for the motor speed to prevent speed variation with load The rated load rpm can be set higher than synchronous speed to deliberately introduce speed droop This can be useful to aid load shari...

Page 76: ...ed frequency 4 and rated frequency 2 the Rs compensation is gradually reduced to zero as the frequency increases For the vector modes to operate correctly the stator resistance Pr 5 17 motor rated power factor Pr 5 10 and voltage offset Pr 5 23 are all required to be set up accurately Fixed boost mode Fd A linear characteristic is used from 0Hz to rated frequency and then constant voltage above ra...

Page 77: ...and is applied in either direction the drive will perform an auto tune test The drive must be in disabled or stopped condition before the test is initiated by applying a run command It is important that the drive is at standstill before the auto tune test is performed if the correct results are to be obtained The parameters modified by the autotune tests are defined overleaf If the second motor ma...

Page 78: ...o 2 3 of rated speed and held at this speed for several seconds Once the test is complete the power factor Pr 5 10 is updated and the motor coasts to a stop The motor should be unloaded for this test to produce correct results The autotune tests may be aborted by removing the run command or if a trip occurs During the auto tune tests the following trips can occur in addition to the other drive tri...

Page 79: ...ixed characteristic with boost applied as defined by Pr 5 15 is used see Pr 5 09 on page 76 Fixed boost mode should be used for multiple motor applications 3 Ur A Stator resistance and voltage offset measured at first drive enable The stator resistance and voltage offset are measured once the first time the drive is enabled and run After the test has been completed successfully the mode is changed...

Page 80: ...oad condition persists the junction temperature may continue to rise If the temperature exceeds 145o C and the switching frequency cannot be reduced the drive will initiate an O ht1 trip Every 20ms the drive will attempt to restore the set switching frequency if the higher switching frequency will not take the IGBT temperature above 135o C Also refer to 10 18 on page 131 The 18kHz switching freque...

Page 81: ...ltage some pulse deletion will occur as the drive output voltage approaches the rated voltage level If Pr 5 20 is set to On 1 the modulator will allow over modulation so that as the output frequency increases beyond the rated frequency the voltage continues to increase above the rated voltage The modulation depth will increase beyond unity producing trapezoidal waveforms This can be used for examp...

Page 82: ...e 139 for information on how to scale the rpm Pr 5 04 when customer defined units is selected 0 OFF Auto switching frequency change enabled 1 On Auto switching frequency change disabled The drive thermal protection scheme see Pr 5 18 on page 80 reduces the switching frequency automatically when necessary to prevent the drive from overheating It is possible to disable this feature by setting this b...

Page 83: ... OFF The 18kHz switching frequency is not available on Commander SK size B and C 400V units Commander SK size D or Commander SK size 2 to 6 Pr 5 50 is not visible from the keypad and holds the value of the security entered to allow parameters to be edited when security is enabled 5 36 Unused parameter 5 37 Actual switching frequency Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 ...

Page 84: ... 1 2 ms 6 15 Drive enable OFF 0 or On 1 On 1 2 ms 6 16 Electricity cost per kWh 0 0 to 600 0 currency kWh 0 0 B 6 17 Reset energy meter OFF 0 or On 1 OFF 0 B 6 18 Not used 6 19 Not used 6 20 Not used 6 21 Not used 6 22 Run time log years days 0 000 to 9 365 years days B 6 23 Run time log hours minutes 0 00 to 23 59 hours minutes B 6 24 Energy meter MWh 0 0 to 999 9 MWh B 6 25 Energy meter kWh 0 00...

Page 85: ...se Run reverse Jog forward Run forward Drive enable Control word Control word bit 7 auto manual 6 35 6 36 Reverse limit switch Forward limit switch 6 29 Hardware enable Menu 8 6 04 Start stop logic select Sequencer 6 01 6 03 6 06 6 07 6 09 Stop mode Mains loss mode Injection braking level Injection braking time Catch a spinning motor 6 39 Stop B5 B6 B4 6 43 Control word enable 6 10 6 13 6 14 6 40 ...

Page 86: ...hniques com Issue Number 9 Figure 10 15 Menu 6B logic diagram 6 17 Reset energy meter 6 16 Electricity cost per kWh Clock control 6 24 6 25 Power meter 6 26 Running cost 6 22 6 23 Run time clock 5 03 Motor power kW RUN STOP FUNCTION Remote LED keypad Logic 1 RUN STOP Drive keypad Logic 1 Sequencer 6 11 Remote LED keypad function key status 0 1 0 1 Menu 1A Reference selection 6 12 Enable stop key 1...

Page 87: ... 2 The drive cannot be re enabled for 2 seconds The 2 seconds delay in phase 2 allows the rotor flux to decay before the drive is allowed to be re enabled This 2 second time cannot be adjusted Mode 2 Ramp to stop Pr 6 01 1 default Phase 1 The drive will ramp down to zero frequency under the control of the selected ramp mode Pr 2 04 in the time set by the deceleration rate Phase 2 The drive will wa...

Page 88: ...e 2 Therefore the minimum DC injection braking time is 2 seconds Normally the combination of the DC injection braking current level and injection braking time during phase 1 is used to stop the motor from rotating Then the 1 second DC injection braking in phase 2 is used to lock the motor shaft If the DC injection braking current level is set to a high level in Pr 6 06 the less time is required in...

Page 89: ...ftware V01 03 00 onwards This parameter changes the functions of terminals B4 B5 and B6 which are normally associated with the enabling starting and stopping the drive This also writes to parameter Pr 6 40 to enable and disable the input latches Pr 6 40 Pr 8 22 Pr 8 23 and Pr 8 24 are also saved when this parameter is modified A change to this parameter is only actioned when the drive is stopped t...

Page 90: ...des 2 to 4 see Pr 6 01 on page 87 6 05 Unused parameter 6 06 Injection braking level Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 Range 0 0 to 150 0 Default 100 0 Update rate Background 6 07 Injection braking time Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 0 0 to 25 0 s Default 1 0 Update rate 2 ms B2 B4 B5 B6 24V Enable Run Forward Reverse Pr 6 04...

Page 91: ...eration enabled The Low DC bus operation is designed to enable 3 phase 400VAC medium voltage Commander SKs to be run off a single phase 200VAC low voltage supply in the event of a primary 400VAC supply failure When the primary supply fails the back up supply can be switched in This will allow the drive to control the motor at a reduced power for example to move an elevator up or down to the next f...

Page 92: ...ned so that pressing the stop key whether the stop key is enabled or not does not make the drive change from a stopped to a running condition As the stop key is also used to reset trips this means that if the stop key is pressed when the drive is tripped the trip will be reset but the drive will not start This is done as follows Sequencer latching not enabled Pr 6 40 OFF If the stop key is pressed...

Page 93: ...unction key disabled 1 Forward Reverse toggle keypad mode Pressing the Function key will toggle between the forward and reverse direction of the motor 2 Run reverse Pressing the Function key will run the drive in the reverse direction the start button will run the drive in the forward direction 3 Jog Pressing the Function key will jog the drive As with the normal jog function the drive needs to be...

Page 94: ...e to indicate the amount of time that the drive has been running since leaving the manufacturing plant 6 15 Drive enable Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range OFF 0 or On 1 Default On 1 Update rate 2 ms 6 16 Electricity cost per kWh Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 0 0 to 600 0 Currency kWh Default 0 0 Update rate Background 6 ...

Page 95: ...ith the Solutions Modules Digital inputs connected to limit switches should be routed to these parameters if stopping is required at a limit The drive will respond in 5ms and stop the motor using the currently selected ramp rate The limit switches are direction dependant so that the motor can rotate in a direction that allows the system to move away from the limit switch Pre ramp reference 0Hz For...

Page 96: ...s 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...

Page 97: ...cleared and held at zero Jog To allow the drive to run at jog speed the Run Forward Run Reverse or Run inputs must remain inactive while the Jog input is made active drive must be enabled when enable input selected If a Run command is given while the jog input is active the drive will run at the normal speed reference selected in Menu 1 If the jog input is made active when the run input is already...

Page 98: ...meter description format Keypad and display Serial communications CT Modbus RTU PLC Ladder programming CTSoft Menu 0 Advancedparameter descriptions 98 Commander SK Advanced User Guide www controltechniques com Issue Number 9 S S 01 11 01 11 ...

Page 99: ...uivalent parameters For example if Pr 6 43 On and bit 7 of Pr 6 42 On the drive enable is no longer controlled by Pr 6 15 but by bit 0 of the control word If either Pr 6 43 OFF or bit 7 of Pr 6 42 OFF the drive enable is controlled by Pr 6 15 Bit 8 Analog preset reference When the control word is enabled Pr 6 43 bit 8 of the control word becomes active Bit 7 of the control word has no effect on th...

Page 100: ...of the control word is changed from zero to one with the control word enabled Once the watchdog is enabled it must be serviced at least once every second or an SCL trip occurs The watchdog is disabled when an SCL trip occurs and so it must be re enabled when the trip is reset 0 OFF Fan controlled by drive 1 On Fan runs at full speed When this parameter is set to OFF 0 the fan is controlled by the ...

Page 101: ...invert OFF 0 or On 1 OFF 0 5 ms 7 10 Analog input 1 destination Pr 0 00 to Pr 21 51 Pr 1 36 Drive reset 7 11 Analog input 2 mode terminal T4 VoLt 0 or dig 1 VoLt 0 B 7 12 Analog input 2 scaling 0 000 to 4 000 1 000 B 7 13 Analog input 2 invert OFF 0 or On 1 OFF 0 5 ms 7 14 Analog input 2 destination Pr 0 00 to Pr 21 51 Pr 1 37 Drive reset 7 15 Not used 7 16 Not used 7 17 Not used 7 18 Not used 7 1...

Page 102: ...aling x 1 7 09 Invert 7 10 Destination 0 00 21 51 Default detination Pr 1 36 Analog reference 1 T4 7 11 Mode 7 02 Monitor Analog input 2 7 12 Scaling x 1 7 13 Invert 7 14 Destination 0 00 21 51 Default detination Pr 1 37 Analog reference 2 7 30 Offset 7 31 Offset 200R 0V Source Default source Pr 2 01 Motor speed 7 20 Scaling B1 2 01 Post ramp ref Output power Current magnitude XX XX Key Read write...

Page 103: ... Commander SK size 4 and 5 this is rectifier and power pcb temperature For drive sizes 2 to 5 two temperatures are available from the power circuit and these are displayed in Pr 7 04 and Pr 7 05 For drive size 6 three temperatures are available from the power circuit and these are displayed in Pr 7 04 Pr 7 05 and Pr 7 36 If the temperature displayed in Pr 7 04 Pr 7 05 or Pr 7 36 exceeds the trip t...

Page 104: ...rive is disabled and the temperature is below the alarm level for Pr 7 04 and Pr 7 05 4 For drive size 3 to 6 the fan speed is controlled above its minimum level if the drive is enabled and the highest power circuit temperature Pr 7 04 Pr 7 05 or Pr 7 36 or the temperature calculated for the case of the IGBT package exceeds the lower threshold for the drive The maximum fan speed is reached when th...

Page 105: ... and Pr 7 14 will be at maximum This parameter can be used to invert the analog input reference i e multiply the input scaling result by 1 As default this parameter is set up automatically according to the drive configuration see Pr 11 27 on page 140 Only parameters which are not protected can be controlled by analog inputs If a non valid parameter is programmed to the destination of an analog inp...

Page 106: ...to be represented as an analog signal by the analog output on terminal B1 should be programmed in this parameter This parameter is used in conjunction with Pr 7 33 to determine the analog output signal Pr 7 33 has 4 pre determined settings for easy set up of the analog output If the user requires to set Pr 7 19 to another parameter then Pr 7 33 must be set to 4 USEr See Pr 7 33 for further details...

Page 107: ...n be added to each analog input with a range from 100 to 100 If the sum of the input and the offset exceeds 100 the results is limited to 100 This offers a simple control of Pr 7 19 to change the analog output Its function is used to set the value of Pr 7 19 between a frequency output load output current output or power output or to leave the value unchanged A user wishing to change the analog out...

Page 108: ...nd DC bus ripple The estimated temperature is displayed as a percentage of the trip level in this parameter If the parameter value reaches 100 an O ht3 trip is initiated This parameter displays the temperature on the input rectifier on Commander SK size 6 only 0 Fr Frequency output Pr 7 19 Pr 2 01 Post ramp reference 0V represents 0Hz 0rpm 10V represents the value of Pr 1 06 Maximum set speed clam...

Page 109: ...OFF 0 or On 1 OFF 0 2 ms 8 14 Terminal B6 digital input invert OFF 0 or On 1 OFF 0 2 ms 8 15 Terminal B7 digital input invert OFF 0 or On 1 On 1 2 ms 8 16 Not used 8 17 Status relay invert OFF 0 or On 1 OFF 0 2 ms 8 18 Not used 8 19 Not used 8 20 Digital I O read word 90 0 to 95 B 8 21 Terminal B3 digital input destination output source Pr 0 00 to 21 51 Pr 10 03 Drive reset 8 22 Terminal B4 digita...

Page 110: ... B3 function select PWM Terminal B3 digital input Ouput state Brake controller enable 8 31 12 41 8 41 Digital output control Terminal B3 8 11 Invert Frequency 1 01 21 51 0 00 21 51 8 21 Terminal B3 Source Destination Default source Zero speed output 10 03 8 27 2 1 5 1 0 00 21 51 8 07 Relay Status relay state Terminals T5 T6 8 17 Invert Status relay source Default source Drive healthy 10 01 12 41 B...

Page 111: ...ques com Figure 10 19 Menu 8B logic diagram Motor thermistor trip Frequency input Menu 3 8 05 Terminal B7 digital input state 8 15 8 25 0 00 21 51 Terminal B7 digital input destination Terminal B7 digital input invert Default source Local Remote Defined by 1 41 11 27 1 2 3 0 Mode select Terminal B7 8 35 B7 XX XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals XX...

Page 112: ...rt 8 23 0 00 21 51 Terminal B5 digital input destination XX XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals XX XX The parameters are all shown at their default settings B6 B4 8 02 8 03 Terminal B6 digital input state 8 04 Start Stop logic Terminal B4 digital input destination 8 14 Invert 8 24 0 00 21 51 Terminal B6 digital input destination Default destinatio...

Page 113: ... 03 8 01 8 05 B3 B4 B5 B6 B7 T6 T5 8 07 Digital I O read word 8 20 XX Digital I O read word 8 20 Terminal Binary value for xx XX XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals XX XX The parameters are all shown at their default settings B3 B4 B5 B6 B7 T5 T6 1 2 4 8 16 64 Terminal B3 digital input output state Terminal B4 digital input state Terminal B5 digit...

Page 114: ...ert set to On 1 so that the terminal must be made active for the drive not to trip The digital inputs are sampled every 1 5ms and the digital output is updated every 21ms 0 OFF De energized 1 On Energized This parameter indicates the state of the drive s status relay Setting these parameters to On 1 causes the input sense to the destination parameter to be inverted or the output sense from the sou...

Page 115: ...for a digital output If a non valid parameter is programmed then the digital output will remain in the inactive state 8 16 Unused parameter 8 17 Status relay invert 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 8 18 to 8 19 Unused parameters 8 20 Digital I O read word 90 Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1...

Page 116: ...an output of 50 pulses sec With a 50Hz reference value From default setting Pr 8 31 PuLS will give a 24V output with a 50Hz reference value when Pr 8 21 2 01 Pr 8 41 USEr By feeding this PWM output into a R C network a voltage output can be obtained This output would be almost proportional to the frequency output of the drive This parameter selects the function of Terminal B7 as follows If modes 1...

Page 117: ...equency input of 1kHz on terminal B7 Pr 1 21 will be 25Hz The amplitude of the frequency input must be above 15V peak to peak The threshold voltage is 10V This parameter offers a simple control of Pr 8 21 to change the functionality of the digital output Its function is used to set the value of Pr 8 21 to one of the parameters listed below A user wishing to change the digital output to something o...

Page 118: ...11 Not used 9 12 Not used 9 13 Not used 9 14 Logic function 2 source 1 Pr 0 00 to Pr 21 51 Pr 0 00 Drive reset 9 15 Logic function 2 source 1 invert OFF 0 or On 1 OFF 0 21 ms 9 16 Logic function 2 source 2 Pr 0 00 to Pr 21 51 Pr 0 00 Drive reset 9 17 Logic function 2 source 2 invert OFF 0 or On 1 OFF 0 21 ms 9 18 Logic function 2 output invert OFF 0 or On 1 OFF 0 21 ms 9 19 Logic function 2 delay ...

Page 119: ...ce 1 0 00 21 51 9 06 9 05 Invert 9 07 Invert 9 08 Invert 9 01 0 00 21 51 9 10 Destination 0 00 21 51 9 14 Source 1 0 00 21 51 9 16 9 15 Invert 1 01 9 17 Invert 9 18 Invert 9 02 0 00 21 51 9 20 Destination Positive Delay Delay Input Output Negative Delay Delay Input Output Logic Function 2 Logic Function 1 Source 2 Logic output Source 2 Logic output 9 19 Delay 9 09 Delay XX XX Key Read write RW par...

Page 120: ...ero at power up Last value at power up Zero at power up only change when running Last value at power up only change when running Mode 9 21 Rate Binary sum Logic ones LSB 1 0 1 9 29 1 0 1 9 29 1 0 1 9 29 1 0 1 9 30 1 0 1 9 29 1 0 1 9 31 Binary sum Logic twos Binary sum Logic fours MSB 9 31 9 30 9 29 Output 0 0 0 0 0 0 1 1 0 1 0 2 0 1 1 3 1 0 0 4 1 0 1 5 1 1 0 6 1 1 1 7 9 32 Binary sum logic output ...

Page 121: ...gic functions Any valid parameter can be programmed into these inputs If one or both inputs to the logic function are invalid then the logic output will always be 0 Setting this parameter and Pr 9 15 to On 1 causes the input sense of the logic functions to be inverted This source parameter and Pr 9 16 defines the inputs for source 2 of the programmable logic functions Any valid parameter can be pr...

Page 122: ...that lasts for as long as the sample time or more will produce an output that lasts at least as long as the delay time This destination parameter and Pr 9 20 define the parameters to be controlled by the logic function Only non protected parameters can be programmed as a destination If a invalid parameter is programmed the output is not routed anywhere 9 07 Logic function 1 source 2 invert Coding ...

Page 123: ...g this parameter and Pr 9 08 to On 1 causes the output sense from the logic functions to be inverted If the delay parameter is positive the delay ensures that the output does not become active until an active condition has been present at the input for 9 14 Logic function 2 source 1 Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 Range Pr 0 00 to Pr 21 51 Default Pr 0 00 Update ...

Page 124: ...g it to On 1 allows negative outputs also 100 0 to 100 0 9 20 Logic function 2 destination Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 Range Pr 0 00 to Pr 21 51 Default Pr 0 00 Update rate Read on drive reset 9 21 Motorized pot mode Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range 0 to 3 Default 2 Update rate Background read Pr 9 21 Mode Comments 0 Zero a...

Page 125: ...eed parameters is entered here These three bits control the motorized pot The up and down inputs increase and decrease the output at the programmed rate respectively If both up and down are active together the up function dominates and the output increases If the reset input is set to On 1 the motorized pot output is reset and held at 0 0 Input terminals must be programmed to control these paramet...

Page 126: ...t value for that parameter independent of the binary sum output If the parameter that the binary sum value is routed to has a maximum value greater than 7 then the binary sum output will be scaled evenly across the maximum range of the destination parameter The table overleaf shows how the binary sum function operates with an offset value 9 32 Binary sum output Coding Bit SP FI DE Txt VM DP ND RA ...

Page 127: ...ques com Ones input Pr 9 29 Twos input Pr 9 30 Fours input Pr 9 31 Offset Pr 9 34 Binarysum output Pr 9 32 Value in destination parameter Destination parameter with a maximum value of 7 offset or less i e Pr 1 15 with a range of 0 to 8 Destination parameter with a maximum value of greater than 7 i e Pr 5 23 with a range of 0 0 to 25 0 0 0 0 3 3 3 7 5 1 0 0 4 4 10 0 0 1 0 5 5 12 5 1 1 0 6 6 15 0 0 ...

Page 128: ...nded OFF 0 or On 1 B 10 14 Direction running OFF 0 or On 1 B 10 15 Mains loss detected OFF 0 or On 1 B 10 16 Not used 10 17 Overload alarm OFF 0 or On 1 B 10 18 Drive temperature alarm OFF 0 or On 1 B 10 19 General drive alarm OFF 0 or On 1 B 10 20 Last trip 55 0 to 232 On drive trip 10 21 Trip 1 56 0 to 232 On drive trip 10 22 Trip 2 57 0 to 232 On drive trip 10 23 Trip 3 58 0 to 232 On drive tri...

Page 129: ...the drive is running These flags are set by the speed detector in menu 3 These flags are only set if the drive is running See Pr 3 06 on page 58 Indicates that the modulus of the active current is greater or equal to the rated active current as defined in menu 4 10 01 Drive ok Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range OFF 0 or On 1 Update rate Background 10 02 Drive ac...

Page 130: ...e or reset if post ramp reference is positive forward Indicates that the drive has detected mains loss from the level of the DC bus voltage This parameter can only become active if mains loss ride through or mains loss stop modes are selected see Pr 6 03 on page 88 10 09 Drive output is at current limit Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range OFF 0 or On 1 Update rat...

Page 131: ... occurs all the parameters move down one the current trip is put in 10 20 and the oldest trip is lost off the bottom of the log Possible trips for Commander SK are shown in Table 10 17 on page 132 All trips are stored including HF trips which are numbered from 20 to 30 HF trips numbered from 1 to 19 are not stored in the trip log UU trips are not stored unless the drive is running when the trip oc...

Page 132: ... 11 43 on page 149 32 PH High input voltage phase imbalance or input phase loss Normally a motor load of between 50 and 100 of drive rating is required to trigger the trip The drive will attempt to stop the motor before tripping The drive looks at DC Bus ripple 33 rS Failure to measure stator resistance during auto tune or when starting in open loop voltage modes 0 or 3 This is either because the ...

Page 133: ...res the codes of the modules installed when the drive parameters are saved The stored codes are compared with the codes from the Solutions Modules at power up If a module is different to the code stored in drive EEPROM the drive trips 220 to 232 HF20 HF32 Hardware faults See table Table 10 19 HF trips Category Trips Comments Hardware faults HF01 to HF19 These indicate fatal problems and cannot be ...

Page 134: ...s and display indications will flash on the right hand display when they become active Table 10 20 Alarm Warnings Table 10 21 Display indications HF fault code Reason for trip 01 to 03 Not used 04 Low DC bus at power up on SK4 5 and 6 failure at power up 05 No signal from DSP at start up 06 Unexpected interrupt 07 Watchdog failure 08 Interrupt crash code overrun 09 to 10 Not used 11 Access to the ...

Page 135: ...nd ambient Assuming that the full power braking time is much shorter than the full power braking period which is normally the case the values for Pr 10 30 and Pr 10 31 can be calculated as follows Power flowing into the resistor when the braking IGBT is on Pon Full braking volts2 R Where Full braking volts is defined in the table see Pr 10 30 and R is the resistance of the braking resistor Full po...

Page 136: ...bit If Pr 10 34 is set to zero then no auto reset attempts are made Any other value will cause the drive to automatically reset following a trip for the number of times programmed Pr 10 35 defines the time between the trip and the auto reset this time is always at least 10s for OI AC OI br trips etc The reset count is only incremented when the trip is the same as the previous trip otherwise it is ...

Page 137: ...ossible to generate UU EEF or HF trips using Pr 10 38 This parameter gives an indication of braking resistor temperature based on a simple thermal model see Pr 10 30 and Pr 10 31 on page 135 Zero indicates the resistor is close to ambient and 100 is the maximum temperature trip level A br rS warning is given if this parameter is above 75 and the braking IGBT is active The bits in this parameter co...

Page 138: ... to 9 999 1 000 B 11 22 Parameter displayed at power up OFF 0 or On 1 OFF 0 N A 11 23 Serial comms address 44 0 to 247 1 B 11 24 Modbus RTU user serial mode 0 to 4 1 B 11 25 Serial comms baud rate 43 2 4 0 4 8 1 9 6 2 19 2 3 38 4 4 19 2 3 B 11 26 Silent period extension 0 to 250 ms 2 B 11 27 Drive configuration 05 AI AV 0 AV Pr 1 AI Pr 2 Pr 3 PAd 4 E Pot 5 tor 6 Pid 7 HVAC 8 Eur AI AV 0 USA PAd 4 ...

Page 139: ...ode by holding the Mode button down for a period of 2 seconds In this case the parameter is saved automatically by the drive if the user changes this parameter using serial communication it is not saved automatically This parameter is used to define the unique address for the drive for the serial interface The drive is always a slave 11 01 Pr 61 set up 71 11 02 Pr 62 set up 72 11 03 Pr 63 set up 7...

Page 140: ...e end of a message This silent period is normally the length of time for 3 5 characters at the present baud rate but for systems that cannot turn the communications buffers around fast enough this time can be extended to the time programmed in Pr 11 26 This parameter is used to automatically set up the user programmable area in the level 3 parameter set according to the required drive configuratio...

Page 141: ... set up 78 Configurable parameter 8 set up 79 Configurable parameter 9 set up 80 Configurable parameter 10 set up 1 14 Reference select 0 1 1 3 4 3 0 2 0 6 04 Start stop logic Note 1 Note 1 Note 1 Note 1 Note 1 Note 1 Note 1 Note 1 0 7 06 Analog input 1 mode 4 6 4 6 6 6 4 4 4 7 11 Analog input 2 mode 0 1 1 1 0 1 0 0 0 7 14 Analog input 2 destination Pr 1 37 Pr 1 46 Pr 1 46 Pr 1 46 Pr 1 37 Pr 9 27 ...

Page 142: ...ard Run Reverse Local A2 Remote A1 speed reference select Remote speed reference input V _ 10k 2kmin 24V 0V Eur 0V Remote current speed reference input A1 10V reference output Local voltage speed reference input A2 24V output Stop Run Jog Local A2 Remote A1 speed reference select Remote speed reference input V _ 10k 2kmin USA Analog output motor speed Digital output zero speed Analog output motor ...

Page 143: ...nce input V _ 24V 0V Eur USA Analog output motor speed Digital output zero speed Reference select Reference select 0V Remote current speed reference input A1 10V reference output 24V output Stop Run Jog Remote speed reference input V _ 24V 0V Analog output motor speed Digital output zero speed Reference select Reference select T1 T2 T3 T4 B1 B2 B3 B4 B5 B6 B7 T1 T2 T3 T4 B1 B2 B3 B4 B5 B6 B7 0V 10...

Page 144: ... 0 zero at power up 1 last value at power up 2 zero at power up and only change when drive is running 3 last value at power up and only change when drive is running 0V 10V reference output 24V output Drive Enable Reset V _ 24V 0V Eur USA Analog output motor speed Digital output zero speed Not used Not used Not used Not used 0V 10V reference output 24V output Drive Enable Reset V _ 24V 0V Analog ou...

Page 145: ...ive Enable Reset Run Forward Run Reverse Torque mode select Remote speed reference input V _ 10k 2kmin 24V 0V Eur USA Analog output motor speed Digital output zero speed 0V Remote current speed reference input A1 10V reference output Torque reference input A2 24V output Stop Run Jog Torque mode select Remote speed reference input V _ 10k 2kmin 24V 0V Analog output motor speed Digital output zero s...

Page 146: ...ffect the product documentation 11 28 Unused parameter 11 29 Software version 45 Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 Range 0 00 to 99 99 Update rate N A 7 02 7 01 T4 T2 x 1 0 1 14 06 Invert 14 10 P Gain 14 11 I Gain PID reference input PID feedback input B7 PID enable Drive healthy 14 13 PID high limit 14 14 PID low limit 14 01 1 01 Drive reference Hz to frequency co...

Page 147: ...imal place on the drives four digit display will be adjusted to 1 for drive sizes with current ratings greater than 99 99A This parameter has four possible values and indicates the output voltage rating of the drive 0 200 200V product 1 400 400V product 2 575 575V product 3 690 690V product See Pr 11 29 on page 146 This parameter indicates the version of DSP software installed 11 30 User security ...

Page 148: ...no prior to the write taking place If the stick is read only the display will flash FAIL once and then Pr 11 42 will be set back to no A parameter save should be implemented before the stick is programmed Prog Before the SmartStick LogicStick is written to using Prog the SmartStick LogicStick will need to be inserted into the drive at power up or a reset command performed when the drive has been p...

Page 149: ... even when user security is set Parameter number Function 2 08 Standard ramp voltage 4 07 21 29 Current limits 5 07 21 07 Motor rated currents 5 09 21 09 Motor rated voltages 5 10 21 10 Motor rated power factor 5 17 21 12 Stator resistances 5 18 Switching frequency 5 23 21 13 Voltage offsets 5 24 21 14 Transient inductances 6 06 DC injection braking current 11 43 Load defaults 29 Coding Bit SP FI ...

Page 150: ...e PLC ladder program not installed running stopped tripped 11 45 Select motor 2 parameters 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 Background 11 46 Defaults previously loaded Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 Range 0 to 2 Default 0 Update rate Background write 11 47 PLC ladder program enable 59 Co...

Page 151: ... PLC ladder program If the scan time is greater than the maximum value which may be represented by this parameter the value will be clipped to the maximum value The LogicStick can be used as a SmartStick to store a parameter set at the same time as storing a PLC ladder program The LogicStick should be fully inserted or removed from the drive before a drive reset is performed 11 49 Unused parameter...

Page 152: ...2 level 0 0 to 100 0 0 0 21 ms 12 25 Threshold detector 2 hysteresis 0 0 to 25 0 0 0 21 ms 12 26 Threshold detector 2 output invert OFF 0 or On 1 OFF 0 21 ms 12 27 Threshold detector 2 destination Pr 0 00 to Pr 21 51 Pr 0 00 Drive reset 12 28 Variable selector 2 source 1 Pr 0 00 to Pr 21 51 Pr 0 00 Drive reset 12 29 Variable selector 2 source 2 Pr 0 00 to Pr 21 51 Pr 0 00 Drive reset 12 30 Variabl...

Page 153: ... of max of source 12 04 12 24 Threshold source 12 01 12 02 Threshold exceeded 2 1 5 1 1 0 1 0 00 21 51 1 0 1 12 03 Source 1 12 04 Threshold level 1 12 01 12 05 Hysteresis 1 1 0 1 1 01 21 51 0 00 21 51 1 0 1 12 07 Destination 1 12 06 Invert 1 Threshold exceeded 1 Threshold detector 1 2 1 5 1 1 0 1 0 01 21 51 1 0 1 12 03 Source 2 12 04 Threshold level 2 12 02 12 05 Hysteresis 2 1 0 1 1 01 21 51 1 01...

Page 154: ...12 1 12 12 2 12 12 3 12 12 4 12 12 5 12 12 6 12 12 12 15s 7 12 12 8 12 12 9 12 12 12 15 Variable selector control 12 15 XX XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals XX XX The parameters are all shown at their default settings 2 1 5 1 1 0 1 0 00 21 51 1 0 1 12 28 Source 1 2 1 5 1 1 0 1 0 00 21 51 1 0 1 12 29 Source 2 12 33 Scaling 12 34 Scaling Input 1 I...

Page 155: ...rake apply current threshold 10 02 Drive active 5 01 Output frequency _ _ 12 44 12 45 Brake release frequency Brake apply frequency Reference enabled Latch In Out Reset 12 46 Pre brake release delay 12 47 Post brake release delay 12 40 Brake release 2 03 Ramp hold 12 41 Brake controller enable 3 2 1 0 User Programmable 8 07 8 01 Brake disabled T5 T6 B3 1 11 Status relay state T5 T6 Terminal B3 dig...

Page 156: ... upper limit for switching is Threshold Level Hysteresis 2 The lower limit for switching is Threshold Level Hysteresis 2 This parameter and Pr 12 26 are used to invert the logic states of the threshold output if required This parameter and Pr 12 27 define the parameter which is to be controlled by the threshold parameter Only parameters which are not protected can be set up as a destination If a n...

Page 157: ...or 1 source 1 12 09 Variable selector 1 source 2 Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 Range Pr 0 00 to Pr 21 51 Default Pr 0 00 Update rate Read on drive reset 12 10 Variable selector 1 mode Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range 0 to 9 Default 0 Update rate 21 ms Mode value Pr 12 10 Action Result 0 Select input 1 output input1 1 Select i...

Page 158: ...age of the source maximum This parameter and Pr 12 05 define the band within which no change will occur on the output The upper limit for switching is Threshold Level Hysteresis 2 The lower limit for switching is Threshold Level Hysteresis 2 12 13 Variable selector 1 source 1 scaling Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 3 1 1 Range 4 000 Default 1 000 Update rate 21 ms 12 14 Va...

Page 159: ...e 12 26 Threshold detector 2 output invert 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 21 ms 12 27 Threshold detector 2 destination Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 2 1 1 1 1 Range Pr 0 00 to Pr 21 51 Default Pr 0 00 Update rate Read on drive reset 12 28 Variable selector 2 source 1 12 29 Variable selector 2...

Page 160: ... page 157 and Pr 12 30 on page 159 for variable selector modes 12 31 Variable selector 2 destination Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 2 1 1 1 1 Range Pr 0 00 to Pr 21 51 Default Pr 0 00 Update rate Read on drive reset 12 32 Variable selector 2 output Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 100 0 Update rate 21 ms 12 33 Variable selector 2 so...

Page 161: ...r to set up digital I O and the relay output after exit from edit mode or drive reset when Pr 12 41 has been changed The brake control functions are provided to allow well co ordinated operation of an external brake with the drive While both hardware and software are designed to high standards of quality and robustness they are not intended for use as safety functions i e where a fault or failure ...

Page 162: ...47 Brake release Brake controller enable 12 41 T5 T6 B3 User programmable Brake disabled Ramp hold 4 01 5 01 1 11 10 02 2 03 12 40 Latch In Out Reset If the reset input is 1 the output is 0 If the reset input is 0 the output latches at 1 if the input is 1 1 2 3 4 6 5 Pr Output frequency 5 01 Pr Reference enabled 1 11 Pr Brake release 12 40 Pr Ramp hold 2 03 Pr Drive active 10 02 Pr Current magnitu...

Page 163: ...frequency that is likely to occur under the highest expected load that is applied to the motor when the brake is released The brake apply frequency threshold is used to ensure that the brake is applied before the motor frequency reaches zero and to prevent the motor rotating in the reverse direction due to an overhauling load for example during the brake apply time If the frequency falls below thi...

Page 164: ...uide www controltechniques com Issue Number 9 The post brake release delay is used to allow for the brake release time During this period the frequency reference is held constant Pr 2 03 On so that there is no sudden increase in motor speed when the brake actually releases 12 47 Post brake release delay 51 Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 0 0 to 25 0 s Default...

Page 165: ...rt OFF 0 or On 1 OFF 0 21 ms 14 06 PID feedback source invert OFF 0 or On 1 OFF 0 21 ms 14 07 PID reference slew rate limit 0 0 to 3200 0 s 0 0 B 14 08 PID enable OFF 0 or On 1 OFF 0 21 ms 14 09 Optional PID enable source Pr 0 00 to Pr 21 51 Pr 0 00 Drive reset 14 10 PID proportional gain 0 000 to 4 000 1 000 21 ms 14 11 PID integral gain 0 000 to 4 000 0 500 21 ms 14 12 PID derivative gain 0 000 ...

Page 166: ...4 05 Invert 14 07 PID slew rate limit 14 22 PID error 1 0 1 14 17 Hold integrator 14 01 PID output 14 15 PID scaling 1 01 21 51 0 00 21 51 1 0 1 14 16 PID output destination 14 03 14 20 2 1 5 1 1 0 1 0 01 21 51 1 0 1 14 02 PID feedback source 2 1 5 1 0 00 21 51 1 0 1 PID feedback 1 0 1 14 06 Invert 14 21 14 04 14 08 PID enable 10 01 Drive healthy indicator 2 1 5 1 1 0 1 0 01 21 51 2 1 5 1 0 00 21 ...

Page 167: ...m will be 100 These parameters define the variables which are to be used as the input variables to the PID controller Only valid parameters can be programmed as a source If a non valid parameter is programmed the input value is taken as 0 All variable inputs to the PID are automatically scaled to variables having the range of 100 0 or 0 to 100 of the source parameter if they are unipolar These par...

Page 168: ... This is the proportional gain applied to the PID error This is the gain applied to the PID error before being integrated This is the gain applied to the PID error before being differentiated 14 08 PID enable 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 21 ms 14 09 Optional PID enable source Coding Bit SP FI DE Txt VM DP ND RA NC NV P...

Page 169: ...e of the preset speed parameters is entered here When this parameter is set to 0 the integrator operates normally Setting this parameter to On 1 will cause the integrator value to be held as long as the PID is enabled when the drive is disabled Setting this parameter does not prevent the integrator from being reset to zero if the PID controller is disabled See Pr 14 13 and Pr 14 14 on page 151 and...

Page 170: ...eference input of the PID controller This parameter monitors the feedback input of the PID controller This parameter monitors the error of the PID controller 14 20 PID reference Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 100 0 Update rate 21 ms 14 21 PID feedback Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 100 0 Update rate 21 ms 14 22 PID err...

Page 171: ...rive will trip on SL dF Power down and power back up The Commander SK automatically saves the appropriate information for the Solutions Module If a Solutions Module is removed when the drive is next powered up the drive will trip on SL nF To clear this trip a parameter save needs to be performed Parameter Range Default Update rate Pr 15 01 Solutions Module ID 0 to 599 Write on power up Pr 15 02 So...

Page 172: ... OFF 0 BR 15 20 Digital I O read word 0 to 120 BW 15 21 Not used 15 22 Not used 15 23 Not used 15 24 Terminal T5 digital input 1 destination Pr 0 00 to Pr 21 51 Pr 0 00 Drive reset 15 25 Terminal T6 digital input 2 destination Pr 0 00 to Pr 21 51 Pr 0 00 Drive reset 15 26 Terminal T7 digital input 3 destination Pr 0 00 to Pr 21 51 Pr 0 00 Drive reset 15 27 Terminal T21 T23 relay 1 source Pr 0 00 t...

Page 173: ...Drive encoder reference level 100 to 100 BW 15 58 Drive encoder reference scaling 0 000 to 4 000 1 000 BR 15 59 Drive encoder reference destination Pr 0 00 to Pr 21 51 Pr 0 00 Drive reset 15 60 Encoder reset OFF 0 or On 1 OFF 0 Encoder only 13ms All I O routed 30ms Parameter Range Default Setting Update Rate T5 x 04 Monitor x 14 Invert x 24 Destination 0 00 21 51 Default destination Pr 0 00 T6 x 0...

Page 174: ...umber 9 Figure 10 45 Menu 15B logic diagram x in the parameter boxes represents Menu 15 i e x 04 Pr 15 04 T2 x 40 Monitor x 03 Current loop loss indicator x 41 Scaling x 1 x 42 Invert x 43 Destination 0 00 21 51 Default destination Pr 0 00 200R 0V Current mode and protection x 38 Mode x 48 0 00 Default source Pr 0 00 21 51 T3 Source XX XX Key Read write RW parameter Read only RO parameter Input te...

Page 175: ...efault destination Pr 0 00 T9 T8 T7 T10 B B A A Encoder reference input x 52 Drive encoder lines per revolution x 53 x 54 Revolution counter Revolution position x 55 Drive encoder speed rpm x 56 Maximum drive encoder reference x 57 Drive encoder reference x 58 Scaling x 19 Real time clock normal operation Real time clock 1 hour Real time clock x 30 Real time clock update mode User x 34 x 35 x 36 x...

Page 176: ...ed User Guide www controltechniques com Issue Number 9 Figure 10 47 Menu 15D logic diagram x in the parameter boxes represents Menu 15 i e x 04 Pr 15 04 T7 T6 T5 T21 T23 x 04 Monitor x 05 Monitor x 06 Monitor x 07 Monitor x 20 Digital I O read word Digital I O read word Pr x 20 Terminal Binary value T5 8 T6 16 T7 32 T21 T23 64 XX XX Key Read write RW parameter Read only RO parameter Input terminal...

Page 177: ... the destination parameter Pr 15 59 is routed to a valid parameter The new parameter values are stored automatically by the drive If the drive is subsequently powered up with a different Solutions Module installed or no Solutions Module installed when one was previously installed The drive will trip on SL dF or SL nF This parameter shows the version of software programmed into the Solutions Module...

Page 178: ...e parameters to On 1 causes the input sense to the destination parameter to be inverted Setting this parameter to On 1 causes the relay sense to be inverted 15 04 Terminal T5 digital input 1 state 15 05 Terminal T6 digital input 2 state 15 06 Terminal T7 digital input 3 state Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range OFF 0 or On 1 Update rate Background write 15 07 Rel...

Page 179: ...arameter defines the parameter to be represented by the status relay Only valid parameters can be selected as a source for the relay output If a non valid parameter is programmed then the relay will remain in the last known state 15 19 Real time clock daylight saving mode 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 Background read 15...

Page 180: ... Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 Range 0 to 2 Default 0 Update rate Background read write 15 31 to 15 33 Unused parameters 15 34 Real time clock minutes seconds Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 Range 00 00 to 59 59 Default 00 00 Update rate Background read write 15 35 Real time clock days hours Coding Bit SP FI DE Txt VM DP ND RA NC NV...

Page 181: ...parameter is used to scale the analog input if so desired However in most cases it is not necessary as each input is automatically scaled such that for 100 0 the destination parameters defined by the settings of Pr 15 43 will be at maximum This parameter can be used to invert the analog input reference i e multiply the input scaling result by 1 Value Display Function 0 0 20 0 to 20mA 1 20 0 20 to ...

Page 182: ...rror Codes The drive can also trip on a number of Solutions Module trips SL xx Please see table 9 13 Trip Indications in the Commander SK Advanced User Guide The SM I O Lite and SM I O Timer includes a temperature monitoring circuit If the pcb temperature exceeds 65 C the drives cooling fan is forced to operate for a minimum of 20 seconds If the pcb temperature falls below 65 C the fan will switch...

Page 183: ...s Module software sub version Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 Range 00 to 99 Update rate Write on power up 15 52 Drive encoder lines per revolution Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 512 0 1024 1 2048 2 4096 3 Default 1024 1 Update rate Background read Value Display Description 0 512 512 lines per revolution encoder 1 1024 1024...

Page 184: ...he drive encoder revolution counter Pr 15 53 and drive encoder position Pr 15 54 to zero Please refer to the SM I O Lite SM I O Timer user guide for further information on the SM I O Lite and SM I O Timer 15 57 Drive encoder reference level Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range 100 to 100 Update rate Background write 15 58 Drive encoder reference scaling Coding Bit S...

Page 185: ...on menu 1 read write integer 32768 to 32767 0 N A 18 22 Application menu 1 read write integer 32768 to 32767 0 N A 18 23 Application menu 1 read write integer 32768 to 32767 0 N A 18 24 Application menu 1 read write integer 32768 to 32767 0 N A 18 25 Application menu 1 read write integer 32768 to 32767 0 N A 18 26 Application menu 1 read write integer 32768 to 32767 0 N A 18 27 Application menu 1 ...

Page 186: ...enu can be saved in the drive 18 01 Application menu 1 power down saved integer Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range 32768 to 32767 Default 0 Update rate N A 18 02 to 18 10 Application menu 1 read only integer Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 Range 32768 to 32767 Default 0 Update rate N A 18 11 to 18 30 Application menu 1 read write integer...

Page 187: ...d 20 12 Not used 20 13 Not used 20 14 Not used 20 15 Not used 20 16 Not used 20 17 Not used 20 18 Not used 20 19 Not used 20 20 Not used 20 21 Application menu 2 read write long integer 231 to 231 1 0 N A 20 22 Application menu 2 read write long integer 231 to 231 1 0 N A 20 23 Application menu 2 read write long integer 231 to 231 1 0 N A 20 24 Application menu 2 read write long integer 231 to 231...

Page 188: ...ur 60 0 USA B 21 07 Motor 2 motor rated current 0 to RATED_ CURRENT_MAX A Drive rated current Pr 11 32 B 21 08 Motor 2 motor rated full load rpm 0 to 9999 rpm 1500 Eur 1800 USA B 21 09 Motor 2 motor rated voltage 0 to AC_VOLTAGE_SET_ MAX V 110V drive 230 200V drive 230 400V drive 400 Eur 460 USA 575V drive 575 690V drive 690 128 ms 21 10 Motor 2 motor rated power factor 0 00 to 1 00 0 85 B 21 11 M...

Page 189: ...sets selected by terminal input 2 A2 Pr Analog reference 1 voltage or 3 Presets selected by terminal input 3 Pr 4 Preset speeds selected by terminal input 4 PAd Keypad reference selected 5 Prc Precision reference selected With Eur defaults 21 01 Motor 2 maximum set speed Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range 0 0 to 550 Hz Default Eur 50 0 USA 60 0 First motor param...

Page 190: ...or existing users of Commander SE On Commander SE Pr 21 03 Pr 1 14 used to correspond to Pr 05 On Commander SK Pr 11 27 corresponds to Pr 05 If Pr 05 or Pr 11 27 is used in a desired system set up and then Pr 21 03 Pr 1 14 is then used to change this set up although some of these set ups for Pr 05 and Pr 21 03 Pr 1 14 are the same the displayed value showing the set up of Pr 05 AI AV AV Pr etc wil...

Page 191: ...e Sometimes it will be necessary to adjust this when the drive is commissioned because the nameplate value may be inaccurate Slip compensation will operate correctly both below rated speed and within the field weakening region Slip compensation is normally used to correct for the motor speed to prevent speed variation with load The rated load rpm can be set higher than synchronous speed to deliber...

Page 192: ...the machine flux to build up When the drive operates between rated frequency 4 and rated frequency 2 the Rs compensation is gradually reduced to zero as the frequency increases For the vector modes to operate correctly the stator resistance Pr 21 12 motor rated power factor Pr 21 10 and voltage offset Pr 21 13 are all required to be set up accurately Fixed boost mode Fd A linear characteristic is ...

Page 193: ...orrectly Pr 21 10 should be set to the motor power factor before an autotune is carried out This parameter is used in the calculation of motor speed and in applying the correct slip compensation When auto is selected the number of motor poles is automatically calculated from the rated frequency Pr 21 06 and the rated load rpm Pr 21 08 The number of poles 120 x rated frequency rpm rounded to the ne...

Page 194: ...ount The value shown in Pr 21 13 is this offset given in line to line rms volts It is not possible for the user to measure this voltage easily and so the automatic measurement procedure should be used see Pr 5 14 on page 79 With reference to the following diagram the transient inductance is defined as σLs L1 L2 Lm L2 Lm Based on the parameters normally used for the motor equivalent circuit for tra...

Page 195: ...rrent within the current limits as shown in the following diagram The active current limit is compared with the active current and if the current exceeds the limit the error value passes through the PI controller to give a frequency component which is used to modify the ramp output The direction of the modification is always to reduce the frequency to zero if the active current is motoring or to i...

Page 196: ...oller 49 DC injection braking 11 27 90 96 Deadtime compensation 81 Deceleration rate 27 30 49 50 53 190 Default 5 8 9 27 30 40 78 79 132 133 140 141 149 Delay 96 122 123 163 192 Derivative gain 168 Differential gain 167 Digital 9 27 30 33 Digital I O 33 Display indications 134 Drive 140 Drive cooling fan 104 Drive ok 129 Drive rated current 6 66 195 Drive reset 7 Drive set up general 33 Drive volt...

Page 197: ...Motor rated speed 30 Motor rated voltage 5 30 76 81 191 192 Motor thermal protection 68 150 Motor thermistor 114 116 117 132 Motor voltage 4 Motoring 65 66 70 Motorised pot 33 Multi drop converters 13 N Non bit parameters 7 9 O Output frequency 11 51 63 66 67 74 81 91 116 195 Output voltage 6 65 Over modulation 81 Over modulation enable 28 Overload 64 66 69 131 132 134 137 195 P Parameter copying ...

Page 198: ...78 80 91 132 192 194 Status 33 Status relay 114 Stop mode 30 Storing drive parameters 7 Switching frequency 28 30 80 82 131 Synchronous speed 75 SYPTLite 24 T T Bar connector splitter 15 Temperature 80 Terminating resistors 13 14 Thermal model 131 132 137 Thermistor input 28 116 Threshold detectors 33 Torque 65 66 163 Torque control 63 65 66 67 141 195 Torque mode 28 66 67 145 Torque producing cur...

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