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Optimization

126

Unidrive M702 User Guide

Issue Number: 3

Speed loop gains (cont)
(Pr 00.007 {03.010}, Pr 00.008 {03.011}, Pr 00.009 {03.012})

There are three methods of tuning the speed loop gains dependant on
the setting of Pr

03.017

:

1. Pr

03.017

= 0, User set-up.

This involves the connecting of an oscilloscope to analog output 1 to
monitor the speed feedback.
Give the drive a step change in speed reference and monitor the
response of the drive on the oscilloscope.
The proportional gain (Kp) should be set up initially. The value
should be increased up to the point where the speed overshoots and
then reduced slightly.
The integral gain (Ki) should then be increased up to the point where
the speed becomes unstable and then reduced slightly.
It may now be possible to increase the proportional gain to a higher
value and the process should be repeated until the system response
matches the ideal response as shown.
The diagram shows the effect of incorrect P and I gain settings as
well as the ideal response.

2. Pr

03.017

= 1, Bandwidth set-up

If bandwidth based set-up is required, the drive can calculate Kp and
Ki if the following parameters are set up correctly:

Pr

03.020

- Required bandwidth,

Pr

03.021

- Required damping factor,

Pr

03.018

- Motor and load inertia.

The drive can be made to measure the motor and load inertia by
performing an inertia measurement autotune (see

Autotune

Pr 00.040, earlier in this table).

3. Pr

03.017

= 2, Compliance angle set-up

If compliance angle based set-up is required, the drive can calculate
Kp and Ki if the following parameters are set up correctly:

Pr

03.019

- Required compliance angle,

Pr

03.021

- Required damping factor,

Pr

03.018

- Motor and load inertia.The drive can be made to

measure the motor and load inertia by performing an inertia
measurement autotune (see

Autotune

Pr 00.040, earlier in this

table).

4. Pr

03.017

= 3, Kp gains times 16

If

Speed Controller Set-up Method

(03.017) = 3 the selected

proportional gain used by the drive is multiplied by 16.

Speed demand

Insufficient proportional
gain [

]

00.007

Excessive proportional
gain [

00.007]

Excessive integral gain
[

00.008

]

Ideal response

5. Pr

03.017

= 4 - 6

If

Speed Controller Set-up Method

(03.017) is set to a value from 4 to

6 the

Speed Controller Proportional Gain Kp1

(03.010) and

Speed

Controller Integral Gain Ki1

(03.011) are automatically set up to give

the bandwidths given in the table below and a damping factor of unity.
These settings give low, standard or high performance.

Speed Controller

Set-up Method

(03.017)

Performance

Bandwidth

4

Low

5 Hz

5

Standard

25 Hz

6

High

100 Hz

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Summary of Contents for Unidrive M702

Page 1: ...User Guide Unidrive M702 Model sizes 3 to 8 Universal Variable Speed AC drive for induction and permanent magnet motors Part Number 0478 0002 03 Issue 3 www controltechniques com ...

Page 2: ... 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 must not be discarded but should instead be recy...

Page 3: ...afety information It is essential that the warnings are observed and the information considered when working with or designing a system using the drive This map of the user guide helps to find the right sections for the task you wish to complete but for specific information refer to Contents on page 4 NOTE 1 Safety information 2 Product information 3 Mechanical installation 4 Electrical installati...

Page 4: ...l installation 51 4 1 Power connections 51 4 2 AC supply requirements 55 4 3 Supplying the drive with DC 56 4 4 DC bus paralleling 57 4 5 24 Vdc supply 57 4 6 Low voltage operation 58 4 7 Heatsink fan supply 58 4 8 Ratings 59 4 9 Output circuit and motor protection 63 4 10 Braking 65 4 11 Ground leakage 68 4 12 EMC Electromagnetic compatibility 68 4 13 Communications connections 77 4 14 Control co...

Page 5: ...le selectors and brake control function 194 11 13 Menu 13 Standard motion controller 202 11 14 Menu 14 User PID controller 206 11 15 Menus 15 16 and 17 Option module set up 210 11 16 Menu 18 Application menu 1 211 11 17 Menu 19 Application menu 2 212 11 18 Menu 20 Application menu 3 213 11 19 Menu 21 Second motor parameters 214 11 20 Menu 22 Additional Menu 0 set up 216 11 21 Menu 24 Ethernet stat...

Page 6: ...embler 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 Refer to the User Guide An EMC Data Sheet is also available giving detailed EMC information Maaa bbcddddd Valid characters aaa 600 700 701 702 bb 03 04 05 06 07 c 2 4 5 or 6 ddddd 00050 00066 00080 00106 00025 00031 00045 00062 00078 00100 00137 00150 00172 00...

Page 7: ... system is carried out in accordance with the requirements of the Machinery Directive and any other relevant legislation The use of a safety related drive in itself does not ensure the safety of the machine Compliance with safety and EMC regulations depends upon installing and configuring inverters correctly The inverters must be installed only by professional assemblers who are familiar with requ...

Page 8: ...drive must be complied with including the specified environmental limits Drives must not be subjected to excessive physical force 1 5 Access Drive access must be restricted to authorized personnel only Safety regulations which apply at the place of use must be complied with 1 6 Fire protection The drive enclosure is not classified as a fire enclosure A separate fire enclosure must be provided For ...

Page 9: ... voltages present in the following locations can cause severe electric shock and may be lethal AC supply cables and connections Output cables and connections Many internal parts of the drive and external option units Unless otherwise indicated control terminals are single insulated and must not be touched 1 11 2 Stored charge The drive contains capacitors that remain charged to a potentially letha...

Page 10: ...nal features Unidrive M700 701 and 702 Select up to three option modules including programmable automation and motion control Unidrive M700 Ethernet fieldbus communications Single channel SAFE TORQUE OFF STO input Unidrive M701 Provides a direct replacement upgrade for Unidrive SP 485 serial communications interface Single channel SAFE TORQUE OFF STO input Unidrive M702 Ethernet fieldbus communica...

Page 11: ...hen Pr 04 025 0 default and below 50 when Pr 04 025 1 For constant torque applications or applications which require a high overload capability or full torque is required at low speeds e g winders hoists The thermal protection is set to protect force ventilated induction motors and permanent magnet servo motors by default N If the application uses a self ventilated TENV TEFC induction motor and in...

Page 12: ...66 7 5 10 06200440 58 15 20 63 8 44 66 88 11 15 Frame size 7 07200610 75 18 5 25 82 5 61 91 5 122 15 20 07200750 94 22 30 103 4 75 112 5 150 18 5 25 07200830 117 30 40 128 7 83 124 5 166 22 30 Frame size 8 08201160 149 37 50 163 9 116 174 232 30 40 08201320 180 45 60 198 132 192 264 37 50 Model Normal Duty Heavy Duty Maximum continuous output current Nominal power at 400 V Motor power at 460 V Pea...

Page 13: ...2 10 15 20 5 5 7 5 06500150 17 11 15 18 7 15 22 5 30 7 5 10 06500190 22 15 20 24 2 19 28 5 38 11 15 06500230 27 18 5 25 29 7 23 34 5 46 15 20 06500290 34 22 30 37 4 29 43 5 58 18 5 25 06500350 43 30 40 47 3 35 52 5 70 22 30 Frame size 7 07500440 53 45 50 58 3 44 66 88 30 40 07500550 73 55 60 80 3 55 82 5 110 37 50 Frame size 8 08500630 86 75 75 94 6 63 94 5 126 45 60 08500860 108 90 100 118 8 86 1...

Page 14: ...ltage boost is provided which is set by the user This mode can be used for multi motor applications Typically 100 torque is available down to 4 Hz for a 50 Hz motor Quadratic V F mode The voltage applied to the motor is directly proportional to the square of the frequency except at low speed where a voltage boost is provided which is set by the user This mode can be used for running fan or pump ap...

Page 15: ... FR 2 Forward reverse incremental encoders with UVW commutation signals for absolute position for permanent magnet motors with or without marker pulse FR Servo 5 Frequency and direction incremental encoders with or without marker pulse FD 1 Frequency and direction incremental encoders with UVW commutation signals for absolute position for permanent magnet motors with or without marker pulse FD Ser...

Page 16: ... 4 5 6 7 8 9 10 11 12 13 14 15 16 18 17 19 13 15 16 18 17 19 15 15 16 13 13 16 15 15 19 18 17 16 15 13 18 17 19 15 16 18 19 15 13 17 18 19 19 15 16 16 17 15 13 19 8 Key 1 Keypad connection 6 Option module slot 2 11 Communications port 16 DC bus 2 Rating label 7 Option module slot 3 12 NV media card slot 17 Motor connections 3 Identification label 8 Relay connections 13 Braking terminal 18 AC suppl...

Page 17: ...ons Figure 2 4 Options available with the drive 1 Keypad 2 Option module slot 1 3 Option module slot 2 4 Option module slot 3 5 CT Comms cable 6 Internal braking resistor 7 NV media card For further information refer to Chapter 9 NV Media Card Operation on page 130 Refer to User Guide Model Frame size Voltage Heavy Duty current rating Drive format M702 032 00050 A Key to approvals CE approval Euro...

Page 18: ...A KI 485 Adaptor 485 Comms Adaptor 485 Comms adaptor provides 485 communication interface This adaptor supports 115 k Baud node addresses between 1 to 16 and 8 1 NP M serial mode Purple SI PROFIBUS Profibus option PROFIBUS adapter for communications with the drive Medium Grey SI DeviceNet DeviceNet option DeviceNet adapter for communications with the drive Light Grey SI CANopen CANopen option CANo...

Page 19: ...y kit box including the items shown in Table 2 11 Table 2 11 Parts supplied with the drive Type Option Name Further Details Back up SD Card Adaptor SD Card Adaptor Allows the drive to use an SD card for drive back up SMARTCARD SMARTCARD Used for parameter back up with the drive Description Size 3 Size 4 Size 5 Size 6 Size 7 Size 8 Control connectors x 1 Relay connector x 1 24 V power supply connec...

Page 20: ... For installation outside the USA the following based on IEC 62109 1 standard for PV inverters is recommended Enclosure can be metal and or polymeric polymer must meet requirements which can be summarized for larger enclosures as using materials meeting at least UL 94 class 5VB at the point of minimum thickness Air filter assemblies to be at least class V 2 The location and size of the bottom shal...

Page 21: ... and allowance made for carefully segregated wiring Both levels of precautions are covered in section 4 12 EMC Electromagnetic compatibility on page 68 3 2 7 Hazardous areas The drive must not be located in a classified hazardous area unless it is installed in an approved enclosure and the installation is certified 3 3 Terminal cover removal Isolation device The AC and or DC power supply must be d...

Page 22: ...nal covers Figure 3 3 Location and identification of terminal covers 3 DC Braking terminal cover Control AC Motor terminal cover DC Braking terminal cover AC Motor terminal cover Control terminal cover 4 Control AC Motor terminal cover DC Braking terminal cover 7 AC DC terminal cover Motor Braking terminal cover Control terminal cover 5 DC Braking terminal cover left Control terminal cover AC Moto...

Page 23: ... DC Braking terminal cover On size 3 drives the Control AC Motor terminal cover must be removed before removal of the DC Braking terminal cover When replacing the terminal covers the screws should be tightened to a maximum torque of 1 N m 0 7 lb ft Figure 3 5 Removing the size 4 terminal covers 1 Control AC Motor terminal cover 2 DC Braking terminal cover On size 4 drives the Control AC Motor term...

Page 24: ...L listing information 24 Unidrive M702 User Guide Issue Number 3 Figure 3 6 Removing the size 5 terminal covers 1 Control terminal cover 2 DC Braking terminal cover right On size 5 drives the Control terminal cover must be removed before removal of the DC Braking terminal cover right When replacing the terminal covers the screws should be tightened to a maximum torque of 1 N m 0 7 lb ft Figure 3 7...

Page 25: ...tion Getting started Basic parameters Running the motor Optimization NV Media Card Operation Onboard PLC Advanced parameters Technical data Diagnostics UL listing information Unidrive M702 User Guide 25 Issue Number 3 Figure 3 8 Removing the size 7 and 8 terminal covers size 7 shown ...

Page 26: ...ize 6 only D Size 7 and 8 Place finger guard on a flat solid surface and hit relevant break outs with hammer as shown 1 Continue until all required break outs are removed 2 Remove any flash sharp edges once the break outs are removed Figure 3 10 Removing the size 3 and 4 DC terminal cover break outs Grasp the DC terminal cover break outs with pliers as shown 1 and pull down in the direction shown ...

Page 27: ...1 Align and insert the option module tab in to the slot provided 2 this is highlighted in the detailed view A Press down on the option module until it clicks into place Installing the second option module Move the option module in direction shown 3 Align and insert the option module tab in to the slot provided on the already installed option module 4 this is highlighted in the detailed view B Pres...

Page 28: ...hted in the detailed view A Tilt the option module towards you as shown 2 Totally remove the option module in direction shown 3 Figure 3 13 Installation and removal of a large option module Installing a large option module Move the option module in direction shown 1 Align and insert the option module tabs A into the slot provided B Press down on the option module until it clicks into place Removin...

Page 29: ...agnostics UL listing information Unidrive M702 User Guide 29 Issue Number 3 Figure 3 14 Installation and removal of the KI Keypad To install align the keypad and press gently in the direction shown until it clicks into position To remove reverse the installation instructions N The keypad can be installed removed while the drive is powered up and running a motor providing that the drive is not oper...

Page 30: ...e Each mounting bracket contains 4 mounting holes the outer holes 5 5 mm x 2 should be used for mounting the drive to the backplate as this allows the heatsink fan to be replaced without removing the drive from the backplate The inner holes 6 5 mm x 2 are used for Unidrive SP size 1 retrofit applications See Table 3 2 for further information Size CT part number 3 3470 0053 4 3470 0056 5 3470 0067 ...

Page 31: ...mounting bracket are to be used for surface mounting See Table 3 2 for further information Figure 3 17 Surface mounting the size 5 drive The outer holes in the mounting bracket are to be used for surface mounting See Table 3 2 for further information Æ 6 5 mm 0 26 in x 4 holes 106 mm 4 17 in 375 mm 14 76 in 8 mm 0 32 in 53 mm 2 09 in 53 mm 2 09 in 124 mm 4 88 in 391 mm 15 39 in 365 mm 14 37 in 200...

Page 32: ...Number 3 Figure 3 18 Surface mounting the size 6 drive The outer holes in the mounting bracket are to be used for surface mounting See Table 3 2 for further information Figure 3 19 Surface mounting the size 7 drive 378 mm 14 88 in 196 0 mm 7 72 in 6 0 mm 0 24 in Æ7 0 mm 0 27 in 7 0 mm 0 28 in 227 mm 8 94 in 210 mm 8 27 in 391 mm 15 39 in 365 mm 14 37 in NOTE 270 mm 10 63 in 557 mm 21 93 in 508 mm ...

Page 33: ...re 3 21 Through panel mounting the size 3 drive 257 mm 10 12 in Æ9 mm 0 35 in 4 holes 784 mm 30 87 in 310 mm 12 21 in 285 mm 11 22 in 803 mm 31 61 in 753 mm 29 65 290 mm 11 42 in 10 mm 0 39 in 26 mm 1 02 in 359 mm 14 13 in 83 mm 3 27 in 365 mm 14 37 in 400 mm 15 75 in 200 mm 7 87 in 67 mm 2 64 in 134 mm 5 28 in 109 mm 4 29 in 97 mm 3 82 in 36 5 mm 1 44 in 5 20 mm 0 21 in x 8 holes 73 mm 2 87 in 36...

Page 34: ... 22 Through panel mounting the size 4 drive Figure 3 23 Through panel mounting the size 5 drive 106 mm 4 17 in 17 mm 0 67 in 393 mm 15 47 in 409 mm 16 10 in 124 mm 4 88 in 142 mm 5 59 in 68 mm 2 68 in 68 mm 2 68 in 117 mm 4 61 in 168 mm 6 61 in 78 106 mm 4 17 in 156 mm 6 14 in 359 mm 14 13 in 169 mm 6 65 in 26 mm 1 02 in 167 mm 6 58 in 26 mm 1 02 in 394 mm 15 51 in 136 mm 5 35 in Æ7 0 mm 0 28 in x...

Page 35: ...el mounting Figure 3 25 Through panel mounting the size 7 drive 196 mm 7 72 in Ø7 00mm 0 276 in 98 mm 3 86 in 101 mm 3 98 in 202 mm 7 95 in 101 mm 3 98 in Radius 1 0 mm 0 04 in Ø5 2 mm 0 20 in 98 mm 3 86 in 26 0 mm 1 02 in 120 mm 4 73 in 26 0 mm 1 02 in 26 0 mm 1 02 in 227 mm 8 94 131 mm 5 16 in 412 mm 16 22 in 210 mm 8 27 in 96 mm 3 78 in 365 mm 14 37 in 356 mm 14 02 in 399 mm 15 71 264 mm 10 39 ...

Page 36: ...mation 36 Unidrive M702 User Guide Issue Number 3 Figure 3 26 Through panel mounting the size 8 drive 27 1 1 066 328 mm 12 91 in 290 mm 11 42 in 259 mm 10 20 in 784 mm 30 87 in 730 mm 28 74 in 240 mm 9 45 in 240 mm 9 45 in 141 mm 5 55 in Æ9 mm 0 35 in 4 holes 161 mm 6 34 in 240 mm 9 45 in 240 mm 9 45 in 27 mm 1 06 in Æ5 3 mm 0 21 in 6 holes 285 mm 11 22 in 310 mm 12 21 in 341 mm 13 43 in 753 mm 29...

Page 37: ... x 2 x 2 Hole size 5 5 mm 0 22 in x 2 Inner hole size 6 5 mm 0 26 in Outer hole size 5 5 mm 0 22 in Inner hole size 6 5 mm 0 26 in Outer hole size 5 5 mm 0 22 in 4 x 2 x 3 Hole size 5 2 mm 0 21 in x 2 Hole size 6 5 mm 0 26 in Hole size 6 5 mm 0 26 in 5 x 2 x 2 Hole size 5 2 mm 0 21 in x 2 Hole size 6 5 mm 0 26 in Hole size 6 5 mm 0 26 in 6 x 2 x 3 Hole size 5 2 mm 0 21 in x 2 Hole size 6 5 mm 0 26...

Page 38: ...m spacing is required at 55 C Drive sizes 03 to 05 can be tile mounted where limited mounting space is available The tile mounting kit is not supplied with the drive it can be purchased separately Drive Size Spacing A 40 C 50 C 55 C 3 0 mm 0 00 in 0 mm 0 00 in 15 mm 0 59 in 4 0 mm 0 00 in 30 mm 1 18 in 5 0 mm 0 00 in 30 mm 1 18 in 30 mm 1 18 in 6 0 mm 0 00 in 0 mm 0 00 in 0 mm 0 00 in 7 30 mm 1 18...

Page 39: ...mbient temperature outside the enclosure 30 C For example if the power dissipation from each drive is 187 W and the power dissipation from each external EMC filter is 9 2 W Total dissipation 2 x 187 9 2 392 4 W Power dissipation for the drives and the external EMC filters can be obtained from Chapter 12 Technical data on page 227 The enclosure is to be made from painted 2 mm 0 079 in sheet steel h...

Page 40: ... an internal heatsink mounted fan The fan housing forms a baffle plate channelling the air through the heatsink chamber Thus regardless of mounting method surface mounting or through panel mounting the installing of additional baffle plates is not required Ensure the minimum clearances around the drive are maintained to allow air to flow freely The heatsink fan on all sizes is a variable speed fan...

Page 41: ...itbox supplied with the drive Figure 3 32 Through panel mounting Figure 3 33 Installation of high IP insert for size 3 1 To install the high IP insert firstly place a flat head screwdriver into the slot highlighted 1 2 Pull the hinged baffle down to expose the ventilation hole install the high IP insert into the ventilation hole in the heatsink 2 3 Ensure the high IP insert is securely installed b...

Page 42: ...Figure 3 35 Installation of high IP insert for size 5 1 To install the high IP insert firstly place a flat head screwdriver into the slot highlighted 1 2 Pull the hinged baffle up to expose the ventilation holes install the high IP inserts into the ventilation holes in the heatsink 2 3 Ensure the high IP inserts are securely installed by firmly pressing them into place 3 4 Close the hinged baffle ...

Page 43: ...o the heatsink using captive screws The screws should be tighten to a maximum torque of 2 N m 1 5 lb ft 6 Route the cables through the provided hole at the rear of the heatsink as shown in Figure 3 36 and take the cable out from the front side of the drive Ensure the cables are routed between the fins of the heatsink 7 Crimp the cable ends and make appropriate connections The brake terminals must ...

Page 44: ...d brake resistor bung onto outer insulation of brake resistor cable The wider end of the bung should be inserted first The Narrow end should align with end of insulation 4 Install the braking resistor to the heatsink using captive screws The screws should be tighten to a maximum torque of 2 N m 1 5 lb ft 5 Route the cables through the provided hole at the rear of the heatsink as shown in Figure 3 ...

Page 45: ...ing the guidelines in section 4 12 5 Compliance with generic emission standards on page 74 Model CT part number Weight kg Ib 200 V 03200050 to 03200106 4200 3230 1 9 4 20 04200137 to 04200185 4200 0272 4 0 8 80 05200250 4200 0312 5 5 12 10 06200330 to 06200440 4200 2300 6 5 14 3 07200610 to 07200830 08201160 to 08201320 400 V 03400025 to 03400100 4200 3480 2 0 4 40 04400150 to 04400172 4200 0252 4...

Page 46: ... Cable size CT part number A B C D E H W V X Y Z CS 4200 3230 384 mm 15 12 in 414 mm 16 30 in 56 mm 2 21 in 41 mm 1 61 in 426 mm 16 77 in 83 mm 3 27 in M5 M5 5 5 mm 0 22 in 5 5 mm 0 22 in 300 mm 11 81 in 4200 3480 CT part number A B C D E H W V X Y Z CS 4200 0272 395 mm 15 55 in 425 mm 16 73 in 100 mm 3 94 in 60 mm 2 36 in 437 mm 17 21 in 123 mm 4 84 in M6 M6 300 mm 11 81 in 4200 0252 CT part numb...

Page 47: ...ameters Technical data Diagnostics UL listing information Unidrive M702 User Guide 47 Issue Number 3 3 12 Electrical terminals 3 12 1 Location of the power and ground terminals Figure 3 42 Locations of the power and ground terminals Key 1 Control terminals 4 Ground connections 7 DC bus 2 Relay terminals 5 AC power terminals 8 DC bus 3 Additional ground connection 6 Motor terminals 9 Brake terminal...

Page 48: ... AF 1 5 N m 1 1 lb ft 1 8 N m 1 3 lb ft 1 5 N m 1 1 Ib ft 2 5 N m 1 8 Ib ft 2 0 N m 1 4 Ib ft 5 0 N m 3 7 Ib ft 6 M6 Nut 10 mm AF M6 Nut 10 mm AF M6 Nut 10 mm AF 6 0 N m 4 4 Ib ft 8 0 N m 6 0 Ib ft 6 0 N m 4 4 Ib ft 8 0 N m 6 0 Ib ft 6 0 N m 4 4 Ib ft 8 0 N m 6 0 Ib ft 7 M8 Nut 13 mm AF M8 Nut 13 mm AF M8 Nut 13 mm AF 12 N m 8 8 Ib ft 14 N m 10 0 Ib ft 12 N m 8 8 Ib ft 14 N m 10 0 Ib ft 12 N m 8 8...

Page 49: ...lock works when the drive is powered down The battery has a long life time but if the battery needs to be replaced or removed follow the instructions below Low battery voltage is indicated by low battery symbol on the keypad display Figure 3 43 KI Keypad RTC rear view Figure 3 43 above illustrates the rear view of the KI Keypad RTC 1 To remove the battery cover insert a flat head screwdriver into ...

Page 50: ...he fan from the drive frame 3 Using the central fan tab 2 withdraw the fan assembly from the drive housing Replace the fan by reversing the above instructions If the drive is surface mounted using the outer holes on the mounting bracket then the heatsink fan can be replaced without removing the drive from the backplate Figure 3 45 Removal of the size 6 heatsink fan A Press the tabs 1 inwards to re...

Page 51: ... any external option units Stored charge The drive contains capacitors that remain charged to a potentially lethal voltage after the AC and or DC power supply has been disconnected If the drive has been energized the AC and or DC power supply must be isolated at least ten minutes before work may continue Normally the capacitors are discharged by an internal resistor Under certain unusual fault con...

Page 52: ... The lower terminal block 2 is used for Motor connection If the heatsink mounted resistor is used an overload protection device is not required The resistor is designed to fail safely under fault conditions See Figure 4 7 for further information on ground connections L1 L2 L2 L1 L3 U V W Optional EMC filter Optional line reactor Fuses L3 Mains Supply Motor Optional ground connection Supply Ground ...

Page 53: ...ize 7 and 8 power connections size 7 shown L1 L2 L2 L1 L3 U V W Optional EMC filter Optional line reactor Fuses L3 Mains Supply Motor Optional ground connection Supply Ground PE AC Connections BR Optional braking resistor Thermal overload protection device DC DC Motor Connections 6 DC Brake connections U V W Motor Optional ground connection DC BR Optional braking resistor Thermal overload protecti...

Page 54: ...3 and 4 ground connections 1 Ground connection studs 2 Additional ground connection Size 5 On size 5 the supply and motor ground connections are made using the M5 studs located near the plug in power connector Refer to Figure 4 7 for additional ground connection Figure 4 7 Size 5 ground connections 1 Ground connection studs 2 Additional ground connection Size 6 On a size 6 the supply and motor gro...

Page 55: ...n any case If the motor must continue to run with a ground fault in its own circuit then an input isolating transformer must be provided and if an EMC filter is required it must be located in the primary circuit Unusual hazards can occur on ungrounded supplies with more than one source for example on ships Contact the supplier of the drive for more information The ground loop impedance must confor...

Page 56: ...connected to supplies with 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 175 kVA 03200050 03200066 03200080 03200106 03400025 03400031 03400045 03400062 Model sizes 03400078 to 07600540 have an internal DC choke and 082001160 to 08600860 have internal AC line chokes s...

Page 57: ... available as the display operates correctly However the drive will be in the Under voltage trip state unless either line power supply or low voltage DC operation is enabled therefore diagnostics may not be possible Power down save parameters are not saved when using the 24 V back up power supply input If the DC bus voltage is too low to run the main SMPS in the drive then the 24 V supply can be u...

Page 58: ...olts It is possible for the drive to go from operating on a normal line power supply voltage to operating on a much lower supply voltage without interruption Going from low voltage operation to normal mains operation requires the inrush current to be controlled This may be provided externally If not the drive supply can be interrupted to utilise the normal soft starting method in the drive To full...

Page 59: ...ues of maximum input current are stated for a supply with a 2 negative phase sequence imbalance and rated at the supply fault current given in Table 4 4 Table 4 4 Supply fault current used to calculate maximum input currents Table 4 5 AC Input current and fuse ratings 200 V Model Symmetrical fault level kA All 100 Fuses The AC supply to the drive must be installed with suitable protection against ...

Page 60: ...70 54 60 90 70 07400660 67 74 124 100 100 gG 80 80 CC or J 07400770 80 88 145 100 100 07401000 96 105 188 125 125 125 125 08401340 137 155 267 250 250 gR 225 225 HSJ 08401570 164 177 303 Model Typical input current Maximum continuous input current Maximum overload input current Fuse rating IEC UL USA Nominal Maximum Class Nominal Maximum Class A A A A A A A 05500030 4 4 7 10 20 gG 10 CC or J 05500...

Page 61: ...city in some cases smaller cables may be acceptable but in other cases a larger cable is required to avoid excessive temperature or voltage drop Refer to local wiring regulations for the correct size of cables Model Cable size IEC mm2 Cable size UL AWG Input Output Input Output Nominal Maximum Nominal Maximum Nominal Maximum Nominal Maximum 03200050 1 5 4 1 5 4 14 10 14 10 03200066 03200080 4 4 12...

Page 62: ...400420 16 16 4 4 06400470 25 25 3 3 07400660 35 70 35 70 1 1 0 1 1 0 07400770 50 50 2 2 07401000 70 70 1 0 1 0 08401340 2 x 50 2 x 70 2 x 50 2 x 70 2 x 1 2 x 1 0 2 x 1 2 x 1 0 08401570 2 x 70 2 x 70 2 x 1 0 2 x 1 0 Model Cable size IEC mm2 Cable size UL AWG Input Output Input Output Nominal Maximum Nominal Maximum Nominal Maximum Nominal Maximum 05500030 0 75 1 5 0 75 1 5 16 16 16 16 05500040 1 1 ...

Page 63: ...a motor thermistor to prevent over heating of the motor e g due to loss of cooling 4 9 1 Cable types and lengths Since capacitance in the motor cable causes loading on the output of the drive ensure the cable length does not exceed the values given in Table 4 13 Table 4 14 and Table 4 15 Use 105 C 221 F UL 60 75 C temp rise PVC insulated cable with copper conductors having a suitable voltage ratin...

Page 64: ...verter This has a reinforced insulation system intended by the manufacturer for repetitive fast rising pulsed voltage operation Users of 575 V NEMA rated motors should note that the specification for inverter rated motors given in NEMA MG1 section 31 is sufficient for motoring operation but not where the motor spends significant periods braking In that case an insulation peak voltage rating of 2 2...

Page 65: ...e When the regenerated power is likely to exceed these losses the DC bus voltage of the drive increases Under default conditions the drive brakes the motor under PI control which extends the deceleration time as necessary in order to prevent the DC bus voltage from rising above a user defined set point If the drive is expected to rapidly decelerate a load or to hold back an overhauling load a brak...

Page 66: ... function is enabled at default to protect the heatsink mounted resistor Below are the parameter settings For more information on the braking resistor software overload protection see Pr 10 030 Pr 10 031 and Pr 10 061 full descriptions in the Parameter Reference Guide If the resistor is to be used at more than half of its average power rating the drive cooling fan must be set to full speed by sett...

Page 67: ...er than the power rating of the drive It is therefore essential that the instantaneous power rating and energy rating of the braking resistor are sufficient for the most extreme braking duty that is likely to be encountered Optimization of the braking resistor requires careful consideration of the braking duty Select a value of resistance for the braking resistor that is not less than the specifie...

Page 68: ...A AC at 400 V 50 Hz 36 µA DC with a 600 V DC bus 10 MΩ Size 6 Proportional to the supply voltage and frequency With internal filter removed Size 3 1 mA 4 11 1 Use of residual current device RCD There are three common types of ELCB RCD 1 AC detects AC fault currents 2 A detects AC and pulsating DC fault currents provided the DC current reaches zero at least once every half cycle 3 B detects AC puls...

Page 69: ...igure 4 19 Figure 4 20 and Figure 4 21 for details on installing the grounding clamp See Figure 4 22 for details on installing the grounding bracket Figure 4 19 Installation of grounding clamp size 3 and 4 Loosen the ground connection nuts and slide the grounding clamp in the direction shown Once in place the ground connection nuts should be tightened with a maximum torque of 2 N m 1 47 lb ft Figu...

Page 70: ...1800 3 2004 standard for Power Drive Systems on page 74 and section 12 1 26 Electromagnetic compatibility EMC on page 244 For longer motor cables the filter continues to provide a useful reduction in emission levels and when used with any length of shielded motor cable up to the limit for the drive it is unlikely that nearby industrial equipment will be disturbed It is recommended that the filter ...

Page 71: ...as highlighted above 1 Figure 4 25 Removal of the size 5 internal EMC filter Remove the three M5 terminal nuts 1 Lift away the cover 2 to expose the M4 Torx internal EMC filter removal screw Finally remove the M4 Torx internal EMC filter removal screw 3 to electrically disconnect the internal EMC filter Figure 4 26 Removal of the size 6 internal EMC filter To electrically disconnect the Internal E...

Page 72: ...gure 4 28 General EMC enclosure layout showing ground connections Optional ground connection External controller 0V If the control circuit 0V is to be grounded this should be done at the system controller only to avoid injecting noise currents into the 0V circuit Metal backplate Grounding bar PE PE If ground connections are made using a separate cable they should run parallel to the appropriate po...

Page 73: ...igtail in the shield connections at each interruption Encoder connections Use a cable with the correct impedance 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 be interrupted If interruptions are unavoidable ensure the absolute minimum length of pigtail...

Page 74: ...section 4 12 3 General requirements for EMC on page 72 Refer to section 12 1 26 Electromagnetic compatibility EMC on page 244 for further information on compliance with EMC standards and definitions of environments Detailed instructions and EMC information are given in the EMC Data Sheet which is available from the supplier of the drive 4 12 5 Compliance with generic emission standards The followi...

Page 75: ...d and filter Connect the shield of the motor cable to the ground terminal of the motor frame using a link that is as short as possible and not exceeding 50 mm 2 in long A complete 360 termination of the shield to the terminal housing of the motor is beneficial From an EMC consideration it is irrelevant whether the motor cable contains an internal safety ground core or if there is a separate extern...

Page 76: ... work is done on the motor In these cases the following guidelines should be followed Terminal block in the enclosure The motor cable shields should be bonded to the back plate using uninsulated metal cable clamps which should be positioned as close as possible to the terminal block Keep the length of power conductors to a minimum and ensure that all sensitive equipment and circuits are at least 0...

Page 77: ... for the analog and digital inputs and outputs a zener diode network or a commercially available surge suppressor may be connected in parallel with the input circuit as shown in Figure 4 41 and Figure 4 42 If a digital port experiences a severe surge its protective trip may operate I O Overload trip For continued operation after such an event the trip can be reset automatically by setting Pr 10 03...

Page 78: ... the parameter which is being controlled by the terminal function Source parameter Indicates the parameter being output by the terminal Mode parameter Digital indicates the mode of operation of the terminal i e positive negative logic the Drive Enable terminal is fixed in positive logic open collector The control circuits are isolated from the power circuits in the drive by basic insulation single...

Page 79: ...ut thresholds 10 V 0 8 V from IEC 61131 2 type 1 Operating as an output Nominal maximum output current 100 mA DIO1 2 combined Maximum output current 100 mA 200 mA total including all Digital I O Common to all modes Voltage range 0 V to 24 V Sample Update period 2 ms output will only change at the update rate of the source parameter 6 0 V common Function Common connection for all external devices 7...

Page 80: ...d PL e 0 5 mA Response time Nominal 8 ms Maximum 20 ms The SAFE TORQUE OFF function may be used in a safety related application in preventing the drive from generating torque in the motor to a high level of integrity The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards If the SAFE TORQUE OFF function is n...

Page 81: ...tor Pr 03 172 shows the status of the P2 position interface and indicates if alternative connections are being used for the P2 position interface Encoder type Pr 3 038 setting Quadrature incremental encoders with or without marker pulse AB 0 Quadrature incremental encoders with UVW commutation signals for absolute position for permanent magnet motors with or without marker pulse AB Servo 3 Forward...

Page 82: ...eze2 and Freeze2 on terminals 11 and 12 are for Freeze input 2 P1 Position feedback interface Pr 03 038 Connections 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 AB 0 A A B B Z Z V 0V Th FD 1 F F D D Z Z FR 2 F F R R Z Z AB Servo 3 A A B B Z Z U U V V W W FD Servo 4 F F D D Z Z U U V V W W FR Servo 5 F F R R Z Z U U V V W W SC 6 A Cos A Cos B Sin B Sin Z Z SC Hiperface 7 Cos Cosref Sin Sinref DATA DATA EnDa...

Page 83: ...ace 7 Resolver 14 AB 1 Disabled 1 A A B B Z Z FD 2 F F D D Z Z FR 3 F F R R Z Z EnDat 4 SSI 5 BiSS 6 DATA DATA CLK CLK Freeze2 Freeze2 None 0 AB Asim Asim Bsim Bsim Zsim Zsim FD Fsim Fsim Dsim Dsim Zsim Zsim FR Fsim Fsim Rsim Rsim Zsim Zsim SSI DATAsim DATAsim CLKsim CLKsim SC EnDat 9 SC SSI 11 AB 1 Disabled 1 A A B B FD 2 F F D D FR 3 F F R R EnDat 4 SSI 5 BiSS 6 DATA DATA CLK CLK None 0 AB Asim ...

Page 84: ...ncy 4 MHz Line loading Line termination components 120 Ω switchable Working common mode range 7 V to 12 V Resolver 14 Type 2 Vrms sinusoidal signal Operating Frequency 6 8 kHz Input voltage 0 6 Vrms Common to All Absolute maximum applied voltage relative to 0V 9 V to 14 V 3 B D R Sinref Clock Sin H 4 B D R Sinref Clock Sin L AB 0 FD 1 FR 2 AB Servo 3 FD Servo 4 FR Servo 5 Type EIA 485 differential...

Page 85: ...lute maximum applied voltage relative to 0V 9 V to 14 V 7 U C Not used Not used 8 U C Not used Not used AB Servo 3 FD Servo 4 FR Servo 5 SC Servo 12 Type EIA 485 differential receivers Maximum input frequency 512 kHz Line loading Line termination components 120 Ω switchable Working common mode range 7 V to 12 V SC SC 15 Type Differential voltage Maximum Signal level 1 25 V peak to peak sin with re...

Page 86: ... fail safe so when the SAFE TORQUE OFF input is disconnected the drive will not operate the motor even if a combination of components within the drive has failed Most component failures are revealed by the drive failing to operate SAFE TORQUE OFF is also independent of the drive firmware This meets the requirements of the following standards for the prevention of operation of the motor Data as ver...

Page 87: ...er to form a single SAFE TORQUE OFF input In this case it is important to note that a single short circuit from the SAFE TORQUE OFF input to a DC supply of approximately 24 V would cause the drive to be enabled This might occur through a fault in the wiring This can be excluded according to EN ISO 13849 2 by the use of protected wiring The wiring can be protected by either of the following methods...

Page 88: ...he keypad consists of Navigation Keys Used to navigate the parameter structure and change parameter values Enter Mode button Used to toggle between parameter edit and view mode Escape Exit button Used to exit from parameter edit or view mode In parameter edit mode if parameter values are edited and the exit button pressed the parameter value will be restored to the value it had on entry to edit mo...

Page 89: ...he above buttons pressed together will jump to Pr 05 000 If the left and right keypad buttons are pressed together then the keypad display will jump to the last viewed parameter in Menu 0 In parameter edit mode If the up and down keypad buttons are pressed together then the parameter value of the parameter being edited will be set to 0 If the left and right keypad buttons are pressed together the ...

Page 90: ...and parameters The drive initially powers up so that only Menu 0 can be viewed The up and down arrow buttons are used to navigate between parameters and once Pr 00 049 has been set to All Menus the left and right buttons are used to navigate between menus For further information refer to section 5 9 Parameter access level and security on page 93 Figure 5 5 Parameter navigation Can only be used to ...

Page 91: ...modules are installed Menu 0 00 004 00 005 00 006 Menu 2 02 021 Menu 1 01 014 Menu 4 04 007 5 0 150 0 150 5 Menu Description 0 Commonly used basic set up parameters for quick easy programming 1 Frequency Speed reference 2 Ramps 3 Frequency slaving speed feedback and speed control 4 Torque and current control 5 Motor control 6 Sequencer and clock 7 Temperature monitoring 8 Digital I O 9 Programmabl...

Page 92: ...etected Enabled Deceleration The motor is being decelerated to zero speed frequency because the final drive run has been deactivated Enabled dc injection The drive is applying dc injection braking Enabled Position Positioning position control is active during an orientation stop Enabled Trip The drive has tripped and no longer controlling the motor The trip code appears in the lower display Disabl...

Page 93: ...communications by setting Pr 10 038 to 100 If the drive is in the under voltage state i e when the control terminal 9 and 10 are being supplied from a low voltage DC supply a value of 1001 must be entered into Pr mm 000 to perform a save function 5 8 Restoring parameter defaults Restoring parameter defaults by this method saves the default values in the drives memory User security status 00 049 an...

Page 94: ...and select No action alternatively enter a value of 0 Please note that this function can be affected by the access level enabled refer to section 5 9 Parameter access level and security on page 93 for further information regarding access level 5 11 Displaying destination parameters only By selecting Destinations in Pr mm 000 Alternatively enter 12001 in Pr mm 000 the only parameters that will be v...

Page 95: ...in Pr 00 037 If DHCP Enable 4 02 005 is set to On 1 the IP address is acquired from the DHCP server and written to IP Address 4 02 006 When using manual static IP address configuration ensure Subnet Mask 4 02 007 and Default Gateway 4 02 008 should also be set manually This parameter controls and displays the IP address of the drive If DHCP Enable 4 02 005 is set to On 1 this parameter will become...

Page 96: ...011 Output Frequency 05 001 VM_SPEED_FREQ_REF Hz RO Num ND NC PT FI P1 Position 03 029 0 to 65535 RO Num ND NC PT FI 00 012 Current Magnitude 04 001 VM_DRIVE_CURRENT_UNIPOLAR A RO Bit ND NC PT FI 00 013 Torque Producing Current 04 002 VM_DRIVE_CURRENT A RO Bit ND NC PT FI 00 014 Torque Mode Selector 04 011 0 or 1 0 to 5 0 RW Num US 00 015 Ramp Mode Select 02 004 Fast 0 Standard 1 Std boost 2 Fast ...

Page 97: ...fault 1750rpm RW Num US Motor Thermal Time Constant 1 04 015 1 0 to 3000 0 s 89 0 s RW Num US 00 046 Rated Current 05 007 VM_RATED_CURRENT Maximum Heavy Duty Rating 11 032 RW Num RA US 00 047 Rated Frequency 05 006 0 0 to 3000 0 Hz 0 0 to 1667 0 Hz 50Hz default 50 0 Hz 60Hz default 60 0 Hz RW Num US 00 048 Drive Mode 11 031 Open loop 1 RFC A 2 RFC S 3 Regen 4 Open loop 1 RFC A 2 RFC S 3 RW Txt ND ...

Page 98: ...6 1 Menu 0 logic diagram Keypad reference 00 XXX 00 XXX Key Read write RW parameter Read only RO parameter Input terminals Output terminals X X X X The parameters are all shown in their default settings 00 024 00 025 00 026 00 027 Preset Frequency 1 Preset Frequency 2 Preset Frequency 3 Preset Frequency 4 Preset frequency reference 0 1 2 3 4 5 Precision reference Open Loop only 00 022 Bipolar Refe...

Page 99: ...ltage Rated Speed Rated Current Rated Frequency 00 042 00 047 Motor parameters Power stage VoltageMode Selector DynamicV f Select 00 007 Boost Voltage 00 008 00 009 OL Motor voltage control Estimated Motor Speed _ L1 L2 L3 _ U V W Resistor optional Drive RUN FORWARD RUN REVERSE Minimum Frequency SpeedClamp 00 001 00 002 7 8 Ramps Acceleration Rate Deceleration Rate Ramp Mode Selector 00 003 00 004...

Page 100: ...oltage threshold is not active 6001 2 Load file 1 Load the drive parameters or user program file from NV media card file 001 4001 3 Save to file 1 Transfer the drive parameters to parameter file 001 6002 4 Load file 2 Load the drive parameters or user program file from NV media card file 002 4002 5 Save to file 2 Transfer the drive parameters to parameter file 002 6003 6 Load file 3 Load the drive...

Page 101: ...ile xxx 7yyy NV media card Erase file xxx 8yyy NV Media card Compare the data in the drive with file xxx 9555 NV media card Clear the warning suppression flag 9666 NV media card Set the warning suppression flag 9777 NV media card Clear the read only flag 9888 NV media card Set the read only flag 9999 NV media card Erase and format the NV media card 110S0 Transfer electronic nameplate motor object ...

Page 102: ... mode returns all parameters to their default value including the motor parameters User Security Status Pr 00 049 and User Security Code Pr 00 034 are not affected by this procedure Procedure Use the following procedure only if a different operating mode is required 1 Enter either of the following values in Pr mm 000 as appropriate 1253 50 Hz AC supply frequency 1254 60 Hz AC supply frequency 2 Ch...

Page 103: ...event of a fault This is not required if the optional internal braking resistor is used T e r m i n a l M o d e K e y p a d M o d e Communications port Keypad Optional item must be installed for keypad mode L1 L2 L3 Fuses L1 L2 L3 U V W U V W Servo motor permanent magnet 2 _ BR Braking resistor optional Position feedback connector 15 way D type 5 10 15 1 6 11 U V W RFC A Open loop Terminal AB AB S...

Page 104: ...vent of a fault This is not required if the optional internal braking resistor is used T e r m i n a l M o d e K e y p a d M o d e Communications port Keypad Optional item must be installed for keypad mode L1 L2 L3 Fuses L1 L2 L3 U V W Servo motor permanent magnet Position feedback connector 15 way D type 5 10 15 1 6 11 U V W RFC A Open loop Terminal AB AB Servo SC Hiperface SC EnDat SC SSI EnDat ...

Page 105: ... a fault This is not required if the optional internal braking resistor is used Communications port L1 L2 L3 Fuses L1 L2 L3 U V W U V W Servo motor permanent magnet 2 _ BR Braking resistor optional Size 6 only Position feedback connector 15 way D type 5 10 15 1 6 11 U V W RFC A Open loop Terminal AB AB Servo SC Hiperface SC EnDat SC SSI EnDat BiSS SSI Resolver 1 A Cos A Cos Data Cos H 2 A Cosref A...

Page 106: ...he event of a fault This is not required if the optional internal braking resistor is used Communications port U V W U V W Servo motor permanent magnet Position feedback connector 15 way D type 5 10 15 1 6 11 U V W RFC A Open loop Terminal AB AB Servo SC Hiperface SC EnDat SC SSI EnDat BiSS SSI Resolver 1 A Cos A Cos Data Cos H 2 A Cosref A Cos Data Cos L 3 B Sin B Sin CLK Sin H 4 B Sinref B Sin C...

Page 107: ...or is loaded and it is not possible to uncouple the load from the motor shaft A stationary autotune measures the stator resistance of the motor and the voltage offset in the drive These are required for good performance in vector control modes A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00 043 A rotating autotune ...

Page 108: ...ary or a rotating autotune The motor must be at a standstill before an autotune is enabled A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load from the motor ...

Page 109: ...drive is able to perform either a stationary or a rotating autotune The motor must be at a standstill before an autotune is enabled A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive It is highly recommended that a rotating autotune is performed Pr 00 040 set ...

Page 110: ...r a rotating autotune The motor must be at a standstill before an autotune is enabled A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive The drive is able to perform a stationary rotating mechanical load measurement or locked rotor test auotune The motor must ...

Page 111: ... a summary of the parameters required to set up each feedback device More detailed information follows Autotune continued To perform an autotune Set Pr 00 040 1 for a stationary autotune Pr 00 040 2 for a rotating autotune Close the run signal terminal 7 or 8 Close the drive enable signal terminals 11 and 13 The upper row of the display will flash Auto Tune while the drive is performing the test W...

Page 112: ...lect 03 039 AB or AB Servo only 0 A B Z termination resistors disabled 1 A B termination resistors enabled and Z termination resistors disabled 2 A B Z termination resistors enabled Error Detection Level 03 040 So for example to enable the wire break error detection set Pr 03 040 to 0001 Incremental encoder with Frequency and Direction F and D or Forward and Reverse CW and CCW signals with or with...

Page 113: ... manually when Pr 03 041 is set to Disabled 0 Comms Baud Rate 03 037 100 k 200 k 300 k 400 k 500 k 1 M 1 5 M 2 M 4 M Error Detection Level 03 040 So for example to enable the wire break and phase error detection set Pr 03 040 to 0011 Absolute SSI communications only encoder or Absolute Sincos encoder with SSI communications Device Type 03 038 SSI 10 for a SSI communications only encoder SC SSI 11 ...

Page 114: ...The termination resistors are always enabled on the P2 position interface Wire break detection is not available when using AB FD or FR position feedback device types on the P2 position interface Table 7 4 shows a summary of the parameters required to set up each feedback device More detailed information follows Resolver Device Type 03 038 Resolver 14 Resolver Poles 03 065 Set number of Resolver po...

Page 115: ...ck interface on the drive with negligible delay The supported incremental output signals are AB FD and FR Hardware mode only produces an output when the input device connected to the P1 position interface is AB FD FR SC SC Hiperface SC EnDat or SC SSI type devices It should be noted that with a SINCOS source device the output is based on the zero crossings of the sine wave inputs and does not incl...

Page 116: ... output EncoderSimulationOutputMode 03 098 AB Gray 0 for a AB quadrature output signals FD Binary 1 for Frequency and Direction output signals FR Binary 2 for Forward and Reverse output signals AB quadrature output signals software mode setup Lines per revolution Encoder Simulation Source 03 085 Set to the parameter number of the position source Pr 03 029 to use the P1 position interface on the dr...

Page 117: ... source Pr 03 029 to use the P1 position interface on the drive as the source Pr 03 129 to use the P2 position interface on the drive as the source This parameter can be set to any other valid position reference generated by the drive or an option module Encoder Simulation Mode 03 088 Set to a value of Ratio 2 Encoder Simulation Numerator 03 093 and Encoder Simulation Denominator 03 094 Set these ...

Page 118: ...r Poles Defines the number of motor poles The motor rated speed and the number of poles are used with the motor rated frequency to calculate the rated slip of induction machines in Hz Rated slip Hz Motor rated frequency Number of pole pairs x Motor rated speed 60 If Pr 00 045 is set to 0 or to synchronous speed slip compensation is disabled If slip compensation is required this parameter should be...

Page 119: ... all required to be set up accurately The drive can be made to measure these by performing an autotune see Pr 00 040 Autotune The drive can also be made to measure the stator resistance and voltage offset automatically every time the drive is enabled or the first time the drive is enabled after it is powered up by selecting one of the vector control voltage modes 0 Ur S The stator resistance and t...

Page 120: ...ese modes at low frequencies from 0Hz to x Pr 00 047 a voltage boost is applied defined by Pr 00 008 as shown below Pr 05 027 Enable Slip Compensation When a motor being controlled in open loop mode has load applied a characteristic of the motor is that the output speed droops in proportion to the load applied as shown In order to prevent the speed droop shown above slip compensation should be ena...

Page 121: ...peed and motor rated frequency are used to determine the full load slip of the motor which is used by the vector control algorithm Incorrect setting of this parameter has the following effects Reduced efficiency of motor operation Reduction of maximum torque available from the motor Reduced transient performance Inaccurate control of absolute torque in torque control modes The nameplate value is n...

Page 122: ...completion of an autotune test the drive will go into the inhibit state The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference The drive can be put in to a controlled disable condition by removing the SAFE TORQUE OFF signal from terminals 11 and 13 setting the Drive Enable 06 015 to OFF 0 or disabling the drive via the control wor...

Page 123: ... Differential Gain Kd Pr 00 009 03 012 and Pr 03 015 The differential gain is provided in the feedback of the speed controller to give additional damping The differential term is implemented in a way that does not introduce excessive noise normally associated with this type of function Increasing the differential term reduces the overshoot produced by under damping however for most applications th...

Page 124: ...the motor is rotated by 2 electrical revolutions i e up to 2 mechanical revolutions in the required direction If sensorless mode is not selected then the Position Feedback Phase Angle 03 025 is set up for the position from the position feedback interface selected with Motor Control Feedback Select 03 026 A stationary test is then performed to measure Stator Resistance 05 017 Ld 05 024 Voltage Offs...

Page 125: ...ains Kp2 Ki2 and Kd2 Pr 03 013 to Pr 03 015 are used Pr 03 016 may be changed when the drive is enabled or disabled If the load is predominantly a constant inertia and constant torque the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth dependant on the setting of Pr 03 017 Speed Controller Proportional Gain Kp Pr 00 007 03 010 and Pr 03 013 If the ...

Page 126: ...set up is required the drive can calculate Kp and Ki if the following parameters are set up correctly Pr 03 020 Required bandwidth Pr 03 021 Required damping factor Pr 03 018 Motor and load inertia The drive can be made to measure the motor and load inertia by performing an inertia measurement autotune see Autotune Pr 00 040 earlier in this table 3 Pr 03 017 2 Compliance angle set up If compliance...

Page 127: ...elated losses 1 Kfe x I K1 x IRated 2 Iron losses Kfe x w wRated 1 6 Where I Current Magnitude 04 001 IRated Rated Current 05 007 Kfe Rated Iron Losses As Percentage Of Losses 04 039 100 The Motor Protection Accumulator 04 019 is given by Pr 04 019 Percentage Losses x 1 K2 1 e t τ1 K2 1 e t τ2 Where T Motor Protection Accumulator 04 019 K2 Motor Thermal Time Constant 2 Scaling 04 038 100 τ1 Motor ...

Page 128: ...2 3 or 4 8 6 2 Field weakening constant power operation Open loop and RFC A mode only The drive can be used to run an induction machine above synchronous speed into the constant power region The speed continues to increase and the available shaft torque reduces The characteristics below show the torque and output voltage characteristics as the speed is increased above the rated value Figure 8 3 To...

Page 129: ...t of the drive input voltage minus voltage drops within the drive the drive will also retain a few percent of the voltage in order to maintain current control If the motor rated voltage is set at the same level as the supply voltage some pulse deletion will occur as the drive output voltage approaches the rated voltage level If Pr 05 020 Quasi square wave enable is set to 1 the modulator will allo...

Page 130: ...ansferred to the SMARTCARD using the difference from defaults transfer method i e 4yyy transfer The Unidrive M is not able to read any other type of Unidrive SP data block on the card Although it is possible to transfer difference from default data blocks from a Unidrive SP into the Unidrive M the following should be noted 1 If a parameter from the source drive does not exist in the target drive t...

Page 131: ...reshold Pr 06 066 Low Under Voltage Threshold Reading a parameter set from the SMARTCARD Pr 11 042 Read 1 Setting Pr 11 042 to Read 1 and resetting the drive will transfer the parameters from the card into the drive parameter set and the drive EEPROM i e this is equivalent to writing 6001 to Pr mm 000 All SMARTCARD trips apply Once the parameters are successfully copied this parameter is automatic...

Page 132: ...etting and clearing the SMARTCARD read only flag The SMARTCARD may be protected from writing or erasing by setting the read only flag If an attempt is made to write or erase a data block when the read only flag is set a Card Read Only trip is initiated When the read only flag is set only codes 6yyy or 9777 are effective Setting 9888 in Pr mm 000 will set the read only flag Setting 9777 in Pr mm 00...

Page 133: ...the drive or saved to the EEPROM If Pr 11 042 is set to 3 or 4 the value is saved to the EEPROM None 0 Inactive Read 1 Read parameter set from the SMARTCARD Program 2 Program a parameter set to the SMARTCARD Auto 3 Auto save Boot 4 Boot mode 9 6 NV Media Card trips After an attempt to read write or erase data from a NV Media Card a trip is initiated if there has been a problem with the command See...

Page 134: ...ter Onboard User Program Clock Task Time Used 11 051 shows the percentage of the available time used by clock task A read or write of a drive parameter by the user program takes a finite period of time It is possible to select up to 10 parameters as fast access parameter which reduced the amount of time it takes for the user program to read from or write to a drive parameter This is useful when us...

Page 135: ...n Onboard PLC user program download has taken place and is 0 on dispatch from the factory The drive is rated for one hundred ladder program downloads This parameter is not altered when defaults are loaded This parameter shows the number of times the freewheeling task has started per second This parameter shows the percentage of the available time used by the user program clock task This parameter ...

Page 136: ...pe 10 Status and trips 11 Drive set up and identification serial communications 12 Threshold detectors and variable selectors 13 Standard motion control 14 User PID controller 15 Option module slot 1 set up menu 16 Option module slot 2 set up menu 17 Option module slot 3 set up menu 18 General option module application menu 1 19 General option module application menu 2 20 General option module app...

Page 137: ... T5 08 002 08 012 08 022 Digital input T7 08 004 08 014 08 024 Digital input T8 08 005 08 015 08 025 Digital lock 13 010 13 001 to 13 009 13 011 13 012 13 016 03 022 03 023 13 019 to 13 023 Digital output T2 08 008 08 018 08 028 Direction 10 013 06 030 06 031 01 003 10 014 02 001 03 002 08 003 08 004 10 040 Display timeout 11 041 Drive active 10 002 10 040 Drive derivative 11 028 11 033 11 064 Dri...

Page 138: ... 08 022 10 034 10 035 10 036 10 001 RFC mode encoder less CLV mode 03 024 03 042 04 012 05 040 S ramp 02 006 02 007 Sample rates 05 018 SAFE TORQUE OFF input 08 009 08 010 08 040 Security code 11 030 11 044 Skip speeds 01 029 01 030 01 031 01 032 01 033 01 034 01 035 Slip compensation 05 027 05 008 NV media card 11 036 to 11 040 11 042 Firmware version 11 029 11 034 Speed controller 03 010 to 03 0...

Page 139: ...C_VOLTAGE MIN 0 VM_AC_VOLTAGE_SET Range applied to the AC Voltage set up parameters Units V Range of MIN 0 Range of MAX 0 to the value listed below Definition VM_AC_VOLTAGE MAX is drive voltage rating dependent See Table 11 4 VM_AC_VOLTAGE MIN 0 VM_ACCEL_RATE Maximum applied to the ramp rate parameters Units s 100 Hz s 1000 rpm s 1000 mm s Range of MIN Open loop 0 0 RFC A RFC S 0 000 Range of MAX ...

Page 140: ...ge reference parameters Units V Range of MIN 0 Range of MAX 0 to the value listed below Definition VM_DC_VOLTAGE_SET MAX is drive voltage rating dependent See Table 11 4 VM_DC_VOLTAGE_SET MIN 0 VM_DRIVE_CURRENT Range applied to parameters showing current in A Units A Range of MIN 99999 999 to 0 000 Range of MAX 0 000 to 99999 999 Definition VM_DRIVE_CURRENT MAX is equivalent to the full scale over...

Page 141: ...007 x cos φ cos φ Pr 05 010 IMaxRef is 0 7 x Pr 11 061 when the motor rated current set in Pr 05 007 is less than or equal to Pr 11 032 i e Heavy duty otherwise it is the lower of 0 7 x Pr 11 061 or 1 1 x Pr 11 060 i e Normal duty RFC A VM_MOTOR1_CURRENT_LIMIT MAX ITlimit ITrated x 100 Where ITlimit IMaxRef x cos sin 1 IMrated IMaxRef IMrated Pr 05 007 x cos φ1 ITrated Pr 05 007 x sin φ1 φ1 cos 1 ...

Page 142: ...at the position feedback does not exceed the speed where the drive can no longer interpret the feedback signal correctly The limit is based on the position feedback device selected with Motor Control Feedback Select 03 026 It is possible to disable this limit if the RFC Feedback Mode 03 024 2 or 3 i e VM_POSITIVE_REF_CLAMP MAX 50000 0 The table below shows how VM_POSITIVE_REF_CLAMP MAX is defined ...

Page 143: ...ent However if the current limits are reduced the resulting headroom can be used for the reactive current ILimit is defined by a combination of all the current limits excluding any reduction of the current limit due to the motor thermal model VM_REGEN_REACTIVE MIN VM_REGEN_REACTIVE MAX VM_SPEED Range applied to parameters showing speed Units Open loop RFC A RFC S rpm or mm s Range of MIN Open loop...

Page 144: ..._REF_UNIPOLAR MAX VM_SPEED_FREQ_REF MAX If the second motor map is selected Pr 11 045 1 Pr 21 002 is used instead of Pr 01 007 Negative Reference Clamp Enable 01 008 Bipolar Reference Enable 01 010 VM_SPEED_FREQ_USER_REFS MIN 0 0 Pr 01 007 0 1 VM_SPEED_FREQ_REF MAX 1 0 0 0 1 1 VM_SPEED_FREQ_REF MAX VM_STD_UNDER_VOLTS Range applied the standard under voltage threshold Units V Range of MIN 0 to 1150...

Page 145: ...IPOLAR MAX VM_TORQUE_CURRENT MAX VM_TORQUE_CURRENT_UNIPOLAR MIN 0 0 VM_USER_CURRENT Range applied to torque reference and percentage load parameters with one decimal place Units Range of MIN 1000 0 to 0 0 Range of MAX 0 0 to 1000 0 Definition VM_USER_CURRENT MAX User Current Maximum Scaling 04 024 VM_USER_CURRENT MIN VM_USER_CURRENT MAX VM_USER_CURRENT_HIGH_RES Range applied to torque reference an...

Page 146: ...ode Select Reference Selector Reference Selected Indicator 01 049 01 014 01 009 01 004 Reference Percentage Trim 01 038 01 001 0 1 2 3 4 5 Preset Reference Keypad Reference Precision Reference mm ppp mm ppp Key Read write RW parameter Read only RO parameter Input terminals Output terminals X X X X The parameters are all shown in their default settings 01 051 Power Up Keypad Control Mode Reference ...

Page 147: ...mum 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 01 012 x 1 01 039 01 040 01 008 01 006 01 007 01 007 01 006 01 006 01 006 01 006 01 007 01 006 01 007 01 011 Sequenc...

Page 148: ... Num US 01 024 Preset Reference 4 VM_SPEED_FREQ_REF 0 0 RW Num US 01 025 Preset Reference 5 VM_SPEED_FREQ_REF 0 0 RW Num US 01 026 Preset Reference 6 VM_SPEED_FREQ_REF 0 0 RW Num US 01 027 Preset Reference 7 VM_SPEED_FREQ_REF 0 0 RW Num US 01 028 Preset Reference 8 VM_SPEED_FREQ_REF 0 0 RW Num US 01 029 Skip Reference 1 0 0 to 3000 0 Hz 0 to 50 000 rpm 0 0 0 RW Num US 01 030 Skip Reference Band 1 ...

Page 149: ... installation Electrical installation Getting started Basic parameters Running the motor Optimization NV Media Card Operation Onboard PLC Advanced parameters Technical data Diagnostics UL listing information Unidrive M702 User Guide 149 Issue Number 3 ...

Page 150: ... 02 015 Acceleration Rate 5 02 016 Acceleration Rate 6 02 017 Acceleration Rate 7 02 018 Acceleration Rate 8 Acceleration rates 1 8 01 050 1 2 3 4 5 6 7 8 3 4 1 2 7 5 6 Preset Selected Indicator 0 1 2 3 4 5 6 7 8 9 02 019 Jog Acceleration Rate 0 1 01 013 Jog Select 01 003 Pre Ramp Speed Reference 02 003 Ramp Hold 02 004 Ramp Mode N t N t Acceleration Reverse Accel Rate Forward Accel Rate Ramp Cont...

Page 151: ... 4 Open loop only 1 2 3 4 5 6 7 8 0 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 1 1 1 0 1 1 1 Deceleration Rate Select Bits 02 021 Deceleration Rate 1 02 022 Deceleration Rate 2 02 023 Deceleration Rate 3 02 024 Deceleration Rate 4 02 025 Deceleration Rate 5 02 026 Deceleration Rate 6 02 027 Deceleration Rate 7 02 028 Deceleration Rate 8 Deceleration Rates 1 8 1 2 3 4 5 6 7 8 3 4 1 2 7 8 5 6 0 1 2 3 4 5 6 7 8...

Page 152: ... 0 to 9 0 RW Num US 02 021 Deceleration Rate 1 VM_ACCEL_RATE s 100 Hz VM_ACCEL_RATE s 1000 rpm 10 0 2 000 0 200 RW Num US 02 022 Deceleration Rate 2 VM_ACCEL_RATE s 100 Hz VM_ACCEL_RATE s 1000 rpm 10 0 2 000 0 200 RW Num US 02 023 Deceleration Rate 3 VM_ACCEL_RATE s 100 Hz VM_ACCEL_RATE s 1000 rpm 10 0 2 000 0 200 RW Num US 02 024 Deceleration Rate 4 VM_ACCEL_RATE s 100 Hz VM_ACCEL_RATE s 1000 rpm...

Page 153: ...eference Clamp _ 03 006 010 005 Below Set Speed At Speed Lower Limit _ 03 007 010 007 Above Set Speed At Speed Upper Limit _ 010 006 At Speed 03 013 0 Enable Frequency Slaving 1 2048 03 014 03 015 Slaving Ratio Numerator Slaving Ratio Denominator 05 001 Motor Frequency Slip compensation Menu 5 0 Menu 2 1 1 0 1 01 010 Bipolar Reference Enable NOR F A 15 way sub D connector 7 8 9 10 F A D B D B 03 0...

Page 154: ...Speed Reference 03 022 Hard Speed Reference 0 1 02 005 Disable Ramp Output VM_SPEED_FREQ_REF MIN VM_SPEED_FREQ_REF MAX 03 001 03 027 P1 Speed Feedback 03 127 7 P1 Interface P2 Interface P2 Speed Feedback Option Slot 1 P1 Speed Feedback Option Slot 1 P2 Speed Feedback Option Slot 2 P1 Speed Feedback Option Slot 2 P2 Speed Feedback Option Slot 3 P1 Speed Feedback Option Slot 3 P2 Speed Feedback Opti...

Page 155: ..._ 03 007 10 007 At Speed Upper Limit 10 006 At Speed NOR _ 03 005 10 003 Zero Speed Zero Speed Threshold _ 01 007 10 004 Running At Or Below Minimum Speed Min Reference Clamp 0 1 01 010 Bipolar Reference Enable 5min 1 20 01 003 Pre Ramp Reference 03 009 Absolute At Speed Select 0 1 Speed Controller Differential Feedback Gains 0 1 03 008 Overspeed Threshold 03 008 0 Speed Controller Gain Select 03 ...

Page 156: ...1 Linear Comms Bits 03 053 P1 Linear Line Pitch 03 055 P1 Pole Pitch P1 Revolution Pole Pitch Counter 03 028 03 029 P1 Position 03 030 P1 Fine Position 03 031 P1 Marker Mode 03 032 P1 Marker Flag 03 057 P1 Normalization Turns 03 058 P1 Normalized Position 03 059 P1 Normalized Marker Position 03 037 P1 Comms Baud Rate 03 041 P1 Auto Configuration Enable 03 047 P1 SSI Incremental Mode 03 035 P1 Comm...

Page 157: ... P2 Linear Line Pitch 03 155 P2 Pole Pitch P2 Revolution Pole Pitch Counter 03 128 03 129 P2 Position 03 130 P2 Fine Position 03 131 P2 Marker Mode 03 132 P2 Marker Flag 03 157 P2 Normalization Turns 03 158 P2 Normalized Position 03 159 P2 Normalized Marker Position 03 137 P2 Comms Baud Rate 03 141 P2 Auto Configuration Enable 03 147 P2 SSI Incremental Mode 03 135 P2 Comms Bits 03 148 P2 SSI Binar...

Page 158: ...e Position Source 03 105 F2 Freeze Trigger Source 03 108 F2 Normalized Freeze Position 03 109 F2 Freeze Flag 03 106 F2 Freeze Mode 03 107 1 0 P1 Position P2 Position F2 Freeze Position Source 03 113 Freeze Input States 0 1 2 3 4 Digital input 4 P1 Marker P2 Marker Common freeze 03 110 Common Freeze Source 1 0 1 2 3 4 Digital input 4 Digital input 5 P1 Marker P2 Marker Disabled 03 111 Common Freeze...

Page 159: ...e mm ppp mm ppp Key Read write RW parameter Read only RO parameter Input terminals Output terminals X X X X The parameters are all shown in their default settings 0 1 2 3 03 088 Encoder Simulation Mode Any variable parameter 03 085 Encoder Simulation Source 03 089 Encoder Simulation Hardware Divider 03 089 03 089 Encoder Simulation Hardware Marker Lock 03 089 03 087 Encoder Simulation Sample Perio...

Page 160: ...rad 0 10 s2 rad 1 00 s2 rad RW Num US 03 015 Open loop Slaving Ratio Denominator 0 001 to 1 000 1 000 RW Num US RFC Speed Controller Differential Feedback Gain Kd2 0 00000 to 0 65535 1 rad 0 00000 1 rad RW Num US 03 016 Open loop Reference Frame Angle 0 to 65535 RO Num ND NC PT RFC Speed Controller Gain Select Off 0 or On 1 Off 0 RW Bit US 03 017 Speed Controller Set up Method Disabled 0 Bandwidth...

Page 161: ...47483647 RO Num ND NC PT 03 060 P1 Calculation Time 0 to 20 µs 5 µs RW Num US 03 061 P1 Recovery Time 5 to 100 µs 30 µs RW Num US 03 062 P1 Line Delay Time 0 to 5000 ns RW Num ND NC PT US 03 063 P1 Low Speed Update Rate Active Off 0 or On 1 RO Bit ND NC PT 03 064 P1 Encoder Protocol Detected None 0 Hiperface 1 EnDat 2 1 2 EnDat 2 2 3 BiSS 4 RW Txt ND NC PT 03 065 P1 Resolver Poles 2 Pole 1 to 8 Po...

Page 162: ...mperature 50 to 300 C RO Num ND NC PT 03 123 P1 Thermistor Fault Detection None 0 Temperature 1 Temp or Short 2 None 0 RW Bit US 03 127 P2 Speed Feedback VM_SPEED RO Num ND NC PT FI 03 128 P2 Revolution Pole Pitch Counter 0 to 65535 RO Num ND NC PT 03 129 P2 Position 0 to 65535 RO Num ND NC PT 03 130 P2 Fine Position 0 to 65535 RO Num ND NC PT 03 131 P2 Marker Mode 0000 to 1111 0000 RW Bin US 03 1...

Page 163: ... PT 03 164 P2 Encoder Protocol Detected None 0 Hiperface 1 EnDat 2 1 2 EnDat 2 2 3 BiSS 4 RO Txt ND NC PT 03 167 P2 User Comms Enable 0 to 1 0 RW Num US 03 168 P2 User Comms Transmit Register 0 to 65535 0 RW Num 03 169 P2 User Comms Receive Register 0 to 65535 0 RW Num 03 171 P2 Error Detected Off 0 or On 1 RO Bit ND NC PT 03 172 P2 Status None 0 AB 1 FD 2 FR 3 EnDat 4 SSI 5 BiSS 6 EnDat Alt 7 SSI...

Page 164: ...ermal Time Constant 1 Thermal Protection Mode Rate Load Reached Current Limit Active Current Magnitude Magnetising Current 04 002 04 020 Active Current Amp Percentage Load 04 002 04 020 10 017 04 019 Motor Protection Accumulator Motor Overload Alarm 10 039 Braking Resistor Thermal Accumulator 04 004 Current Reference Torque to current conversion 05 006 Output Frequency 05 001 Rated Frequency 05 00...

Page 165: ...ence Speed Over Ride Level Coiler Uncoiler Speed Over Ride Level Motor Thermal Time Constant Motor Protection Mode At 100 Load Indicator Current Limit Active Indicator 05 007 05 010 Rated Power Factor Rated Current Torque Producing Current Amp Current Magnitude Magnetising Current 04 002 04 017 04 001 10 017 04 019 Motor Overload Accumulator Motor Current Overload Alarm Indicator 10 039 Braking En...

Page 166: ...Load Indicator Current Limit Active Indicator Torque Producing Current 04 002 10 017 04 019 Motor Overload Accumulator Motor Current Overload Alarm Indicator 10 039 Braking Energy Overload Indicator Torque Mode Selector 04 011 04 010 Torque Reference Offset Enable 0 1 2 3 4 04 003 Torque Demand Percentage Load 04 020 04 023 Current Reference Filter 1 Time Constant 04 012 04 015 04 016 Motor Therma...

Page 167: ...Magnetising Current VM_DRIVE_CURRENT A RO Num ND NC PT FI 04 018 Final Current Limit VM_TORQUE_CURRENT RO Num ND NC PT 04 019 Motor Protection Accumulator 0 0 to 100 0 RO Num ND NC PT PS 04 020 Percentage Load VM_USER_CURRENT RO Num ND NC PT FI 04 021 Current feedback filter disable Off 0 or On 1 Off 0 RW Bit US 04 022 Inertia Compensation Enable Off 0 or On 1 Off 0 RW Bit US 04 023 Current Refere...

Page 168: ...5 008 Rated Current Rated Speed 05 006 Rated Frequency 05 017 Stator Resistance 05 015 Low Frequency Voltage Boost 05 013 Dynamic V To F Select Transient Inductance 04 002 04 020 04 017 04 001 Current Magnitude Magnetising Current Torque Producing Current Percentage Load Motormap 05 012 Autotune 05 024 05 014 Open Loop Control Mode 05 001 Output Frequency 05 004 Motor RPM 1 0 Slip compensation Ena...

Page 169: ... installation Electrical installation Getting started Basic parameters Running the motor Optimization NV Media Card Operation Onboard PLC Advanced parameters Technical data Diagnostics UL listing information Unidrive M702 User Guide 169 Issue Number 3 ...

Page 170: ...017 Stator Resistance 05 024 Transient Inductance 05 025 Stator Inductance 05 029 Saturation Break Point 1 05 030 Saturation Break Point 3 RFC S Flux Calculator Current limits Current control Overload detection Current loop gains Torque reference Current demand filter Menu 4 Reference frame transformation 03 002 Speed Feedback Speed controller output Position Feedback Flux Magnitude Current Refere...

Page 171: ...2 User Guide 171 Issue Number 3 04 002 04 017 04 001 RFC A 05 009 Rated Voltage 05 013 Flux Optimization Select 05 016 Motor Parameter Adaptive Control Flux Controller 05 018 Maximum Switching Frequency Modulator 05 003 Power Calculation V x 1 05 002 Output Voltage Output Power 05 005 Voltage reference U V W DC Bus Voltage Current Magnitude Magnetising Current Torque Producing Current 05 035 Auto ...

Page 172: ...cy 0 to VM_SWITCHING_FREQUENCY kHz 3 kHz 1 6 kHz 3 RW Txt RA US 05 019 High Stability Space Vector Modulation Off 0 or On 1 Off 0 RW Bit US 05 020 Quasi square Enable Off 0 or On 1 Off 0 RW Bit US 05 022 Enable High Speed Mode Off 0 or On 1 Off 0 RW Bit US 05 023 DC Bus Voltage High Range VM_HIGH_DC_VOLTAGE V RO Num ND NC PT 05 024 OL Transient Inductance 0 000 to 500 000 mH 0 000 mH RW Num RA US ...

Page 173: ...Mode Current Limit 0 0 to 1000 0 20 0 RW Num RA US 05 072 No load Lq 0 000 to 500 000 mH 0 000 mH RW Num RA US 05 075 Iq Test Current For Inductance Measurement 0 to 200 0 RW Num US 05 077 Phase Offset At Iq Test Current 90 0 0 0 RW Num RA US 05 078 Lq At The Defined Iq Test Current 0 000 to 500 000 mH 0 000 mH RW Num RA US 05 082 Id Test Current for Inductance Measurement 100 to 0 0 RW Num US 05 ...

Page 174: ...ard speed reference enable enable 05 003 Power Pr 4 01 049 0 1 Sequencer 06 001 06 003 06 008 06 009 06 040 Stop Mode Supply Loss Mode Hold Zero Speed Motor Pre Heat Enable Catch A Spinning Motor Enable Sequencer Latching 05 005 DC Bus Voltage Low voltage supply Drive power supply monitor 06 044 Active Supply 06 018 06 017 Time Day Of Week 06 016 Date 06 019 Date Time Selector 0 1 2 3 4 5 6 7 8 9 ...

Page 175: ...Voltage Under Voltage Threshold 06 066 06 065 06 067 Standard Under Voltage Threshold Low Under Voltage Threshold Select 05 005 DC Bus Voltage 10 016 Under Voltage Active Under voltage control logic 06 068 06 069 06 070 Slow rectifier charge 06 071 06 072 Rate Enable User Supply Select Under Voltage System Contactor Closed Under Voltage System Contator Close Back Up Supply Mode Enable mm ppp mm pp...

Page 176: ...hanges 0 to 30000 Hours 0 Hours RW Num US 06 022 Filter Change Required Change Done Off 0 or On 1 RW Bit ND NC 06 023 Time Before Filter Change Due 0 to 30000 Hours RO Num ND NC PT PS 06 024 Reset Energy Meter Off 0 or On 1 Off 0 RW Bit 06 025 Energy Meter MWh 999 9 to 999 0 MWh RO Num ND NC PT PS 06 026 Energy Meter kWh 99 99 kWh RO Num ND NC PT PS 06 027 Energy Cost Per kWh 0 0 to 600 0 0 0 RW N...

Page 177: ...or On 1 Off 0 RW Bit US 06 068 Back Up Supply Mode Enable Off 0 or On 1 Off 0 RW Bit US 06 069 Under Voltage System Contactor Close Off 0 or On 1 RO Bit ND NC PT 06 070 Under Voltage System Contactor Closed Off 0 or On 1 Off 0 RW Bit US 06 071 Slow Rectifier Charge Rate Enable Off 0 or On 1 Off 0 RW Bit US 06 072 User Supply Select Off 0 or On 1 Off 0 RW Bit US 06 073 Braking IGBT Lower Threshold ...

Page 178: ...Num ND NC PT 07 033 Power Output 100 0 RO Num ND NC PT 07 034 Inverter Temperature 250 C RO Num ND NC PT 07 035 Percentage Of d c Link Thermal Trip Level 0 to 100 RO Num ND NC PT 07 036 Percentage Of Drive Thermal Trip Level 0 to 100 RO Num ND NC PT 07 037 Temperature Nearest To Trip Level 0 to 29999 RO Num ND NC PT 07 038 Temperature Monitor Select 1 0 to 29999 1001 RW Num US 07 039 Temperature M...

Page 179: ... installation Electrical installation Getting started Basic parameters Running the motor Optimization NV Media Card Operation Onboard PLC Advanced parameters Technical data Diagnostics UL listing information Unidrive M702 User Guide 179 Issue Number 3 ...

Page 180: ...terminals Output terminals X X X X The parameters are all shown in their default settings T4 Digital Output 1 T4 Digital Output 1 State Any bit parameter T4 Digital Output 1 Source 08 021 x 1 08 011 T4 Digital Output 1 Invert 08 001 08 029 I O Input Logic Polarity 4 10 003 At Zero Speed T5 Digital Output 2 T5 Digital Output 2 State Any bit parameter T5 Digital Output 2 Source 08 022 x 1 08 012 T5 ...

Page 181: ...Polarity 7 06 030 Run Forward Stop Start Logic Select 06 004 08 025 T8 Digital Input 5 Destination Any unprotected bit parameter 08 015 T8 Digital Input 5 Invert T8 Digital Input 5 State 08 005 08 029 8 06 032 Run Reverse T8 Digital Input 5 I O Input Logic Polarity x 1 External Trip Generator An Option Module with safety functions can open these switches 11 08 009 08 040 External Trip Mode 08 010 ...

Page 182: ...ay Source Invert Any bit parameter x 1 Relay State 08 007 10 001 Drive OK 41 42 0V 08 041 Run button 2 1 0 Toggle Auxiliary Button 08 042 2 1 0 Toggle Keypad Auxiliary Button Destination 08 051 x 1 x 1 DI O 12 State Keypad Run Button Invert Toggle Keypad Run Button State 08 061 00 000 Keypad Run Button Destination Any unprotected bit parameter 08 062 00 000 Any unprotected bit parameter 08 052 Key...

Page 183: ... Source Destination 0 000 to 59 999 0 000 RW Num DE PT US 08 024 Digital Input 04 Destination 0 000 to 59 999 6 030 RW Num DE PT US 08 025 Digital Input 05 Destination 0 000 to 59 999 6 032 RW Num DE PT US 08 027 Relay Output Source 0 000 to 59 999 10 001 RW Num PT US 08 028 24V Supply Output Source 0 000 to 59 999 0 000 RW Num PT US 08 029 Input Logic Polarity Negative Logic 0 or Positive Logic 1...

Page 184: ...eter 09 005 Function 1 Input 1 Invert Any bit parameter x 1 09 006 Function 1 Input 2 Source Parameter 09 007 Function 1 Input 2 Invert 09 008 Function 1 Output Invert 09 009 Function 1 Delay x 1 Function 1 Output Indicator 09 001 Any unprotected bit parameter 09 020 Function 2 Destination Parameter Any bit parameter x 1 09 014 Function 2 Input 1 Source Parameter 09 015 Function 2 Input 1 Invert A...

Page 185: ...ue Any unprotected bit parameter 09 033 Binary Sum Logic Destination Parameter S 09 024 Motorized Pot Output Scale 09 025 Motorized Pot Destination Parameter 09 023 Motorized Pot Rate Any unprotected variable parameter 09 027 Motorized Pot Down 09 026 Motorized Pot Up M 09 003 Motorized Pot Output Indicator 09 022 Motorized Pot Bipolar Select 09 021 09 028 Motorized Pot Reset To Zero Motorized Pot...

Page 186: ...037 Timer 1 Stop Date 09 038 Timer 1 Stop Time 09 039 Timer 1 Repeat Function Timer 1 Enable Timer 1 Invert Timer 1 Output Timer 1 Destination Any unprotected bit parameter 09 053 09 051 x 1 09 052 09 050 09 045 Timer 2 Start Date 09 046 Timer 2 Start Time 09 047 Timer 2 Stop Date 09 048 Timer 2 Stop Time 09 049 Timer 2 Repeat Function Timer 2 Enable Timer 2 Invert Timer 2 Output Timer 2 Destinati...

Page 187: ...n 09 062 x 1 Scope Trigger Invert 09 059 09 061 09 060 OR _ Scope Trigger Scope Trigger Source Scope Trigger Threshold 09 063 Scope Mode 09 067 Scope Sample Time 09 068 Scope Trigger Delay 09 069 Time Period 09 055 09 057 09 056 09 064 09 058 09 065 Scope Data Not Ready 09 066 Scope Saving Data Scope Trace 1 Source Scope Trace 2 Source Scope Trace 3 Source Scope Trace 4 Source Scope Arm mm ppp mm ...

Page 188: ...m DE PT US 09 026 Motorized Pot Up Off 0 or On 1 Off 0 RW Bit NC 09 027 Motorized Pot Down Off 0 or On 1 Off 0 RW Bit NC 09 028 Motorized Pot Reset Off 0 or On 1 Off 0 RW Bit NC 09 029 Binary Sum Ones Off 0 or On 1 Off 0 RW Bit NC 09 030 Binary Sum Twos Off 0 or On 1 Off 0 RW Bit NC 09 031 Binary Sum Fours Off 0 or On 1 Off 0 RW Bit NC 09 032 Binary Sum Output 0 to 255 RO Num ND NC PT 09 033 Binar...

Page 189: ... Ready Off 0 or On 1 RO Bit ND NC PT 09 066 Scope Saving Data Off 0 or On 1 RO Bit ND NC PT 09 067 Scope Sample Time 1 to 200 1 RW Num US 09 068 Scope Trigger Delay 0 to 100 0 RW Num US 09 069 Scope Time Period 0 00 to 200000 00 ms RO Num ND NC PT 09 070 Scope Auto save Mode Disabled 0 Overwrite 1 Keep 2 Disabled 0 RW Txt US 09 071 Scope Auto save File Number 0 to 99 0 RO Num PS 09 072 Scope Auto ...

Page 190: ...ip 6 0 to 255 RO Txt ND NC PT PS 10 027 Trip 7 0 to 255 RO Txt ND NC PT PS 10 028 Trip 8 0 to 255 RO Txt ND NC PT PS 10 029 Trip 9 0 to 255 RO Txt ND NC PT PS 10 030 Braking Resistor Rated Power 0 000 to 99999 999 kW See Table 11 5 RW Num US 10 031 Braking Resistor Thermal Time Constant 0 000 to 1500 000 s See Table 11 5 RW Num US 10 032 External Trip Off 0 or On 1 Off 0 RW Bit NC 10 033 Drive Res...

Page 191: ... Num ND NC PT PS 10 075 Trip 5 Sub trip Number 0 to 65535 RO Num ND NC PT PS 10 076 Trip 6 Sub trip Number 0 to 65535 RO Num ND NC PT PS 10 077 Trip 7 Sub trip Number 0 to 65535 RO Num ND NC PT PS 10 078 Trip 8 Sub trip Number 0 to 65535 RO Num ND NC PT PS 10 079 Trip 9 Sub trip Number 0 to 65535 RO Num ND NC PT PS 10 080 Stop Motor Off 0 or On 1 RO Bit ND NC PT 10 081 Phase Loss Off 0 or On 1 RO ...

Page 192: ...1 046 Defaults Previously Loaded 0 to 2000 RO Num ND NC PT US 11 047 Onboard User Program Enable Stop 0 or Run 1 Run 1 RW Txt US 11 048 Onboard User Program Status 2147483648 to 2147483647 RO Num ND NC PT 11 049 Onboard User Program Programming Events 0 to 65535 RO Num ND NC PT 11 050 Onboard User Program Freewheeling Tasks Per Second 0 to 65535 RO Num ND NC PT 11 051 Onboard User Program Clock Ta...

Page 193: ...ode Open loop 1 RFC A 2 RFC S 3 Regen 4 RO Txt ND NC PT US 11 085 Security Status None 0 Read only 1 Status only 2 No Access 3 RO Txt ND NC PT PS 11 086 Menu Access Status Menu 0 0 or All Menus 1 RO Txt ND NC PT PS 11 090 Keypad Port Serial Address 1 to 16 1 RW Num US 11 091 Additional Identifier Characters 1 2147483648 to 2147483647 RO Chr ND NC PT 11 092 Additional Identifier Characters 2 214748...

Page 194: ...ert 12 001 12 005 Threshold Detector 1 Hysteresis Any unprotected bit parameter 12 007 Threshold Detector Destination Parameter 1 Any variable parameter 12 023 Threshold Detector 2 Source 12 024 Threshold Detector 2 Level Threshold Detector 2 Threshold Detector 2 x 1 12 026 Threshold Detector 2 Output Invert 12 002 Threshold Detector 2 Output 12 025 Threshold Detector 2 Hysteresis 12 027 Threshold...

Page 195: ...r 2 Source 2 Variable Selector 2 Source 2 Scaling Variable Selector 2 Output Variable Selector 2 Destination 12 012 12 011 Variable Selector 1 Variable Selector 1 Mode Variable Selector 1 Control 12 010 12 015 Any variable parameter 12 008 12 013 Variable Selector 1 Source 1 Variable Selector 1 Input 1 Scaling 12 009 12 014 Variable Selector 1 Source 2 Variable Selector 1 Source 2 Scaling Variable...

Page 196: ...gramming the drive on initial power up the brake may be released When drive terminals are programmed to non default settings the result of incorrect or delayed programming must be considered The use of a NV media card in boot mode or an SI Applications module can ensure drive parameters are immediately programmed to avoid this situation WARNING 04 001 Current Magnitude Brake Control Upper Current ...

Page 197: ... Output Frequency 05 001 Pr Reference On 01 011 Pr Brake Control Brake Release 12 040 Pr Ramp Hold 02 003 Pr Drive Active 10 002 Pr Current Magnitude 04 001 1 Wait for upper current threshold and brake release frequency 2 Pre brake release delay 3 Post brake release delay 4 Wait for brake apply frequency 5 Wait for zero frequency 6 1s delay as phase 2 of stopping sequence Pr 1 2 or 3 06 001 Pr Bra...

Page 198: ...a drive replacement takes place prior to programming the drive on initial power up the brake may be released When drive terminals are programmed to non default settings the result of incorrect or delayed programming must be considered The use of a NV media card in boot mode or an SI Applications module can ensure drive parameters are immediately programmed to avoid this situation WARNING WARNING 0...

Page 199: ...umber 3 Figure 11 29 RFC A brake sequence 1 2 3 5 4 Pr Speed Feedback 03 002 Pr Reference On 01 011 Pr Ramp Hold 02 003 Pr Current Magnitude 04 001 1 Wait for motor fluxed closed loop vector only 2 Post brake release delay 3 Wait for speed threshold 4 Wait for brake apply speed delay 5 Brake apply delay Pr Hold Zero Speed 06 008 Pr 12 045 Brake Control Brake Apply Speed Pr 12 047 Pr 12 046 Pr 12 0...

Page 200: ... replacement takes place prior to programming the drive on initial power up the brake may be released When drive terminals are programmed to non default settings the result of incorrect or delayed programming must be considered The use of a NV media card in boot mode or an SI Applications module can ensure drive parameters are immediately programmed to avoid this situation WARNING 04 001 Current M...

Page 201: ...ation 0 000 to 59 999 0 000 RW Num DE PT US 12 028 Variable Selector 2 Source 1 0 000 to 59 999 0 000 RW Num PT US 12 029 Variable Selector 2 Source 2 0 000 to 59 999 0 000 RW Num PT US 12 030 Variable Selector 2 Mode Input 1 0 Input 2 1 Add 2 Subtract 3 Multiply 4 Divide 5 Time Const 6 Ramp 7 Modulus 8 Powers 9 Sectional 10 Input 1 0 RW Txt US 12 031 Variable Selector 2 Destination 0 000 to 59 99...

Page 202: ...ce Disable 03 027 P1 Speed Feedback 03 127 P1 Interface P2 Interface P2 Speed Feedback Option Slot 1 P1 Speed Feedback Option Slot 1 P2 Speed Feedback Option Slot 2 P1 Speed Feedback Option Slot 2 P2 Speed Feedback Option Slot 3 P1 Speed Feedback Option Slot 3 P2 Speed Feedback Option Slot 4 P1 Speed Feedback Option Slot 4 P2 Speed Feedback 0 1 3 2 4 5 6 7 8 9 10 13 020 13 021 13 022 13 024 Revolu...

Page 203: ...valid 5 The position feedback initialized parameter Pr 03 048 is zero mm ppp mm ppp Key Read write RW parameter Read only RO parameter Input terminals Output terminals X X X X Orientation 13 014 13 015 Standard Motion Orientation acceptance window Standard Motion Orientation complete 0 1 0 1 13 001 13 002 13 003 Standard Motion Error Position loop enabled 0 1 2 3 4 5 6 0 1 1 06 008 Hold Zero Speed...

Page 204: ...d FFwd 1 Rigid 2 Non Rigid FFwd 3 Non Rigid 4 Disabled 0 Rigid FFwd 1 Rigid 2 Non Rigid FFwd 3 Non Rigid 4 Orientate Stop 5 Orientate 6 Disabled 0 RW Num US 13 011 Standard Motion Absolute Mode Enable Off 0 or On 1 Off 0 RW Bit US 13 012 Standard Motion Speed Clamp 0 to 250 rpm 150 rpm RW Num US 13 013 Standard Motion Orientation Position Reference 0 to 65535 0 RW Num US 13 014 Standard Motion Ori...

Page 205: ... installation Electrical installation Getting started Basic parameters Running the motor Optimization NV Media Card Operation Onboard PLC Advanced parameters Technical data Diagnostics UL listing information Unidrive M702 User Guide 205 Issue Number 3 ...

Page 206: ...rameter PID Feed Forwards Reference Source PID Feed Forwards 14 009 PID Enable Source 1 Source not used 14 008 Any bit parameter 0 1 Logic 1 14 021 PID Feedback 0 1 x 1 14 006 PID Feedback Invert 14 003 Any variable parameter PID Reference Source 14 025 14 005 PID Reference Invert 14 020 0 1 14 007 _ 14 022 x 1 PID Reference Slew Rate PID Error 14 023 PID Reference Scaling 14 027 PID Enable Source...

Page 207: ...207 Issue Number 3 14 010 14 011 14 012 14 017 14 013 14 014 14 018 14 001 14 015 14 016 Any unprotected variable parameter PID Derivative Gain PID Integral Gain PID Proportional Gain PID Integral Hold PID Output Upper Limit PID Output Lower Limit PID Symmetrical Limit Enable PID Output PID Output Scaling PID Destination mm ppp mm ppp Key Read write RW parameter Read only RO parameter Input termin...

Page 208: ...ference 100 00 0 00 RW Num US 14 026 PID1 Digital Feedback 100 00 0 00 RW Num US 14 027 PID1 Enable Source 2 0 000 to 59 999 0 000 RW Num PT US 14 028 PID1 Pre sleep Boost Level 0 00 to 100 00 0 00 RW Num US 14 029 PID1 Maximum Boost Time 0 0 to 250 0 s 0 0 s RW Num US 14 030 PID1 Pre sleep Boost Level Enable Off 0 or On 1 RO Bit ND NC PT 14 031 PID2 Output 100 00 RO Num ND NC PT 14 032 PID2 Feed ...

Page 209: ...ax Fbk 4 Av Fbk 5 Min Error 6 Max Error 7 Fbk1 0 RW Txt US 14 060 PID1 Feedback Square Root Enable 1 Off 0 or On 1 Off 0 RW Bit US 14 061 PID2 Feedback Square Root Enable Off 0 or On 1 Off 0 RW Bit US 14 062 PID1 Feedback Square Root Enable 2 Off 0 or On 1 Off 0 RW Bit US RW Read Write RO Read only Num Number parameter Bit Bit parameter Txt Text string Bin Binary parameter FI Filtered ND No defaul...

Page 210: ...es The option module ID indicates the type of module that is installed in the corresponding slot See the relevant option module user guide for more information regarding the module 11 15 Menus 15 16 and 17 Option module set up Parameter Range Default Type mm 001 Module ID 0 to 65535 RO Num ND NC PT mm 002 Software Version 00 00 00 to 99 99 99 RO Num ND NC PT mm 003 Hardware Version 0 00 to 99 99 R...

Page 211: ...o 32767 0 RW Num US 18 026 Application Menu 1 Read write Integer 26 32768 to 32767 0 RW Num US 18 027 Application Menu 1 Read write Integer 27 32768 to 32767 0 RW Num US 18 028 Application Menu 1 Read write Integer 28 32768 to 32767 0 RW Num US 18 029 Application Menu 1 Read write Integer 29 32768 to 32767 0 RW Num US 18 030 Application Menu 1 Read write Integer 30 32768 to 32767 0 RW Num US 18 03...

Page 212: ...Num US 19 026 Application Menu 2 Read write Integer 26 32768 to 32767 0 RW Num US 19 027 Application Menu 2 Read write Integer 27 32768 to 32767 0 RW Num US 19 028 Application Menu 2 Read write Integer 28 32768 to 32767 0 RW Num US 19 029 Application Menu 2 Read write Integer 29 32768 to 32767 0 RW Num US 19 030 Application Menu 2 Read write Integer 30 32768 to 32767 0 RW Num US 19 031 Application...

Page 213: ...768 to 32767 0 RW Num 20 021 Application Menu 3 Read write Long Integer 21 2147483648 to 2147483647 0 RW Num 20 022 Application Menu 3 Read write Long Integer 22 2147483648 to 2147483647 0 RW Num 20 023 Application Menu 3 Read write Long Integer 23 2147483648 to 2147483647 0 RW Num 20 024 Application Menu 3 Read write Long Integer 24 2147483648 to 2147483647 0 RW Num 20 025 Application Menu 3 Read...

Page 214: ...tional Gain Kp1 0 0000 to 200 0000 0 0300 RW Num US 21 018 M2 Speed Controller Integral Gain Ki1 0 00 to 655 35 0 10 1 00 RW Num US 21 019 M2 Speed Controller Differential Feedback Gain Kd1 0 00000 to 0 65535 0 00000 RW Num US 21 020 M2 Position Feedback Phase Angle 0 0 to 359 9 RW Num ND US 21 021 M2 Motor Control Feedback Select P1 Drive 0 P2 Drive 1 P1 Slot 1 2 P2 Slot 1 3 P1 Slot 2 4 P2 Slot 2...

Page 215: ...se 3 0 0 to 359 0 0 RW Num US 21 072 M2 Torque Ripple Compensation Magnitude 4 0 0 to 100 0 0 00 RW Num US 21 073 M2 Torque Ripple Compensation Phase 4 0 0 to 359 0 0 RW Num US 21 074 M2 Torque Ripple Compensation Magnitude 5 0 0 to 100 0 0 00 RW Num US 21 075 M2 Torque Ripple Compensation Phase 5 0 0 to 359 0 0 RW Num US 21 076 M2 Torque Ripple Compensation Magnitude 6 0 0 to 100 0 0 00 RW Num US...

Page 216: ...025 Parameter 00 025 Set up 0 000 to 59 999 1 022 RW Num PT US 22 026 Parameter 00 026 Set up 0 000 to 59 999 1 023 3 008 RW Num PT US 22 027 Parameter 00 027 Set up 0 000 to 59 999 1 024 3 034 RW Num PT US 22 028 Parameter 00 028 Set up 0 000 to 59 999 6 013 RW Num PT US 22 029 Parameter 00 029 Set up 0 000 to 59 999 11 036 RW Num PT US 22 030 Parameter 00 030 Set up 0 000 to 59 999 11 042 RW Num...

Page 217: ...99 0 000 RW Num PT US 22 076 Parameter 00 076 Set up 0 000 to 59 999 0 000 RW Num PT US 22 077 Parameter 00 077 Set up 0 000 to 59 999 0 000 RW Num PT US 22 078 Parameter 00 078 Set up 0 000 to 59 999 0 000 RW Num PT US 22 079 Parameter 00 079 Set up 0 000 to 59 999 0 000 RW Num PT US 22 080 Parameter 00 080 Set up 0 000 to 59 999 0 000 RW Num PT US RW Read Write RO Read only Num Number parameter ...

Page 218: ...r Ver Version number Parameter Range Default Type OL RFC A RFC S OL RFC A RFC S 4 02 003 Network Status Initializing 0 Links Down 1 DHCP In Progress 2 No Address 3 Ready 4 Active 5 RO Txt ND NC PT 4 02 004 Network Message Count 0 to 65535 RO Num ND NC PT 4 02 005 DHCP Enable Off 0 or On 1 On 1 RW Num US 4 02 006 IP Address 0 0 0 0 to 255 255 255 255 192 168 001 100 RW IP US 4 02 007 Subnet Mask 0 ...

Page 219: ...m ND NC 4 09 003 Fieldbus Links Free 0 to 255 RO Num ND NC 4 09 004 Cyclic Mappings Free 0 to 255 RO Num ND NC 4 09 009 Idle Task Free 0 to 255 RO Num ND NC 4 09 010 Synchronous Task Free 0 to 255 RO Num ND NC 4 09 020 Synchronous Task Worst Free 0 to 255 RO Num ND NC 4 09 030 PCB Temperature 128 to 127 C RO Num RW Read Write RO Read only Num Number parameter Bit Bit parameter Txt Text string Bin ...

Page 220: ... 15 Read only param 14 Timeout 8 In error 7 Link num in use 6 Not editable 5 Invalid link num 4 Invalid args 3 Too many links 2 Out of memory 1 OK 0 OK 0 RO Txt 4 10 030 Tx3 Link Profile 0 to 0 0 RW Num US 4 10 031 Tx3 Link Number 0 to 255 0 RW Num US 4 10 032 Tx3 Source Parameter 0 00 000 to 4 99 999 0 00 000 RW Num PT US 4 10 033 Tx3 Parameter Count 0 to 32 0 RW Num US 4 10 034 Tx3 Link Transmis...

Page 221: ...5 0 RW Num US 4 10 062 Rx3 Destination Parameter 0 00 000 to 4 99 999 0 00 000 RW Num DE US 4 10 063 Rx3 Parameter Count 0 to 32 0 000 RW Num US 4 10 064 Rx3 Source Type Direct 0 Multicast1 1 Multicast2 2 Multicast3 3 Multicast4 4 Local 5 Direct 0 RW Txt US 4 10 065 Rx3 Timeout 0 to 65535 ms 100 ms RW Num US 4 10 066 Rx3 Timeout Action Trip 0 Clear output 1 Hold last 2 Trip 0 RW Txt US 4 10 067 Rx...

Page 222: ...2 RO Txt ND NC 4 11 030 Tx1 Link Maximum Network Delay 0 to 100 ms 0 ms RW Num US 4 11 031 Tx2 Link Maximum Network Delay 0 to 100 ms 0 ms RW Num US 4 11 032 Tx3 Link Maximum Network Delay 0 to 100 ms 0 ms RW Num US 4 11 040 Rx1 Late Synchronization Frame Action Off 0 Trip 1 Do not use 2 Use 3 Off 0 RW Txt US 4 11 041 Rx1 Late Synchronization Frame Destination This slot 0 Slot 1 1 Slot 2 2 Slot 3 ...

Page 223: ...odbus Timeout Action Trip 0 No action 1 No action 1 RW Txt US 4 15 011 Modbus Timeout Event Destination This slot 0 Slot 1 1 Slot 2 2 Slot 3 3 Slot 4 4 This slot 0 RW Txt US 4 15 012 Modbus Timeout Event Type No event 0 Trigger Event 1 Trigger Event 1 2 Trigger Event 2 3 Trigger Event 3 4 Trigger Event 4 5 No event 0 RW Txt US 4 15 013 Modbus Register Addressing Mode Standard 0 Modified 1 Standard...

Page 224: ...2 3 Trigger Event 3 4 Trigger Event 4 5 No event 0 RW Txt US 4 20 018 Active Input Assembly Object 100 Primaryl 0 70 BscSpdCtrll 1 71 ExtSpedCtrll 2 72 SpdTqCtrll 3 73 ExtSpdTqCtrll 4 100 Primaryl 0 RO Txt 4 20 019 Active Output Assembly Object 101 Primaryl 0 20 BscSpdCtrll 1 21 ExtSpedCtrll 2 22 SpdTqCtrll 3 23 ExtSpdTqCtrll 4 101 Primaryl 0 RO Txt 4 20 020 Input Assembly Object Size 4 to 80 8 RW...

Page 225: ...0 000 to 4 99 999 0 00 000 RW Num DE PT US RW Read Write RO Read only Num Number parameter Bit Bit parameter Txt Text string Bin Binary parameter FI Filtered ND No default value NC Not copied PT Protected parameter RA Rating dependent US User save PS Power down save DE Destination Parameter Range Default Type OL RFC A RFC S OL RFC A RFC S 4 22 001 Output Mapping Parameter 1 0 00 000 to 4 99 999 0 ...

Page 226: ...7483648 to 2147483647 0 RW Num PT US 4 23 009 Output Fault Value 9 2147483648 to 2147483647 0 RW Num PT US 4 23 010 Output Fault Value 10 2147483648 to 2147483647 0 RW Num PT US 4 23 011 Output Fault Value 11 2147483648 to 2147483647 0 RW Num PT US 4 23 012 Output Fault Value 12 2147483648 to 2147483647 0 RW Num PT US 4 23 013 Output Fault Value 13 2147483648 to 2147483647 0 RW Num PT US 4 23 014 ...

Page 227: ...3 0 12 7 10 9 9 0 2 2 3 0 10 6 10 4 9 4 7 8 6 6 04200137 4 0 5 0 18 0 3 0 3 0 13 7 04200185 5 5 7 5 25 0 24 2 22 0 4 0 5 0 18 5 17 7 05200250 7 5 10 0 30 0 28 2 24 6 18 3 14 1 5 5 7 5 25 0 22 7 20 2 16 0 13 0 06200330 11 0 15 0 50 0 42 5 7 5 10 0 33 0 06200440 15 0 20 0 58 0 53 9 42 5 11 0 15 0 44 0 41 4 33 4 07200610 07200750 07200830 08201160 08201320 400 V 03400025 1 1 1 5 3 4 0 75 1 0 2 5 0340...

Page 228: ...06500230 18 5 25 0 27 0 26 2 20 5 15 0 20 0 23 0 20 0 15 6 06500290 22 0 30 0 34 0 31 3 26 2 20 5 18 5 25 0 29 0 23 8 20 0 15 6 06500350 30 0 40 0 43 0 39 6 31 3 26 2 20 5 22 0 30 0 35 0 34 0 29 8 23 8 20 0 15 6 07500440 07500550 08500630 08500860 690 V 07600190 07600240 07600290 07600380 07600440 07600540 08600630 08600860 Model Normal Duty Heavy Duty Nominal rating Maximum permissible continuous...

Page 229: ...kHz 6 kHz 8 kHz 12 kHz 16 kHz 200 V 03200050 6 6 5 0 03200066 8 0 6 6 03200080 11 0 9 7 8 0 6 9 03200106 12 7 11 0 9 7 10 6 10 4 9 3 8 0 6 9 04200137 18 0 16 3 14 2 13 1 13 7 13 2 04200185 24 7 22 5 20 7 18 2 16 5 14 2 13 2 18 5 18 1 16 2 14 2 13 1 05200250 17 1 15 6 14 4 12 6 11 4 9 6 8 7 17 0 15 7 14 5 12 7 11 5 9 8 9 8 400 V 03400025 3 4 3 3 2 5 03400031 4 5 4 4 4 1 3 6 3 3 3 1 03400045 5 1 4 9...

Page 230: ... 0 49 0 38 0 33 0 06200440 58 0 55 7 49 0 38 0 44 0 42 2 37 8 30 0 07200610 07200750 07200830 400 V 03400025 3 4 2 5 03400031 4 5 3 1 03400045 6 2 5 9 5 5 4 7 4 5 4 2 3 4 03400062 7 6 7 2 6 9 6 4 5 9 5 5 4 7 6 2 6 0 5 2 4 2 3 4 03400078 10 4 9 4 8 1 5 8 4 4 7 8 7 1 5 9 4 3 3 4 03400100 11 9 11 2 10 5 9 4 7 8 5 8 4 4 10 0 9 5 8 5 7 1 5 9 4 3 3 4 04400150 18 1 17 5 17 0 16 4 15 9 12 3 9 4 15 0 14 8 ...

Page 231: ...nostics UL listing information Unidrive M702 User Guide 231 Issue Number 3 690 V 07600190 07600240 07600290 07600380 07600440 07600540 Model Normal Duty Heavy Duty Maximum permissible continuous output current A for the following switching frequencies Maximum permissible continuous output current A for the following switching frequencies 2 kHz 3 kHz 4 kHz 6 kHz 8 kHz 12 kHz 16 kHz 2 kHz 3 kHz 4 kH...

Page 232: ... 149 158 149 138 2 2 3 0 115 118 120 115 108 102 04200137 4 0 5 0 3 0 3 0 04200185 5 5 7 5 4 0 5 0 06200330 11 15 394 413 452 490 483 7 5 10 277 290 316 342 394 06200440 15 20 463 484 528 531 483 11 15 366 382 417 424 393 400 V 03400025 1 1 1 5 80 84 94 103 123 141 0 75 1 0 79 76 83 92 108 124 03400031 1 5 2 0 88 92 104 115 137 160 1 1 1 5 69 73 82 91 107 124 03400045 2 2 3 0 104 112 125 139 167 1...

Page 233: ... F ambient with high IP insert installed Model Normal Duty Heavy Duty Drive losses W taking into consideration any current derating for the given conditions Drive losses W taking into consideration any current derating for the given conditions 2 kHz 3 kHz 4 kHz 6 kHz 8 kHz 12 kHz 16 kHz 2 kHz 3 kHz 4 kHz 6 kHz 8 kHz 12 kHz 16 kHz 200 V 03200050 03200066 03200080 03200106 04200137 04200185 05200250...

Page 234: ... of phases 3 Maximum supply imbalance 2 negative phase sequence equivalent to 3 voltage imbalance between phases Frequency range 45 to 66 Hz For UL compliance only the maximum supply symmetrical fault current must be limited to 100 kA Model Normal Duty Heavy Duty Drive losses w taking into account any current derating for the given conditions Drive losses w taking into account any current derating...

Page 235: ...2 years Electrolytic capacitors in any electronic product have a storage period after which they require reforming or replacing The DC bus capacitors have a storage period of 10 years The low voltage capacitors on the control supplies typically have a storage period of 2 years and are thus the limiting factor Low voltage capacitors cannot be reformed due to their location in the circuit and thus m...

Page 236: ... is the time taken from the moment of applying power to the drive to the drive being ready to run the motor Sizes 3 12 1 15 Output frequency speed range In all operating modes Open loop RFC A RFC S the maximum output frequency is limited to 550 Hz 12 1 16 Accuracy and resolution Speed The absolute frequency and speed accuracy depends on the accuracy of the crystal used with the drive microprocesso...

Page 237: ...the supply voltage and impedance Typical input current The values of typical input current are given to aid calculations for power flow and power loss The values of typical input current are stated for a balanced supply Maximum continuous input current The values of maximum continuous input current are given to aid the selection of cables and fuses These values are stated for the worst case condit...

Page 238: ...0 14 17 25 25 25 03200106 16 20 34 25 04200137 17 20 30 25 25 gG 25 25 CC or J 04200185 23 28 41 32 32 30 30 05200250 24 31 52 40 40 gG 40 40 CC or J 06200330 42 48 64 63 63 gG 60 70 CC or J 06200440 49 56 85 70 07200610 58 67 109 80 80 gG 80 80 CC or J 07200750 73 84 135 100 100 100 100 07200830 91 105 149 125 125 125 125 08201160 123 137 213 200 200 gR 200 200 HSJ 08201320 149 166 243 225 225 Mo...

Page 239: ...4 4 7 10 20 gG 10 CC or J 05500040 6 7 9 05500069 9 11 15 20 20 06500100 12 13 22 20 40 gG 20 30 CC or J 06500150 17 19 33 32 25 06500190 22 24 41 40 30 06500230 26 29 50 50 63 35 50 06500290 33 37 63 40 06500350 41 47 76 63 50 07500440 41 45 75 50 50 gG 50 50 CC or J 07500550 57 62 94 80 80 80 80 08500630 74 83 121 125 125 gR 100 100 HSJ 08500860 92 104 165 160 160 150 150 Model Typical input cur...

Page 240: ... Output Input Output Nominal Maximum Nominal Maximum Nominal Maximum Nominal Maximum 03200050 1 5 4 1 5 4 14 10 14 10 03200066 03200080 4 4 12 12 03200106 04200137 6 8 6 8 10 8 10 8 04200185 8 8 8 8 05200250 10 10 10 10 8 8 8 8 06200330 16 25 16 25 4 3 4 3 06200440 25 25 3 3 07200610 35 70 35 70 2 1 0 2 1 0 07200750 1 1 07200830 70 70 1 0 1 0 08201160 95 2 x 70 95 2 x 70 3 0 2 x 1 3 0 2 x 1 082013...

Page 241: ...0 10 25 10 25 8 3 8 3 07600240 6 6 07600290 6 6 07600380 16 16 4 4 07600440 16 16 4 4 07600540 25 25 3 3 08600630 50 70 50 70 2 1 0 2 1 0 08600860 70 70 1 0 1 0 Input phase conductor size Minimum ground conductor size 10 mm2 Either 10 mm2 or two conductors of the same cross sectional area as the input phase conductor an additional ground connection is provided on sizes 3 4 and 5 for this purpose 1...

Page 242: ...72 05400270 200 m 660 ft 150 m 490 ft 100 m 330 ft 75 m 245 ft 50 m 165 ft 37 m 120 ft 05400300 06400350 300 m 984 ft 200 m 660 ft 150 m 490 ft 100 m 330 ft 75 m 245 ft 50 m 165 ft 06400420 06400470 07400660 250 m 820 ft 185 m 607 ft 125 m 410 ft 90 m 295 ft 07400770 07401000 08401340 250 m 820 ft 185 m 607 ft 125 m 410 ft 90 m 295 ft 08401570 575 V Nominal AC supply voltage Model Maximum permissi...

Page 243: ...0630 08600860 Model Connection type Torque setting All Plug in terminal block 0 5 N m 0 4 lb ft Unidrive M frame size AC and motor terminals DC and braking Ground terminal Recommended Maximum Recommended Maximum Recommended Maximum 3 and 4 Plug in terminal block T20 Torx M4 T20 Torx M4 M4 Nut 7 mm AF 0 7 N m 0 5 lb ft 0 8 N m 0 6 lb ft 2 0 N m 1 4 Ib ft 2 5 N m 1 8 Ib ft 2 0 N m 1 4 Ib ft 2 5 N m ...

Page 244: ...ized C1 to C4 Note that category 4 is more restrictive than E2R since the rated current of the PDS must exceed 400 A or the supply voltage exceed 1000 V for the complete PDS Standard Type of immunity Test specification Application Level IEC61000 4 2 EN61000 4 2 Electrostatic discharge 6 kV contact discharge 8 kV air discharge Module enclosure Level 3 industrial IEC61000 4 3 EN61000 4 3 Radio frequ...

Page 245: ...50 to 04400172 05400270 to 05400300 06400350 to 06400470 4200 4800 07400660 to 07401000 08401340 to 08401570 575 V 05500030 to 05500069 06500100 to 06500350 4200 3690 07500440 to 07500550 08500630 to 08500860 690 V 07600190 to 07600540 08600630 to 08600860 CT part number Maximum continuous current Voltage rating IP rating Power dissipation at rated current Ground leakage Discharge resistors Balanc...

Page 246: ...nical data Diagnostics UL listing information 246 Unidrive M702 User Guide Issue Number 3 12 2 3 EMC filter torque settings Table 12 40 Optional external EMC Filter terminal data CT part number Power connections Ground connections Max cable size Max torque Ground stud size Max torque mm2 AWG N m Ib ft N m Ib ft 4200 3230 4 12 0 8 0 59 M5 3 0 2 2 4200 3480 4200 2300 16 6 2 3 1 70 M6 4 8 2 8 4200 48...

Page 247: ...lower row of the keypad display will display the trip string Some trips have a sub trip number to provide additional information about the trip If a trip has a sub trip number the sub trip number is flashed alternately with the trip string unless there is space on the second row for both the trip string and the sub trip number in which case both the trip string and sub trip information is displaye...

Page 248: ...e a value of 01 when displayed the leading zeros are suppressed The y digit is used to identify the location of a trip which is generated by a rectifier module connected to a power module if xx is non zero For a control system trip xx is zero the y digit where relevant is defined for each trip If not relevant the y digit will have a value of zero The zz digits give the reason for the trip and are ...

Page 249: ...dicates that one or both of the Analog outputs have failed during the zero offset calibration The failed output can be identified by the sub trip number Recommended actions Check the wiring associated with analog outputs Remove all the wiring that is connected to analog outputs and perform the calibration If trip persists replace the drive App Menu Changed Customization table for an application mo...

Page 250: ...R Servo SC Servo or Commutations only encoder and the W commutation signal did not change during a rotating autotune Recommended actions Check feedback device W commutation signal wiring is correct Encoder terminals 11 and 12 Autotune 7 Motor number of poles position feedback resolution set incorrectly 17 An Autotune 7 trip is initiated during a rotating autotune if the motor poles or the position...

Page 251: ...he Menu 0 parameter Card Busy NV Media Card cannot be accessed as it is being accessed by an option module 178 The Card Busy trip indicates that an attempt has been made to access a file on NV Media Card but the NV Media Card is already being accessed by an Option Module such as one of the Applications modules No data is transferred Recommended actions Wait for the option module to finish accessin...

Page 252: ...ure the option modules are in the same option module slot as the parameter set stored Press the red reset button to acknowledge that the parameters for one or more of the option modules installed will be at their default values This trip can be suppressed by setting Pr mm 000 to 9666 and resetting the drive Card Product NV Media Card data blocks are not compatible with the drive derivative 175 The...

Page 253: ...a one causes the drive to trip on Control Word When the control word is enabled the trip can only be cleared by setting bit 12 to zero Current Offset Current feedback offset error 225 The Current Offset trip indicates that the current offset is too larger to be trimmed Recommended actions Ensure that there is no possibility of current flowing in the output phases of the drive when the drive is not...

Page 254: ...ernal power supply with higher current capability Encoder 2 Drive encoder Feedback wire break 190 The Encoder 2 trip indicates that the drive has detected a wire break on the 15 way D type connector on the drive The exact cause of the trip can be identified from the sub trip number Recommended actions If wire break detection on the drive encoder input is not required set Pr 03 040 XXX0 to disable ...

Page 255: ... has caused the trip can be identified by the sub trip number Recommended actions Ensure the encoder power supply setting Pr 03 036 is correct Complete encoder auto configuration Pr 03 041 Check the encoder wiring Replace the feedback device Encoder 5 Checksum or CRC error 193 The Encoder 5 trip indicates that there is a checksum or CRC error or the SSI encoder is not ready The Encoder 5 trip can ...

Page 256: ...valid Recommended actions Check the setting of Pr 03 026 or Pr 21 021 if the second motor parameters have been enabled Ensure that the option slot selected in Pr 03 026 has a feedback option module installed Encoder 10 RFC S mode phasing failure due to incorrect phase angle 198 The Encoder 10 indicates that the phase offset angle in Pr 03 025 or Pr 21 020 if the second motor map is being used is i...

Page 257: ...en Minimum Frequency 03 024 and Regen Maximum Frequency 03 025 for more than 100 ms Recommended actions Ensure the supply is operating within the drive specification Ensure Pr 03 024 and Pr 03 025 are set correctly Check the supply voltage waveform using an oscilloscope Reduce the level of supply disturbance HF01 Data processing error CPU address error The HF01 trip indicates that a CPU address er...

Page 258: ...control PCB on the drive has failed Recommended actions Hardware fault Contact the supplier of the drive HF09 Data processing error Free store overflow The HF09 trip indicates that a free store overflow has occurred This trip indicates that the control PCB on the drive has failed Recommended actions Hardware fault Contact the supplier of the drive HF10 Data processing error Parameter routing syste...

Page 259: ...he control PCB on the drive has failed Recommended actions Hardware fault Contact the supplier of the drive HF18 Data processing error Internal flash memory has failed The HF18 trip indicates that the internal flash memory has failed when writing option module parameter data The reason for the trip can be identified by the sub trip number Recommended actions Hardware fault Contact the supplier of ...

Page 260: ... Check output wiring is undamaged Island Island condition detected in regen mode 160 The Island trip indicates that the AC mains is no longer present and the inverter would be on islanded power supply if it continued to operate Recommended actions Check the supply supply connections to the regen drive Keypad Mode Keypad has been removed when the drive is receiving the speed reference from the keyp...

Page 261: ...sure the motor rated current in Pr 05 007 is Heavy duty current rating of the drive Tune the rated speed parameter RFC A mode only Check feedback signal for noise Ensure the motor rated current is not zero Name Plate Electronic nameplate transfer has failed 176 The Name Plate trip is initiated if an electronic name plate transfer between the drive and the motor has failed The exact reason for the ...

Page 262: ...C A RFC S Reduce speed loop gains Pr 03 010 Pr 03 011 Pr 03 012 RFC A RFC S Add a speed feedback filter value Pr 03 042 RFC A RFC S Add a current demand filter Pr 04 012 RFC A RFC S Check encoder signals for noise with an oscilloscope RFC A RFC S Check encoder mechanical coupling RFC A RFC S OHt Inverter Inverter over temperature based on thermal model 21 This trip indicates that an IGBT junction ...

Page 263: ... device mechanical coupling Check feedback signals are free from noise Is motor cable length within limits for the frame size Reduce the values in the speed loop gain parameters Pr 03 010 03 011 03 012 or Pr 03 013 03 014 03 015 Has the phase angle autotune been completed RFC S mode only Reduce the values in current loop gain parameters RFC A RFC S modes only OI Brake Braking IGBT over current det...

Page 264: ...tection Enable 06 059 1 then output phase loss is detected as follows 1 When the drive is enabled short pulses are applied to make sure each output phase is connected 2 During running the output current is monitored and the output phase loss condition is detected if the current contains more than TBD negative phase sequence current for TBDs Recommended action Check motor and drive connections To d...

Page 265: ...ll trip on Phase Loss Potential causes of the DC bus ripple are input phase loss Large supply impedance and severe output current instability Input phase loss detection can be disabled when the drive is required to operate from the DC supply or from a single phase supply in Input Phase Loss Detection Mode 06 047 Recommended actions Check the AC supply voltage balance and level at full load Check t...

Page 266: ...ded actions Remove any option modules and perform a reset Remove encoder connection and perform a reset Hardware fault within the drive return the drive to the supplier Trip Diagnosis Source xx y zz Control system 00 0 01 No communications between the control system and the power system 02 Excessive communication errors between the control system and power system Power module number Rectifier numb...

Page 267: ... loop vector mode Pr 05 014 on the first run command after power up in mode 4 Ur_I or on every run command in modes 0 Ur_S or 3 Ur_Auto This trip can occur if the motor is very small in comparison to the rating of the drive Recommended actions Check the motor cable connections Check the integrity of the motor stator winding using a insulation tester Check the motor phase to phase resistance at the...

Page 268: ...ed late 108 INIT Switch 109 INIT PTP 110 INIT DA RT 111 INIT Modbus 112 INIT SMTP 113 INIT EtherNet IP 114 INIT TCP IP 115 Ethernet Failure 200 Software Fault Software Fault 201 BG Overrun Background task overrun 202 Firmware Invalid Firmware is not compatible for the hardware version 203 Drive Unknown Unknown drive type 204 Drive Unsupported Unsupported drive type 205 Mode Unknown Unknown drive m...

Page 269: ...y the sub trip number Recommended actions Turn off the power ensure the correct option modules are installed in the correct option slots and re apply the power Confirm that the currently installed option module is correct ensure option module parameters are set correctly and perform a user save in Pr mm 000 SlotX Error Option module in option slot X has detected a fault 202 207 212 The SlotX Error...

Page 270: ...iled to service the watchdog correctly Recommended actions Replace the option module Soft Start Soft start relay failed to close soft start monitor failed 226 The Soft Start trip indicates that the soft start relay in the drive failed to close or the soft start monitoring circuit has failed Recommended actions Hardware fault Contact the supplier of the drive Stored HF Hardware trip has occurred du...

Page 271: ...ns Check brake resistor wiring Check braking resistor value is greater than or equal to the minimum resistance value Check braking resistor insulation Th Short Circuit Motor thermistor short circuit 25 The Th Short Circuit trip indicates that the motor thermistor connected to terminal 8 analog input 3 on the control connections or terminal 15 on the encoder terminal 15 way D type connector is shor...

Page 272: ...mber Recommended actions Check motor temperature Check thermistor continuity Undefined Drive has tripped and the cause of the trip is Undefined 110 The Undefined trip indicates that the power system has generated but did not identify the trip the power system The cause of the trip is unknown Recommended actions Hardware fault return the drive to the supplier User 24V User 24 V supply is not presen...

Page 273: ...rivative image has been changed for an image with a different derivative number As 30 40 The timed task has not completed in time and has been suspended 41 Undefined function called i e a function in the host system vector table that has not been As 40 51 Core menu customization table CRC check failed As 30 52 Customized menu table CRC check failed As 30 53 Customized menu table changed Occurs whe...

Page 274: ... next time the drive is powered up Ensure that the drive has enough time to complete the save before removing the power to the drive User Trip User generated trip 40 89 112 159 These trips are not generated by the drive and are to be used by the user to trip the drive through an application program Recommended actions Check the user program Volts Range Supply voltage out of range detected in Regen...

Page 275: ...6 168 Frequency Range 213 Slot3 Not installed 17 Autotune 7 169 Voltage Range 214 Slot3 Different 18 Autotune Stopped 170 173 Reserved 170 173 215 Option Disable 19 Brake R Too Hot 174 Card Slot 216 Slot App Menu 20 Motor Too Hot 175 Card Product 217 App Menu Changed 21 OHt Inverter 176 Name Plate 218 Temp Feedback 22 OHt Power 177 Card Boot 219 An Output Calib 23 OHt Control 178 Card Busy 220 Pow...

Page 276: ...F17 HF18 HF19 HF20 These indicate internal problems and cannot be reset All drive features are inactive after any of these trips occur If an KI Keypad is installed it will show the trip but the keypad will not function 1 Stored HF trip Stored HF This trip cannot be cleared unless 1299 is entered into Parameter mm 000 and a reset is initiated 2 Non resettable trips Trip numbers 218 to 247 Slot1 HF ...

Page 277: ... the drive is 100 Drive Overload Drive over temperature Percentage Of Drive Thermal Trip Level 07 036 in the drive is greater than 90 Auto Tune The autotune procedure has been initialized and an autotune in progress Limit Switch Limit switch active Indicates that a limit switch is active and that is causing the motor to be stopped Upper row string Description Drive output stage Inhibit The drive i...

Page 278: ...urs the following read only parameters are frozen until the trip is cleared This is to help in diagnose the cause of the trip If the parameters are not required to be frozen then this can be disabled by setting bit 4 of Pr 10 037 Parameter Description 01 001 Frequency speed reference 01 002 Pre skip filter reference 01 003 Pre ramp reference 02 001 Post ramp reference 03 001 Frequency slaving dema...

Page 279: ...pen loop operation The default overload protection level is less than 175 of full load rated current for closed loop vector or servo mode operation In order for the motor protection to work correctly the motor rated current must be entered into Pr 00 046 or Pr 05 007 The protection level may be adjusted below 150 if required See section 8 3 Current limits on page 127 14 7 Motor overspeed protectio...

Page 280: ...play messages 92 Drive enable 80 Drive features 15 E Electrical safety 20 Electrical terminals 46 Electromagnetic compatibility EMC 21 68 244 EMC Compliance with generic emission standards 74 EMC Variations in the wiring 76 EMC filter dimensions external overall 245 EMC filter torque settings external 246 EMC filters optional external 245 Emission 244 EN61800 3 2004 standard for power drive system...

Page 281: ...O Onboard PLC 134 Open loop mode 14 Open loop vector mode 14 Operating mode changing 93 102 Operating modes 14 Optimization 118 Option Module 210 Options 17 Output contactor 65 Output frequency 236 P Parameter access level 93 Parameter ranges 138 Parameter security 93 Planning the installation 20 Position feedback 102 Position feedback module category parameters 210 Power ratings 67 227 242 Power ...

Page 282: ...sure 76 Terminal cover removal 21 Terminal sizes 47 Thermal protection circuit for the braking resistor 67 Through panel mounting the drive 33 Torque settings 48 243 Trip 247 Trip History 277 Trip Indications 247 U UL Listing Information 279 User Security 94 V Ventilation 38 Vibration 236 Voltage mode 119 120 W Warnings 8 Weights 237 ...

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