Emerson unidrive sp User Manual Download Page 410

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Parameter

structure

Keypad and

display

Parameter

x.00

Parameter

description format

Advanced parameter

descriptions

Macros

Serial comms

protocol

Electronic

nameplate

Performance

RFC mode

410

Unidrive SP Advanced User Guide

www.controltechniques.com Issue Number: 10

8.2 Performance objects

Table 8-2 Performance object 1

5.33

Motor volts per 1,000 rpm (Ke)

Spare 0

Spare 1

Spare 2

Spare 3

Spare 4

Spare 5

Spare 6

Spare 7

HIPERFACE

EnDat

Parameter

Parameter description

Byte

Block

Address

Byte

HIPERFACE

EnDat

Parameter

Parameter description

Byte

Block

Address

Byte

Checksum

Number of bytes

3.10

Speed controller Kp gain

3.11

Speed controller Ki gain

3.12

Speed controller Kd gain

3.17

Speed controller set-up method

3.19

Compliance angle

3.20

Bandwidth

3.21

Damping factor

4.05

Motoring current limit

4.06

Regen current limit

4.12

Torque demand filter

4.13

Current controller Kp gain

4.14

Current controller Ki gain

Spare 0

Spare 1

Spare 2

Spare 3

Spare 4

Spare 5

Spare 6

Spare 7

Summary of Contents for unidrive sp

Page 1: ...Advanced User Guide U Universal Variable Speed AC Drive for induction and servo motors Part Number 0471 0002 10 Issue 10 www controltechniques com ...

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

Page 3: ...faults 17 3 4 SMARTCARD transfers 17 3 5 Electronic nameplate transfers 17 3 6 Display non default values or destination parameters 17 4 Parameter description format 18 4 1 Parameter ranges and variable maximums 19 4 1 1 Default 23 4 1 2 Second motor parameter 23 4 1 3 Update rate 23 4 2 Sources and destinations 23 4 2 1 Sources 23 4 2 2 Destinations 23 4 2 3 Sources and destinations 24 4 3 Update...

Page 4: ...odules 327 5 17 11 SM EZMotion 336 5 17 12 SM SLM 342 5 17 13 Fieldbus module category parameters 352 5 18 Menu 18 Application menu 1 354 5 19 Menu 19 Application menu 2 355 5 20 Menu 20 Application menu 3 356 5 21 Menu 21 Second motor parameters 357 5 22 Menu 22 Additional menu 0 set up 366 5 23 32 bit parameters 367 5 23 1 Drive parameters 367 5 23 2 Solutions module parameters 367 6 Macros 368 ...

Page 5: ...ons 407 7 2 9 CRC 407 7 2 10 Device compatibility parameters 407 8 Electronic nameplate 408 8 1 Motor object 409 8 2 Performance objects 410 9 Performance 412 9 1 Digital speed reference 412 9 2 Analog reference 412 9 3 Analog outputs 412 9 4 Digital inputs and outputs 412 9 5 Current feedback 413 9 6 Bandwidth 413 9 6 1 Speed loop 413 9 6 2 Current loop 413 10 Rotor Flux Control RFC mode 414 10 1...

Page 6: ...r press will cause the display to rollover and show the first parameter When changing between menus the drive remembers which parameter was last viewed in a particular menu and thus displays that parameter Figure 1 2 Menu structure 1 1 Menu 0 Menu 0 has up to 19 fixed parameters and 40 programmable parameters that are defined in menu 11 and menu 22 Menu 0 parameters are copies of advanced menu par...

Page 7: ...ntroller D gain 3 12 0 00000 to 0 65535 s 0 00000 RW Uni US 0 10 OL Estimated motor speed 5 04 180 000 rpm RO Bi FI NC PT CL Motor speed 3 02 Speed_max rpm RO Bi FI NC PT 0 11 OL VT Drive output frequency 5 01 Speed_freq_ max Hz 1250 Hz RO Bi FI NC PT SV Drive encoder position 3 29 0 to 65 535 1 216ths of a revolution RO Uni FI NC PT 0 12 Total motor current 4 01 0 to Drive_current_max A RO Uni FI...

Page 8: ...or thermal time constant 4 15 0 0 to 3000 0 20 0 RW Uni US 0 46 Motor rated current 5 07 0 to Rated_current_max A Drive rated current 11 32 RW Uni RA US 0 47 Rated frequency 5 06 0 to 3 000 0 Hz 0 to 1 250 0 Hz EUR 50 0 USA 60 0 RW Uni US 0 48 Operating mode selector 11 31 OPEn LP 1 CL VECt 2 SErVO 3 rEgEn 4 OPEn LP 1 CL VECt 2 SErVO 3 RW Txt NC PT 0 49 Security status 11 44 L1 0 L2 1 Loc 2 RW Txt...

Page 9: ...an be saved in EEPROM so that either Menu 0 only or Menu 0 and the advanced menus are accessible at power up 1 3 Solutions Modules Any Solutions Module type is recognized with all drive types in any slots The relevant template is used to define menu 15 for the module type installed in slot 1 menu 16 for slot 2 and menu 17 for slot 3 Menu Function 1 Speed reference selection limits and filters 2 Ra...

Page 10: ... virtual parameters Menus 70 to 91 Hardware key using the SM Keypad Plus as a key to modify the drive set up User defined parameter set Browsing filter Adjustable contrast Figure 2 2 SP0 Keypad Figure 2 3 SM Keypad Plus The red stop button is also used to reset the drive 2 2 Keypad operation 2 2 1 Control buttons The keypad consists of 1 Joypad used to navigate the parameter structure and change p...

Page 11: ...ameter viewed in that menu will re appear 2 5 Edit mode Up and Down keys are used to increase and decrease parameter values respectively If the maximum value of a parameter is greater than 9 and it is not represented by strings then the Left and Right keys can be used to select a digit to adjust The number of digits which can be independently selected for adjustment depends on the maximum value of...

Page 12: ...t up menu 41 selects commonly used parameters for quick browsing Keypads built prior to N10 only support one user defined extra parameter set only The SM Keypad Plus contains two menus menu 40 and menu 41 The parameters in these menus are listed below Table 2 1 Menu 40 parameter descriptions Table 2 2 Menu 41 parameter descriptions For more information about the SM Keypad Plus see the SM Keypad Pl...

Page 13: ... User Security Select a read write parameter to be edited and press the button the upper display will now show CodE Use the arrow buttons to set the security code and press the button With the correct security code entered the display will revert to the parameter selected in edit mode If an incorrect security code is entered the display will revert to parameter view mode To lock the User Security ...

Page 14: ...n of the stop key is enabled a reset is initiated while the drive is running by holding the Run key and then pressing the Stop key When the drive is not running the Stop key will always reset the drive 2 The drive resets after a 0 to 1 transition of the Drive Reset parameter Pr 10 33 A digital input can be programmed to change this parameter 3 Serial comms fieldbus or applications Solutions Module...

Page 15: ...r 2 seconds During power up one or more of the following actions may be required Each action may take several seconds and so special display strings are shown Display string Action boot If a SMARTCARD is present with Pr 11 42 set to boot the parameters from the card must be transferred to the drive EEPROM card If the drive is in auto or boot mode Pr 11 42 set to 3 or 4 the drive ensures that the d...

Page 16: ...lied from a normal mains supply 2 Two banks of arrays are provided in EEPROM to store the data When a parameter save is initiated the data is stored in a new bank and only when the data store is complete does the new bank become active If the power is removed before the parameter save is complete a SAVE Er trip user save parameter save error or PSAVE Er trip power down save parameter save error wi...

Page 17: ... 00 or later defaults should be loaded after the change 3 3 Loading defaults When defaults are loaded the user save parameters are automatically saved to the drive EEPROM in all modes Standard defaults are loaded by setting 1233 in Pr x 00 performing a drive reset The following differences from standard defaults are available when different values are set in Pr x 00 US Default Differences Pr x 00 ...

Page 18: ...op vector Servo 0 to 60 Auto to 120 POLE Default Open loop Closed loop vector Servo 0 Auto 3 6 POLE Second motor parameter Open loop Closed loop vector Servo Pr 21 11 Update rate Background read NOTE Coding Attribute Bit 1 bit parameter SP Spare not used FI Filtered some parameters which can have rapidly changing values are filtered when displayed on the drive keypad for easy viewing DE Destinatio...

Page 19: ...der overshoot conditions ELPR is equivalent encoder lines per revolution and is the number of lines that would be produced by a quadrature encoder Quadrature encoder ELPR number of lines per revolution F and D encoder ELPR number of lines per revolution 2 Resolver ELPR resolution 4 SINCOS encoder ELPR number of sine waves per revolution Serial comms encoder ELPR resolution 4 This maximum is define...

Page 20: ...tting is the maximum applied to the current limit parameters in motor map 2 The formulae for MOTOR2_CURRENT_LIMIT_MAX are the same for MOTOR1_CURRENT_LIMIT_MAX except that Pr 5 07 is replaced with Pr 21 07 and Pr 5 10 is replaced with Pr 21 10 TORQUE_PROD_CURRENT_MAX 1000 0 Maximum torque producing current This is used as a maximum for torque and torque producing current parameters It is MOTOR1_CU...

Page 21: ...um DC voltage set point 200V rating drive 0 to 400V 400V rating drive 0 to 800V 575V rating drive 0 to 950V 690V rating drive 0 to 1150V DC_VOLTAGE_MAX 1190V Maximum DC bus voltage The maximum measurable DC bus voltage 200V drives 415V 400V drives 830V 575V drives 995V 690V drives 1190V POWER_MAX 9999 99kW Maximum power in kW The maximum power has been chosen to allow for the maximum power that ca...

Page 22: ...4 0 SP5201 105 0 105 0 130 0 SP5202 130 0 130 0 154 0 SP0401 1 3 1 3 1 3 SP0402 1 7 1 7 1 7 SP0403 2 1 2 1 2 1 SP0404 3 0 3 0 3 0 SP0405 4 2 4 2 4 2 SP1401 2 1 2 1 2 8 SP1402 3 0 3 0 3 8 SP1403 4 2 4 2 5 0 SP1404 5 8 5 8 6 9 SP1405 7 6 7 6 8 8 SP1406 9 5 9 5 11 0 SP2401 13 0 13 0 15 3 SP2402 16 5 16 5 21 0 SP2403 23 0 25 0 29 0 SP2404 29 0 29 0 29 0 SP3401 32 0 32 0 35 0 SP3402 40 0 40 0 43 0 SP34...

Page 23: ...data value is greater than or equal to source data parameter maximum 2 rounded down to the nearest unit For example if the source pointer parameter is set to Pr 18 11 which has a maximum of 32767 the source input is zero if the source data value is less than 16383 and one if it is greater than this 4 2 2 Destinations Some functions have destination pointer parameters i e drive inputs etc The desti...

Page 24: ...d to implement analog input 1 Therefore the speed of the motor may be controlled with infinite resolution from analog input 1 except for deadband effects around zero reference The scale factor used for the multiplication cannot exactly duplicate the scaling for the two stage conversion i e conversion in menu 7 to a percentage of full scale and conversion to 0 1rpm units used when high speed updati...

Page 25: ...roltechniques com 4 3 3 Torque reference update rate The normal update rate for the torque reference Pr 4 08 is 4ms however it is possible to reduce the sample time to 250μs by selecting the reference from particular sources but only in closed loop vector or servo modes The fast update rate is only possible provided the conditions given below are met Analog inputs 2 or 3 on the drive The analog in...

Page 26: ...s text strings instead of numbers VM Variable maximum the maximum of this parameter can vary DP Decimal place indicates the number of decimal places used by this parameter ND No default when defaults are loaded except when the drive is manufactured or on EEPROM failure this parameter is not modified RA Rating dependent this parameter is likely to have different values and ranges with drives of dif...

Page 27: ...ent feedback 4 01 4 02 4 17 4 04 4 12 4 20 4 23 4 24 4 26 10 08 10 09 10 17 Current limits 4 05 4 06 4 07 4 18 4 15 4 19 4 16 5 07 5 10 10 08 10 09 10 17 DC bus voltage 5 05 2 08 DC injection braking 6 06 6 07 6 01 Deceleration rates 2 20 2 21 to 2 29 2 04 2 35 to 2 37 2 02 2 08 6 01 10 30 10 31 10 39 2 09 Defaults 11 43 11 46 Digital I O Menu 8 Digital I O read word 8 20 Digital I O T24 8 01 8 11...

Page 28: ...roller Menu 14 Position feedback drive 3 28 3 29 3 30 3 50 Positive logic 8 29 Power up parameter 11 22 11 21 Precision reference 1 18 1 19 1 20 1 44 Preset speeds 1 15 1 21 to 1 28 1 16 1 14 1 42 1 45 to 1 48 1 50 Programmable logic Menu 9 Quasi square operation 5 20 Ramp accel decel mode 2 04 2 08 6 01 2 02 2 03 10 30 10 31 10 39 Rated speed autotune 5 16 5 08 Regen mode 3 01 to 3 11 4 08 5 01 5...

Page 29: ...6 20 6 21 6 28 Time run log 6 22 6 23 6 28 Torque 4 03 4 26 5 32 Torque mode 4 08 4 11 4 09 4 10 Trip detection 10 37 10 38 10 20 to 10 29 Trip log 10 20 to 10 29 10 41 to 10 51 6 28 Under voltage 5 05 10 16 10 15 V F mode 5 15 5 14 Variable selector 1 12 08 to 12 15 Variable selector 2 12 28 to 12 35 Velocity feed forward 1 39 1 40 Voltage controller 5 31 Voltage mode 5 14 5 17 5 23 5 15 Voltage ...

Page 30: ...u 7 1 36 1 37 1 41 1 16 1 48 1 15 1 17 1 20 1 18 Precision reference trim 1 19 Preset reference select Keypad reference select Precision reference select LOCAL REMOTE Menu 8 Level of reference selected Reference offset Reference offset mode select Reference selector Reference selected indicator 1 49 1 14 1 09 1 04 Reference percentage trim 1 38 1 01 Analog reference Preset reference Keypad referen...

Page 31: ...e Maximum freq speed clamp Minimum freq speed clamp Maximum reverse freq speed Negative minimum speed select Reference enabled indicator Reverse selected indicator Skip freq speed 1 Reference in skip freq speed band indicator Velocity feed forward reference Feed forward selected indicator 1 12 x 1 1 39 1 40 1 08 1 06 1 07 1 07 1 06 1 06 1 06 1 06 1 07 1 06 1 07 1 11 Sequencer Menu 6 1 02 1 03 Menu...

Page 32: ...e Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 Range Open loop Closed loop vector Servo SPEED_FREQ_MAX Hz rpm Update rate 4ms write 1 03 Pre ramp reference Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 Range Open loop Closed loop vector Servo SPEED_FREQ_MAX Hz rp...

Page 33: ...06 Maximum reference clamp Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Closed loop vector and servo VM 1 Range Open loop Closed loop vector and Servo 0 to 3 000 0 Hz SPEED_LIMIT_MAX rpm Default Open loop Closed loop vector Servo EUR 50 0 USA 60 0 EUR 1 500 0 USA 1 800 0 3 000 0 Second motor parameter Open loop Closed loop vector S...

Page 34: ...arameter is 0 the reference is given by Pr 1 01 selected reference x 100 Pr 1 38 100 and when this parameter is 1 the reference is given by Pr 1 01 selected reference Pr 1 04 Minimum Maximum Keypad control reference Pr 1 17 Unipolar mode Pr 1 07 or 0 if Pr 1 07 0 Bipolar mode SPEED_FREQ_MAX SPEED_FREQ_MAX Bipolar unipolar selector Unipolar mode Pr 1 07 or 0 if Pr 1 07 0 Bipolar mode no limit appli...

Page 35: ...lue 1 10 Bipolar reference enable Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default Open loop Closed loop vector Servo 0 Update rate 4ms read 1 11 Reference enabled indicator 1 12 Reverse selected indicator 1 13 Jog selected indicator Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW...

Page 36: ... is set to 1 then the preset counter and timer are reset and preset 1 will be selected 1 15 Preset selector Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range Open loop Closed loop vector Servo 0 to 9 Default Open loop Closed loop vector Servo 0 Update rate 4ms read Value of Pr 1 15 Pr 1 50 0 Selected by terminal input 1 1 2 2 3 3 4 ...

Page 37: ...on reference Pr 1 18 defines the coarse part of reference either positive or negative with a resolution of 0 1Hz and Pr 1 19 defines the fine part of the reference always positive with a resolution of 0 001Hz The final reference is given by Pr 1 18 Pr 1 19 Therefore Pr 1 19 increases positive references away from zero and decreases negative references towards zero Closed loop As with open loop a h...

Page 38: ...Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default Open loop Closed loop vector Servo 0 Update rate Background read 1 21 Preset reference 1 1 22 Preset reference 2 1 23 Preset reference 3 1 24 Preset reference 4 1 25 Preset reference 5 1 26 Preset reference 6 1 27 Preset reference 7 1 28 Preset reference 8 Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND...

Page 39: ...in voltage mode with zero offset 3 Bipolar mode must be used or unipolar mode with the minimum speed Pr 1 07 set to zero 4 No skip bands are enabled i e Pr 1 29 Pr 1 31 and Pr 1 33 must be zero 5 The jog and velocity feed forward references must not be enabled These are special parameters when a non bit type quantity uses these parameters as a destination not just from analog inputs The scaling an...

Page 40: ...5 on page 36 for more information When this flag is set the preset timer for auto preset timer mode Pr 01 15 9 is reset and preset 1 is selected This can be used to start a new sequence of reference selection by a programmable input terminal or function When this bit is zero the preset selection will follow the timer even when the drive is disabled 1 39 Velocity feed forward Drive modes Open loop ...

Page 41: ... before power down 1 49 Reference selected indicator Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range Open loop Closed loop vector Servo 1 to 5 Update rate 4ms write 1 50 Preset reference selected indicator Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range Open l...

Page 42: ... bus voltage within the drive that would cause an over voltage trip if no braking resistor is installed 0 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 1 1 1 0 1 1 1 Acceleration rate select bits 2 11 Acceleration rate 1 2 12 Acceleration rate 2 2 13 Acceleration rate 3 2 14 Acceleration rate 4 2 15 Acceleration rate 5 2 16 Acceleration rate 6 2 17 Acceleration rate 7 2 18 Acceleration rate 8 Acceleration rates...

Page 43: ...n refer to Pr 2 06 on page 45 2 06 S Ramp enable 2 07 S Ramp acceleration limit 2 08 Standard ramp voltage Ramp control N t N t Deceleration Forward Decel rate Reverse Decel rate _ 2 01 Post ramp reference 2 02 Ramp Closed loop only enable Current control Menu 4 Open loop only Deceleration rate select bits 2 37 1 50 Preset reference selected indicator 2 29 Jog deceleration rate 1 13 Jog selected i...

Page 44: ...Standard ramp is used during deceleration if the voltage rises to the standard ramp level Pr 2 08 It causes a controller to operate the output of which changes the demanded load current in the motor As the controller regulates the DC bus voltage the motor deceleration increases as the speed approaches zero speed When the motor deceleration rate reaches the programmed deceleration rate the controll...

Page 45: ...bled Pr 2 06 0 a linear ramp is used and the time in seconds taken for the ramp output to change by frequency Δ f or speed Δ w is given by Frequency Open loop mode TRamp Δf x A 100 where A is the selected ramp rate in s 100Hz Speed Closed loop vector and servo TRamp Δw x A 1000 Where A is the selected ramp rate in s 1000rpm If the S ramp is enabled Pr 2 06 1 then the ramp time is extended as shown...

Page 46: ... rate in s 1000rpm J is Pr 2 07 the S ramp acceleration limit in s2 1000rpm If the required change is less than Δw linear then TRamp1 should be used but if the speed change is greater or equal to Δw linear TRamp1 should be used TRamp1 2 Δw x J 1000 TRamp2 Δw x A 1000 J A The default values for the ramp rate and S ramp acceleration limit have been chosen such that for the default maximum speed the ...

Page 47: ...te defined by parameter number i e 1 Pr 2 11 2 Pr 2 12 etc 9 Ramp rate selection by Pr 1 50 When Pr 2 10 is set to 0 the acceleration ramp rate selected depends on the state of bit Pr 2 32 to Pr 2 34 These bits are for control by digital inputs such that ramp rates can be selected by external control The ramp rate selected depends on the binary code generated by these bits as follows When Pr 2 10 ...

Page 48: ...r 2 22 etc 9 Ramp rate selection by Pr 1 50 2 11 Acceleration rate 1 2 12 Acceleration rate 2 2 13 Acceleration rate 3 2 14 Acceleration rate 4 2 15 Acceleration rate 5 2 16 Acceleration rate 6 2 17 Acceleration rate 7 2 18 Acceleration rate 8 Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Closed loop vector and Servo DP 3 Range Open...

Page 49: ...ables the voltage controller used for standard ramp and mains loss ride through and the frequency based current limits The jog deceleration rate is only used when the drive is changing speed because the jog reference has changed or to stop from the jog reference It is not used to go from the jog to the run state This prevents the fast ramps normally used with jog from being used when changing betw...

Page 50: ...d accelerate or decelerate the load at the required rate This value can be used as a feed forward term that is added to the speed controller output if Pr 4 22 is set to one Pr 2 38 shows the torque value as a percentage of rated active current 2 32 Acceleration select bit 0 2 33 Acceleration select bit 1 2 34 Acceleration select bit 2 2 35 Deceleration select bit 0 2 36 Deceleration select bit 1 2...

Page 51: ...tion In Open loop modes the frequency reference controlled by an analog input has a maximum resolution of 12bits plus sign but this is reduced if the window filter time for this input controller by Pr 7 26 is reduced below the default value of 4 0ms The resolution of the frequency reference from analog inputs 2 or 3 is 10bits plus sign In Closed loop vector or Servo mode the resolution from analog...

Page 52: ...ay sub D connector 1 2 3 4 3 13 A B B 3 34 3 38 Drive encoder lines per revolution Drive encoder type 0 Frequency slaving enable 1 2048 3 14 3 15 Slaving ratio numerator Slaving ratio denominator 5 01 Motor frequency Slip compensation Menu 5 0 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals X X X X 3 39 Termination resistors 3 27 Drive encoder speed Me...

Page 53: ...n drives is quadrature A B mode unlike previous products which used F and D only The drive will not count pulses while it is disabled this parameter will show 0 0 but will maintain lock once enabled even if the direction of rotation reverses In frequency slaving mode the drive current limits are not active however the drive peak limit is active and will try and limit the drive current to the magni...

Page 54: ...change from normal operation to slaving will result in an instantaneous change to the slaving frequency Therefore the slaving frequency should be similar to the demanded frequency before the change is made The slave frequency input can be scaled before it defines the slave frequency demand Pr 3 01 using Pr 3 14 and Pr 3 15 The numerator and denominator can be adjusted while the drive is running wi...

Page 55: ...ure A B signals are used the slaving output frequency is effectively divided by 2 giving either 0 5 or 1024 times the drive fundamental output frequency When the drive output frequency changes direction there is always a period of 250μs where no pulses are produced This ensures that with an F and D output there is a set up time of 250μs for the direction signal before an edge occurs on the frequen...

Page 56: ...TION 3 28 Drive encoder revolution counter 3 29 Drive encoder position 3 30 Drive encoder fine position 15 03 Speed feedback from option module in slot 1 16 03 17 03 Speed feedback from option module in slot 2 Speed feedback from option module in slot 3 Feedback from the option modules set up in Menus 15 16 and 17 3 27 Drive encoder speed feedback 3 26 Speed feedback selector 2 01 Post ramp refere...

Page 57: ...lower limit _ 3 07 10 07 Above at speed window indicator At speed upper limit 10 06 At speed indicator NOR _ 3 05 10 03 At zero speed indicator Zero speed threshold _ 1 07 10 04 At or below min speed indicator Minimum speed 1 10 Bipolar reference select 5min 1 20 1 03 Pre ramp reference 3 09 Absolute at speed detect mode Speed controller differential feedback gains 0 XX 0 XX Key Read write RW para...

Page 58: ...lled by Pr x 19 It is not advisable to use the speed feedback filter unless it is specifically required for high inertia applications with high controller gains or if a commutation signal only encoder is used because the filter has a non linear transfer function It is preferable to use the current demand filters see Pr 4 12 or 4 23 as these are linear first order filters that provide filtering on ...

Page 59: ... 1 03 Pr 3 06 Pr 3 02 Pr 1 03 Pr 3 07 If the lower limit is less than zero then zero is used as the lower limit If Pr 3 09 1 absolute window mode is used and the at speed condition is true if Pr 3 06 Pr 3 02 Pr 3 07 3 03 Speed error Drive modes Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 1 Range Closed loop vector Servo SPEED_MAX rpm Update rate 4ms ...

Page 60: ...modes Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range Closed loop vector Servo 0 to 40 0000 rpm Default Closed loop vector Servo 0 Update rate Background read 3 09 Absolute at speed detect Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default Closed loop vector Servo 0 Update rate Backgrou...

Page 61: ...the correct level and increases the stiffness of the system i e it reduces the positional displacement produced by applying a load torque to the motor Unfortunately increasing the integral gain also reduces the system damping giving overshoot after a transient For a given integral gain the damping can be improved by increasing the proportional gain A compromise must be reached where the system res...

Page 62: ...lays These delays which can be approximated with a simple unity gain transport delay Tdelay as shown below should be taken into account for more accurate results The speed controller gains used in previous Unidrive products were in internal drive units Conversion between the previous internal units and the SI units used in this product are given in the table below The user may enter the required s...

Page 63: ...e speed feedback will need to be filtered see Pr 3 42 If the feedback is not filtered it is possible the output of the speed controller will be a square wave that changes between the current limits causing the integral term saturation system to malfunction The motor and load inertia represents the total inertia driven by the motor This is used to set the speed controller gains see Pr 3 13 on page ...

Page 64: ...3 24 should be set to 2 for low speed operation and 3 for high speed operation It should be noted that the drive no longer checks that the maximum encoder frequency cannot be exceeded in closed loop vector control and so the user must ensure that Pr 3 24 is set to 3 before the encoder frequency limit is reached If the drive encoder lines per rev Pr 3 34 is set to a value that is not a power of 2 a...

Page 65: ...lue of 0 0 but is not affected when defaults are loaded by the user The alignment required for zero encoder phase angle i e Pr 3 25 0 0 is given below for different feedback devices Forward rotation of the motor is produced when Vu leads Vv leads Vw Although it is not essential forward rotation of a motor is normally defined as clockwise when looking at the motor shaft end When the motor is rotati...

Page 66: ...o that the position displayed by the drive is n x 65536 Number of poles 2 where n 0 1 Number of poles 2 It should be noted that if the encoder is advanced i e the encoder is moved so that the angle moves to the right with respect to the voltages the phasing angle in Pr 3 25 is increased from zero If the encoder is retarded the phasing angle changes to 359 9 and then reduces towards zero 0 drv Driv...

Page 67: ...n signals is used the position is initialized at power up with the absolute position If a multi turn absolute encoder is used the revolution counter is also initialized with the absolute revolutions at power up If a linear encoder is used the turns information is used to represent movement by the number of poles defined by Pr 5 11 or 21 11 for motor map 2 Therefore if the number of poles is set to...

Page 68: ... of 65535 Linear SINCOS encoders with comms are normally specified with a length for each sine wave period and the length for the least significant bit of the position in the comms message Pr 3 33 should be set up with the ratio between these two lengths so that the drive can determine the drive encoder position during initialization The Linear encoder comms to sine wave ratio is defined as follow...

Page 69: ...he total resolution in bits per revolution is the ELPR plus the number of bits of interpolated information Although it is possible to obtain 11 bits of interpolation information the nominal design value is 10 bits If the position feedback device is a rotary SINCOS encoder with comms the position supplied via comms gives a number of counts per revolution that is a power of two and the resolution is...

Page 70: ...to include this bit whether it is being monitored by the drive or not It should be noted that some SSI encoders include trailing zeros after the position This parameter should be set up to include the trailing zero bits It is possible for the drive to set up this parameter automatically from information obtained from the encoder via Hiperface or EnDat interfaces see Pr 3 41 The encoder supply volt...

Page 71: ...d on the delay i e 20μs or 150μs and the change of position over the previous sample EnDat comms The following equations are used by the drive to determine the time taken to obtain the position information from an EnDat encoder These are based on tcal 5μs where tcal is the time from the first clock edge of the position command message from the drive to the first clock edge when the encoder respond...

Page 72: ...udes a significant ripple Low speed loop gains should be used and the drive encoder filter Pr 3 42 should be set to 16ms 6 SC SinCos Encoder with no serial communications This type of encoder can be used for motor control in closed loop vector mode or servo mode In servo mode a phasing test must be performed after every drive power up or encoder trip 7 SC Hiper Absolute SinCos encoder using Stegma...

Page 73: ...lue from the encoder This jump in position is likely to cause unwanted effects As the SSI format does not include any error checking it is not possible for the drive to detect if the position data has been corrupted by noise on the encoder signals The benefit of using the absolute position directly from an SSI encoder is that even if the encoder communications are disturbed by noise and position e...

Page 74: ...le shows trips that can be initiated that are related to the drive encoder feedback and whether they can be enabled and disabled by Pr 3 40 3 40 Drive encoder error detection level Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range Open loop Closed loop vector Servo 0 to 7 Default Open loop Closed loop vector Servo 0 1 Update rate Ba...

Page 75: ...give position feedback for the first 120deg electrical of rotation when the motor is restarted A delay is provided during initialisation for some encoders to allow the encoder to be ready to provide position information after it has powered up The delay is provided during initialisation because this occurs during drive power up and after encoder power supply trips are reset The delays are as follo...

Page 76: ...the equivalent lines per revolution ELPR Pole pitch x Number of motor pole pairs Length of a sinewave Normally the Number of motor poles will be set to 2 and so ELPR Pole pitch Length of a sinewave It should be noted that the equivalent lines per rev parameter is only updated when auto configuration occurs i e when the encoder is initialized and that it uses the pole pitch for the currently active...

Page 77: ... set up correctly This may then be scaled and routed to any non protected drive parameter 3 43 Maximum drive encoder reference Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range Open loop Closed loop vector Servo 0 to 40 000 rpm Default Open loop Closed loop vector Servo 1 500 3 000 Update rate Background read 3 44 Drive encoder refe...

Page 78: ...er Pr 90 22 To read the response from the encoder the data is read from the receive register Pr 90 23 Bits 13 15 of the registers are used to indicate the following Data should be written to the transmit register Pr 90 22 when the register has been reset to zero by the drive The data will be transferred to the comms buffer and the transmit register will be cleared Data can be read from the receive...

Page 79: ...arried out before each word is written to ensure that the parameter is zero i e the drive has taken any previous data As bit 14 of the second word is set to one the drive will add the checksum and transfer this message to the encoder When the encoder response has been received by the drive the first byte of the message will be placed in the least significant byte of Pr 90 23 and bit 15 will be set...

Page 80: ...ast byte of the message If any other command is used then the response is as follows encoder to drive Example of EnDat transfer Read position Disable drive encoder position check by setting Pr 90 21 to one This should be set back to zero at the end of the transfer if encoder position checking is required Bit 15 Bit 14 Bit 13 Data 0xa0ff 1 0 1 0xff Broadcast message so address 0xff 0x804d 1 0 0 0x4...

Page 81: ... to one This data should be read and the parameter cleared so that the drive will put the next byte into this parameter The sequence of data that could appear in Pr 90 23 for an encoder with 12 turns bits and 13 position bits is shown in the table below Turns 0111 0100 0100 0x744 Position 1 1101 0011 1110 0x1d3e Alarm bit 0 Example of EnDat transfer Encoder send parameter Data written to Pr 90 22 ...

Page 82: ...these currents If the charge system in the drive is used and the contactor is open the drive inverter terminals are not connected to the supply and so there is no current flowing into the drive inverter terminals Therefore the drive will always ensure that the contactor is open while the current trimming system is active Two alternative strategies can be selected with Pr 3 11 1 The first strategy ...

Page 83: ...the phase current flowing from the supply to the drive contains a component that lags the respective phase voltage and when this parameter is negative the phase current contains a component which leads the respective phase voltage at the drive terminals Voltage rating DC voltage mains loss detection level AC voltage mains loss detection level V V dc V ac 200 205 75 400 410 150 575 540 225 690 540 ...

Page 84: ...or the PLL phase lock loop within the drive cannot synchronize to the supply waveforms Pr 3 04 defines the action taken after enable and when a synchronization failure occurs 0 rESYnC Continuously attempt to re synchronize 1 del triP delayed trip Attempt to synchronize for 30s If unsuccessful after this time then give a LI SYnC trip After a failure during running attempt to re synchronize for 30s ...

Page 85: ...all drives but is likely to be significant with larger drives The proportional gain should be adjusted as described for Pr 4 13 closed loop modes using the total inductance per phase The current controller integral gain is not so critical and in a majority of cases the default value is suitable However if it is necessary to adjust this parameter it should be set up as described for Pr 4 14 closed ...

Page 86: ...e KL load change 200 KRAT Drive voltage rating 400 KMV Motor voltage 400 KSP 700 DC bus voltage set point In some applications particularly with a high DC bus voltage set point and low switching frequency it may be necessary to limit the rate of change of power flow to prevent over voltage trips A first order filter on the torque reference of the motor drive i e using Pr 4 12 is the most effective...

Page 87: ...k phase voltage equal to DC_VOLTAGE_MAX 2 This scaling is the same as the power output from Pr 5 03 when high speed output mode is used see Menu 7 Therefore an analog output of the drive supply the load and analog input 2 or 3 of the drive acting as the supply Regen unit can be connected together to give power feed forward compensation without further scaling if the two drives are of equal rating ...

Page 88: ...or all drive sizes and voltage ratings Table 5 3 Current ratings Level x current scaling Kc Over current trip 1 0 45 2 22 Open loop peak limit 1 75 Closed loop vector Servo and Regen maximum standard operating current 1 75 Open loop maximum standard operating current 1 5 Current scaling Kc 1 0 Maximum Normal Duty current rating 1 36 Maximum motor rated current 1 36 200V 400V 575V 690V Model Curren...

Page 89: ...MAX is full scale current feedback i e Kc 0 45 The relationship between the voltage and current for open loop operation is shown in the following vector diagram Definitions vs motor terminal voltage vector is motor current vector isy y axis component of current isx x axis component of current v no load y axis voltage reference MOTOR1_CURRENT_LIMIT_MAX is used as the maximum for some parameters suc...

Page 90: ...lationship between the voltage and current for Closed loop vector operation is shown in the following vector diagram Definitions vs motor terminal voltage vector is motor current vector isy y axis component of current isx x axis component of current MOTOR1_CURRENT_LIMIT_MAX is used as the maximum for some parameters such as the user current limits The magnetizing current isx remains constant excep...

Page 91: ...le the current limits correctly and calculate the rated active and magnetising currents 5 6 3 Servo In this mode the drive operates in the rotor flux reference frame The maximum normal operating current is controlled by the current limits DRIVE_CURRENT_MAX is full scale current feedback i e Kc 0 45 The relationship between the voltage and current for Servo operation is shown in the following vecto...

Page 92: ...ing the maximum of some parameters and is fixed at 1 75 x Kc The drive can operate up to this level under normal conditions The relationship between the voltage and current for Regen mode operation is shown in the following vector diagram Definitions is regen drive terminal voltage vector vs regen drive current vector CURRENT_LIMIT_MAX is used as the maximum for some parameters such as the user cu...

Page 93: ...thermal time constant Motor protection mode At 100 load indicator Current limit active indicator Active current Current magnitude Magnetising current 4 02 Active current Amp 4 20 Percentage torque current 4 02 4 20 4 17 4 01 10 17 4 19 Motor overload accumulator Motor current overload alarm indicator 10 39 Braking energy overload indicator 4 04 Percentage current demand Torque to current conversio...

Page 94: ...erence offset Torque reference 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 5 07 5 10 Motor rated power factor Motor rated current Active current Amp Current magnitude Magnetising current 4 02 4 17 4 01 10 17 4 19 Motor overload accumulator Motor current overload alarm indicator 10...

Page 95: ...evel Coiler uncoiler speed over ride level At 100 load indicator Current limit active indicator Motor active current 4 02 10 17 4 19 Motor overload accumulator Motor current overload alarm indicator 10 39 Braking energy overload indicator Torque mode selector 4 11 4 10 Torque reference offset enable 0 1 2 3 4 4 03 Torque demand 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input ter...

Page 96: ... parameters are all shown at their default settings 2 01 4 01 2 01 4 17 2 01 4 02 2 01 4 20 Current measurement Current magnitude Reactive current Active current Percentage load 4 15 4 16 Thermal time constant Thermal protection mode Overload detection 4 07 Symmetrical current limit Current limits 2 01 4 19 Overload accumulator 4 08 Reactive current reference Real current demand from Menu 3 2 01 4...

Page 97: ...rvo modes the x axis of the reference frame is aligned with the rotor flux vector The motor torque is proportional to the torque producing current when field weakening is not active Once field weakening is active the torque producing current is boosted to compensate for the reduction in motor flux Regen The active current is the real current in a regen unit The active current is aligned with the y...

Page 98: ... increased with reduced flux unless Pr 5 28 1 The level of flux is derived from the motor model within the drive controllers Pr 4 04 Pr 4 03 x flux rated flux Regen The current demand is the output of the voltage controller in Menu 3 subject to the current limits 4 03 Torque demand Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 1 R...

Page 99: ... Pr 4 14 on page 103 for gain setting Closed loop vector and Servo The motoring current limit applies in either direction of rotation when the machine is producing motoring torque Similarly the regen current limit applies in either direction when the machine is producing regenerating torque The symmetrical current limit can override either motoring or regenerating current limit if it is set at a l...

Page 100: ...ry 4ms when connected to an analog input and so Pr 4 08 should be used for fast updating if required Open loop If this parameter is 0 normal frequency control is used If this parameter is set to 1 the current demand is connected to the current PI controller giving closed loop torque current demand as shown below The current error is passed through proportional and integral terms to give a frequenc...

Page 101: ...vel with a torque demand defined by the resultant torque reference However the speed cannot exceed the reference because the required torque would be negative and so it would be clamped to zero Depending on the sign of the final speed demand and the resultant torque the four areas of operation shown below are possible This mode of operation can be used where torque control is required but the maxi...

Page 102: ...provided on the current demand to reduce acoustic noise and vibration produced as a result of position feedback quantisation noise The filter introduces a lag in the speed loop and so the speed loop gains may need to be reduced to maintain stability as the filter time constant is increased Alternative time constants can be selected depending on the value of the speed controller gain selector Pr 3 ...

Page 103: ...orque control Again the controller will normally operate with an integral term only particularly below the point where field weakening begins The first signs of instability will appear around base speed and can be reduced by increasing the proportional gain The controller can be less stable in torque control mode rather than when it is used for current limiting This is because load helps to stabil...

Page 104: ...adjusted to improve performance as follows 1 The integral gain Ki can be used to improve the performance of the current controllers by reducing the effects of inverter non linearity These effects become more significant with higher switching frequency These effects will be more significant for drives with higher current ratings and higher voltage ratings If Ki is increased by a factor of 4 it is p...

Page 105: ...cted is less or equal to the maximum Heavy Duty rating then Pr 4 25 can be used to select 2 alternative protection characteristics see diagram below If Pr 4 25 is 0 the characteristic is for a motor which can operate at rated current over the whole speed range Induction motors with this type of characteristic normally have forced cooling If Pr 4 25 is 1 the characteristic is intended for motors wh...

Page 106: ...and regen modes the current magnitude and the active current controlled by the current limits should be similar and so this system should ensure that the motor operates just below its thermal limit The time for some action to be taken by the drive from cold with constant motor current is given by Ttrip Pr 4 15 x ln 1 K x Pr 5 07 Pr 4 01 2 Alternatively the thermal time constant can be calculated f...

Page 107: ...actual torque producing current Pr 4 02 as a percentage of rated active current Positive values indicate motoring and negative values indicate regenerating Regen This parameter displays the active current Pr 4 02 as a percentage of the rated current Pr 5 07 or Pr 21 07 Positive values indicate power flow from the supply and negative values indicate power into the supply 4 17 Reactive current Drive...

Page 108: ... the active torque producing current but with an additional adjustment above base speed so that this parameter shows percentage torque Below base speed Pr 4 26 is equal to Pr 4 20 Above base speed the percentage torque producing current shown in Pr 4 20 is adjusted as follows Pr 4 26 Pr 4 20 x rated frequency frequency 4 22 Inertia compensation enable Drive modes Closed loop vector Servo Coding Bi...

Page 109: ...ed current Motor rated full load RPM 5 06 Motor rated frequency 5 23 Voltage offset 5 17 Stator resistance 5 15 Voltage boost 5 13 Dynamic V f select Transient inductance 4 02 4 20 4 17 4 01 Motor current magnitude Motor magnetising current Motor active current Percentage active current Motormap 5 12 Autotune 5 24 5 14 Voltage mode 5 01 Motor frequency 5 04 Estimated motor speed Slip compensation ...

Page 110: ... number of poles 5 17 Motor stator resistance 5 24 Motor transient inductance 5 25 Motor stator inductance 5 29 Motor saturation break point 1 5 30 Motor saturation break point 2 Servo Flux Calculator Current limits Current control Overload detection Current loop gains Torque reference Current demand filter Menu 4 Reference frame transformation 3 02 Speed feedback Speed loop controller output Posi...

Page 111: ...1 Closed Loop Vector 5 09 Motor rated voltage 5 21 Field gain reduction 5 13 Dynamic V f flux optimisation enable 5 16 Motor full load rated speed optimiser enable Flux Controller 5 18 Maximum switching frequency Modulator 5 03 Power calculation V x 1 5 02 Output voltage Output power 5 05 Voltage reference U V W DC bus voltage Motor current magnitude Motor magnetising current Motor active current ...

Page 112: ...ad write RW parameter Read only RO parameter Input terminals Output terminals The parameters are all shown at their default settings 5 07 5 35 Motor rated current Disable auto switching frequency change Output voltage and current Power calculation v i 2 01 5 03 Output power Current control Menu 4 Reference frame transformation Modulator 5 18 5 20 Maximum switching frequency Quasi square enable Sup...

Page 113: ...dicates power flowing from the drive to the supply The motor rpm is calculated from the post ramp reference Pr 2 01 for normal operation or the slave frequency demand Pr 3 01 if frequency slaving is being used The speed of rotation is calculated as follows rpm 60 x frequency no of pole pairs This calculation relies on the number of motor poles being set up correctly in Pr 5 11 or if auto mode is s...

Page 114: ...es Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 1 Range Open loop Closed loop vector Servo Regen 0 to DC_VOLTAGE_MAX V Update rate Background write 5 06 Rated frequency Drive modes Open loop Closed loop vector Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range Open loop Closed loop vector 0 to 3000 0 Hz 0 to 1250 0 ...

Page 115: ...ated speed optimization system may be used to automatically adjust this parameter see Pr 5 16 on page 123 It should be noted that the optimization system does not operate when closed loop vector mode is used with no position feedback see Pr 3 24 on page 64 Servo The Rated load rpm defines the rated speed of the motor and is only used in the motor thermal protection scheme see Pr 4 16 on page 105 a...

Page 116: ...harmonic distortion if used in steady state operation Therefore the drive uses a headroom limit which allows the inverter to give a steady state output voltage equivalent to the input voltage minus voltage drops inside the drive This gives enough headroom for the current controllers to operate satisfactorily However for good transient performance at high speed the rated voltage should be set below...

Page 117: ...r of poles 120 rated frequency rpm rounded to the nearest even number Servo This parameter must be set correctly for the vector control algorithms to operate correctly When auto is selected the number of poles is set to 6 If this parameter is set to a non zero value the drive is enabled and a run command is applied in either direction the drive performs an auto tune test for the drive modes listed...

Page 118: ...or resistance Pr 5 17 and voltage offset Pr 5 23 The power factor Pr 5 10 is not affected Pr 5 17 and Pr 5 23 are saved to EEPROM 2 Rotating test The stationary test is performed and the parameters saved to EEPROM as described above A stationary test is performed to measure the transient inductance Pr 5 24 The transient inductance is not used directly by the drive but is an intermediate value in d...

Page 119: ...alue of the motor torque per amp parameter Pr 5 32 which is calculated by the drive using an efficiency of 0 9 Therefore the inertia may be inaccurate if the motor efficiency is substantially different from 0 9 However if the inertia is used for automatic speed loop gain set up the calculated gains will not be affected because Kt is also used in these calculations and any inaccuracy cancels out Th...

Page 120: ...nertia measurement See inertia test for closed loop vector mode The calculated inertia depends on the value of motor torque per amp entered in Pr 5 32 If this parameter is incorrect the inertia value will be incorrect However as explained in the inertia test description for closed loop vector mode this will not affect the accuracy of automatic speed loop gain set up 4 Stationary test to set up cur...

Page 121: ...the following trips can occur in addition to the other drive trips The rS trip is produced if the drive cannot achieve the necessary current levels to measure the stator resistance during the test i e there is no motor connected to the drive or if the necessary current level can be achieved but the calculated resistance exceeds the maximum values for the particular drive size or it exceeds the max...

Page 122: ...d In this case previously measured values are used The new values of stator resistance and voltage offset are not automatically saved to EEPROM or the SMARTCARD 1 Ur No measurements The stator resistance and voltage offset are not measured The user can enter the motor and cabling resistance into the stator resistance parameter However this will not include resistance effects within the drive inver...

Page 123: ...n this parameter is set to 1 or 2 the drive can automatically sense if the value of slip defined by Pr 5 06 and Pr 5 08 has been set incorrectly or has varied with motor temperature If the value is incorrect Pr 5 08 is automatically adjusted Pr 5 08 is not saved at power down and so when the drive is powered down and up again it will return to the last value saved by the user If the new value is r...

Page 124: ... small motors with a higher resistance than 30 ohms per phase with earlier software versions The maximum switching frequency available is limited for some drive sizes as shown in the table below 5 17 Stator resistance Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 3 1 1 1 1 Range Open loop Closed loop vector Servo 0 000 to 65 000 Default Ope...

Page 125: ...tiate an O ht1 trip Every 20ms the drive will attempt to restore the switching frequency if the higher switching frequency will not take the IGBT temperature above 135 C The following table gives the sampling rate for different sections of the control system for different switching frequencies 200V kHz 400V kHz 575V kHz 690V kHz SP0201 16 SP0401 16 SP3501 8 SP4601 8 SP0202 16 SP0402 16 SP3502 8 SP...

Page 126: ...er modulation so that as the output frequency increases beyond the rated frequency the voltage continues to increase above the rated voltage The modulation depth will increase beyond unity first producing trapezoidal and then quasi square waveforms This can be used for example to obtain high output frequencies with a low switching frequency which would not be possible with space vector modulation ...

Page 127: ... applied to the drive output terminals to a safe level Ke is the ratio between r m s line to line voltage produced by the motor and the speed in V 1000rpm Care must also be taken not to de magnetize the motor The motor manufacturer should always be consulted before using this mode Due to various effects in the drive inverter a voltage offset must be produced before any current flows To obtain good...

Page 128: ... Stator inductance Ls L1 Lm from the steady state equivalent circuit It should be noted that if this parameter is changed from a non zero value to zero the power factor Pr 5 10 is automatically set to 0 850 The same applies to the motor map 2 stator inductance Pr 21 24 and motor map 2 power factor Pr 21 10 When this bit is set the drive provides a cross coupling feed forward voltage as produced by...

Page 129: ...ble in servo mode gain compensation is not applied in this mode The rated level of flux in most induction motors causes saturation Therefore the flux against flux producing current characteristic is non linear The effects of saturation are to cause a step increase in torque when operating in torque mode as the speed increases into the field weakening region 5 27 Enable slip compensation Drive mode...

Page 130: ...ikely that the system will be stable during mains loss unless the power rating of the master is much higher than the combined rating of the slaves This is due to the lag created by the master motor inertia This parameter shows the motor torque per amp of active torque producing current used to calculate the speed controller gains when the automatic set up methods are active i e Pr 3 17 1 or 2 Clos...

Page 131: ...when the IGBT temperature is too high This parameter should be set up to give the pole pitch of a linear motor i e the movement of the motor for one cycle of the drive power output waveforms if auto configuration with a linear EnDat encoder is required 5 33 Motor volts per 1000rpm Ke Drive modes Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range Servo 0 to 10 000 Default Se...

Page 132: ...cremental device on a 6 pole motor will give a change of position count of 75 for a 5 electrical movement It is suggested that this test should not be used with a change of position count of less than 50 Although Pr 5 38 can be reduced to zero the lowest value used by the drive is 1 0 degrees The necessary movement can be produced with a lower torque level if the test pulses are extended If the pu...

Page 133: ...n used by the algorithm that detects the speed of the motor It is likely that for smaller motors the default value of 1 0 is suitable but for larger motors this parameter may need to be increased If the value of this parameter is too large the motor may accelerate from standstill when the drive is enabled If the value of this parameter is too small the drive will detect the motor speed as zero eve...

Page 134: ...st per kWh Clock control 6 24 6 25 Power meter 6 26 Running cost 6 27 Time before filter change due Inverter enable Closed loop only Menu 2 Menu 3 Ramp Hard speed reference enable enable 6 20 6 21 Power up time 6 22 6 23 Run time 5 03 Total motor power 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals The parameters are all shown at their default setting...

Page 135: ...ped with position orientation after stopping This mode is selected with the position controller mode Pr 13 10 When this mode is selected Pr 6 01 has no effect 0 dis There is no mains loss detection and the drive operates normally only as long as the DC bus voltage remains within specification i e Vuu Once the voltage falls below Vuu a UU trip occurs and this will reset itself if the voltage rises ...

Page 136: ...d by drives with each voltage rating Vml1 is defined by Pr 6 48 The values given in the table are the default values This parameter is provided to allow the user to select several predefined digital input routing macros to control the sequencer When a value between 0 and 3 is selected the drive processor continuously updates the destination parameters for digital I O T25 T26 and T27 and the enable...

Page 137: ...n the run command has been removed and the motor has reached standstill The drive goes to the StoP state instead of the rdy state Pr 6 08 may be changed by the brake control in menu 12 6 06 Injection braking level Drive modes Open loop Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 Range Open loop 0 to 150 0 Default Open loop 100 0 Update rate Background read 6 07 Injection brak...

Page 138: ...he post ramp reference is set to the motor speed When closed loop vector mode is used without position feedback RFC mode and catch a spinning motor is not required this parameter should be set to zero as this avoids unwanted movement of the motor shaft when zero speed is required When closed loop vector mode without position feedback RFC mode is used with larger motors it may be necessary to incre...

Page 139: ...reset the drive without stopping does not apply unless keypad reference mode is selected This parameter enables the Fwd Rev key on the drive in keypad mode Setting this parameter to 0 will disable the drive It must be at 1 for the drive to run When this parameter is set up correctly for the local currency Pr 6 26 will give an instantaneous read out of running cost If this parameter is one the ener...

Page 140: ...written with the various parts in the correct range i e minutes are greater than 59 etc the clock is set to zero on the next minute This clock may be used for time stamping the trip log if Pr 6 28 0 6 18 Time between filter changes Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range Open loop Closed loop vector Servo Regen 0 to...

Page 141: ...eous read out of the cost hour of running the drive This requires Pr 6 16 to be set up correctly See Pr 6 18 on page 140 6 23 Run time hours minutes Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE TE VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 1 Range Open loop Closed loop vector Servo Regen 0 to 23 59 Hours Minutes Update rate Background write 6 24 Energy meter MWh Drive m...

Page 142: ...O is set up to provide the fast disable function it is possible to disable the drive within 600us of de activating the input To do this the enable signal should be connected to both the secure disable T31 and to the digital I O selected for the fast disable function The state of the digital I O including the effect of its associated invert parameter is ANDed with the secure disable to enable the d...

Page 143: ... to allow the sequencing bit to be latched If the Not stop bit is zero all latches are cleared and held at zero The jog or jog reverse sequencing bits can also cause the drive to run provided the motor is stopped when these bits are activated and the normal run sequencing bits are not providing a run signal 6 32 Sequencing bit Run reverse Drive modes Open loop Closed loop vector Servo Coding Bit S...

Page 144: ...ard limit switch active Pre ramp reference 0Hz Reverse limit switch active Pre ramp reference 0Hz Both limit switches active Closed loop and Servo Pre ramp reference hard speed reference 0rpm Forward limit switch active Pre ramp reference hard speed reference 0rpm Reverse limit switch active Pre ramp reference hard speed reference 0rpm Both limit switches active 6 36 Reverse limit switch Drive mod...

Page 145: ...ntrolling the sequencer inputs and other functions directly from a single control word If Pr 6 43 0 the control word has no effect if Pr 6 43 1 the control word is enabled Each bit of the control word corresponds to a sequencing bit or function as shown below Bits marked with have no effect in Regen mode 6 41 Drive event flags Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE TE V...

Page 146: ...er if required and to begin servicing the watchdog again The drive can operate from either a high voltage supply or a low voltage supply usually from a battery Different methods are used to connect the low voltage battery supply depending on the frame size of the drive This parameter which indicates which supply is active is set up to the correct value just as the UU trip is reset A low voltage ba...

Page 147: ...ectifier input stage that is used to control DC bus charging These drives can be operated as a single power module or the power modules can be operated in parallel Mains and phase loss detection is derived from the DC bus voltage but additional monitoring is provided by the input rectifier controller as follows 1 An over temperature indication from a single module or any module operating in parall...

Page 148: ... module number is stored in the module number and trip time log If this parameter is one either the powered up clock or run time clock is stored in the module number and trip time log as defined by Pr 6 28 It should be noted that changing this parameter clears the trip and module number and trip time logs The drive comms system 128 bytes buffer used with ANSI or Modbus rtu protocols via the 485 co...

Page 149: ...p for external rectifier monitoring This allows the monitoring block to prevent the drive from leaving the main loss ride through mode until the rectifier is fully active and phased forwards If this feature is not used the mains loss ride through mode ends as soon as the DC Bus voltage is above the mains loss detection level The rectifier may still be phasing forwards and the application of load a...

Page 150: ...en one of the following is the source and high speed update mode is selected In high speed mode the output operates in voltage mode is updated every 250μs special scaling is used as described in the table and the user scaling is ignored Terminal Input Input modes Resolution 5 6 AI1 Voltage only 12 bit plus sign 16 bit plus sign as a speed reference 7 AI2 0 to 6 10 bit plus sign 8 AI3 0 to 9 10 bit...

Page 151: ...7 18 Any variable parameter 7 19 Analog output 1 source parameter 7 20 Analog output 1 scaling 7 21 Analog output 1 mode selector Analog output 1 Any variable parameter 7 22 Analog output 2 source parameter 7 23 Analog output 2 scaling 7 24 Analog output 2 mode selector 7 09 Analog input 1 invert x 1 7 01 Analog input 1 7 02 Analog input 2 x 1 7 17 Analog input 3 invert 7 13 Analog input 2 invert ...

Page 152: ...rip threshold for the parameter the drive does not have parallel power modules and is not a single power module that uses the parallel power module hardware an Oht2 trip is initiated This trip can only be reset if the parameter that has caused the trip falls below the trip reset level If the temperature exceeds the alarm level a hot alarm is displayed If the temperature for any of these monitoring...

Page 153: ...the drive is enabled and the highest power circuit temperature Pr 7 04 or Pr 7 05 or the temperature calculated for the case of the IGBT package exceed the threshold for the drive The fan is at its low speed if this temperature falls 5 C below the threshold or the drive is disabled and the temperature is below the alarm level for Pr 7 04 and Pr 7 05 4 For drive sizes SP3xxx to SPMAxxxx or SPMDxxx ...

Page 154: ... Open loop Closed loop vector Servo Regen 10 000 Default Open loop Closed loop vector Servo Regen 0 000 Update rate Background read 7 08 T5 6 analog input 1 scaling Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 3 1 1 1 Range Open loop Closed loop vector Servo Regen 0 000 to 4 000 Default Open loop Closed loop vector Servo Regen 1 000 ...

Page 155: ...g Mode Comments 0 0 20 0 20mA 1 20 0 20 0mA 2 4 20 tr 4 20mA with trip on loss Trip if I 3mA Pr 7 02 0 0 if I 4mA 3 20 4 tr 20 4mA with trip on loss Trip if I 3mA Pr 7 02 100 0 if I 4mA 4 4 20 4 20mA with no trip on loss Pr 7 02 0 0 if I 4mA 5 20 4 20 4mA with no trip on loss Pr 7 02 100 0 if I 4mA 6 VOLt Voltage mode 7 12 T7 analog input 2 scaling Drive modes Open loop Closed loop vector Servo Re...

Page 156: ...mA 3 20 4 tr 20 4mA with trip on loss Trip if I 3mA Pr 7 03 100 0 if I 4mA 4 4 20 4 20mA with no trip on loss Pr 7 03 0 0 if I 4mA 5 20 4 20 4mA with no trip on loss Pr 7 03 100 0 if I 4mA 6 VOLt Voltage mode 7 th SC Thermistor with short circuit detection TH trip if R 3k3 TH reset if R 1k8 THS trip if R 50R 8 th Thermistor without short circuit detection TH trip if R 3k3 TH reset if R 1k8 9 th di...

Page 157: ...ction the output is updated at a higher rate with special scaling If the parameter selected is not designated for this mode the output is updated at the normal rate If speed feedback or power is selected for high speed mode for both analog output 1 and analog output 2 the setting is ignored for analog output 2 If the high speed mode is selected the output is always a voltage signal 7 19 T9 analog ...

Page 158: ...ction the output is updated at a higher rate with special scaling If the parameter selected is not designated for this mode the output is updated at the normal rate If speed feedback or power is selected for high speed mode for both analog output 1 and analog output 2 the setting is ignored for analog output 2 If the high speed mode is selected the output is always a voltage signal 7 22 T10 analog...

Page 159: ...eed reference Pr 1 36 Pr 1 37 or as a hard speed reference Pr 3 22 the sample time affects the resolution The nominal resolution is given by Pr 7 26 x 500 x 10 therefore the default setting gives approximately 11 bit resolution If an analog input is used with 4 20mA or 20 4mA current loop modes the respective bit Pr 7 28 analog input 2 and Pr 7 29 analog input 3 is set to one if the current falls ...

Page 160: ...g frequency does not raise the IGBT temperature above 135 C In addition to monitoring the IGBT junction temperatures the drive includes a thermal protection system to protect the other components within the drive This includes the effects of drive output current and DC bus ripple The estimated temperature is displayed as a percentage of the trip level in this parameter If the parameter value reach...

Page 161: ... www controltechniques com An additional thermal monitoring point is provided in SP6xxx and SPMxxxxx drives The temperature is displayed in this parameter in degrees C See Pr 7 04 to Pr 7 06 for more details 7 36 Power circuit temperature 3 Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range Open loop Closed loop vector Servo Re...

Page 162: ...er structure The digital inputs are sampled every 4ms except when inputs are routed to the limit switches Pr 6 35 and Pr 6 36 when the sample time is reduced to 250μs The digital input hardware excluding the secure disable input introduces a further 100us delay The secure disable input hardware gives a typical delay of 8ms maximum 20ms The digital outputs are updated every 4ms Any changes to the s...

Page 163: ...play Parameter x 00 Parameter description format Advanced parameter descriptions Macros Serialcomms protocol Electronic nameplate Performance RFC mode Menu 8 Unidrive SP Advanced User Guide 163 Issue Number 10 www controltechniques com ...

Page 164: ... 13 8 03 8 29 Open collector output 8 30 8 29 Open collector output 8 30 10 33 Drive reset 6 30 Run forward I O polarity select I O polarity select T24 digital I O 1 T24 digital I O 1 state 8 31 T24 output select Any unprotected bit parameter Any bit parameter 8 21 T24 digital I O 1 source destination x 1 x 1 8 11 T24 digital I O 1 invert 8 01 8 29 I O polarity select Open collector output 8 30 10...

Page 165: ...nals X X X X This logic diagram applies only when all parameters are at their default settings 8 25 T28 digital input 5 destination Any unprotected bit parameter x 1 8 15 T28 digital input 5 invert T28 digital input 5 state 8 05 8 29 28 1 41 Analogue input 1 input 2 select I O polarity select T28 digital input 5 8 10 Drive enable mode select Drive enable 10 32 External trip Drive enable Drive enab...

Page 166: ... Pr 8 18 1 Pr 8 28 Pr 0 00 T31 Secure disable Pr 8 09 Terminal type I O state Invert Source destination Output select Pr Pr Default Pr Default Pr Default T24 input output 1 Pr 8 01 Pr 8 11 0 Pr 8 21 Pr 3 09 Enable motor drive Pr 8 31 1 T25 input output 2 Pr 8 02 Pr 8 12 0 Pr 8 22 Pr 3 08 Contactor closed Pr 8 32 0 T26 input output 3 Pr 8 03 Pr 8 13 0 Pr 8 23 Pr 10 01 Drive ok Pr 8 33 1 T27 input 4...

Page 167: ...ter The bits in this word reflect the state of Pr 8 01 to Pr 8 09 8 10 Drive enable mode select Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default Open loop Closed loop vector Servo Regen OFF 0 Update rate Background read 8 11 T24 digital I O 1 invert 8 12 T25 digital I O 2 invert 8 13 T26 digital I O 3 invert 8 14 T27 digita...

Page 168: ... loop Closed loop vector Servo Regen See Table 5 7 on page 166 See Table 5 8 on page 166 Range Open loop Closed loop vector Servo Regen Pr 0 00 to Pr 21 51 Update rate Read on drive reset 8 27 Relay source 8 28 T22 24V output source Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 Default Open loop Closed loop vector Servo Rege...

Page 169: ...en loop Closed loop vector Servo Regen Pr 8 31 On 1 Pr 8 32 and Pr 8 33 OFF 0 Update rate Background read 8 39 T28 T29 digital input auto selection disable Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default Open loop Closed loop vector Servo OFF 0 Update rate Background read Reference select Pr 1 14 Pr 8 25 set to Pr 8 26 set...

Page 170: ...ter 9 05 Function 1 input 1 invert Any bit parameter x 1 9 06 Function 1 input 2 source parameter 9 07 Function 1 input 2 invert 9 08 Function 1 output invert 9 09 Function 1 delay x 1 Function 1 output indicator 9 01 9 20 Function 2 destination parameter Any bit parameter x 1 9 14 Function 2 input 1 source parameter 9 15 Function 2 input 1 invert Any bit parameter x 1 9 16 Function 2 input 2 sour...

Page 171: ...are routed to a valid parameter The other functions are active if the output destination is routed to a valid unprotected parameter 9 30 Binary sum logic twos 9 29 Binary sum logic ones LSB 9 31 Binary sum logic fours MSB 9 32 Binary sum logic output value Any unprotected bit parameter 9 33 Binary sum logic destination parameter Σ 9 24 Motorized pot output scale 9 25 Motorized pot destination para...

Page 172: ...op vector Servo Regen 100 00 Update rate 4ms x number of menu 9 or 12 functions active write 9 04 Logic function 1 source 1 9 14 Logic function 2 source 1 Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 Range Open loop Closed loop vector Servo Regen Pr 0 00 to Pr 21 51 Default Open loop Closed loop vector Servo Regen Pr 0 00 U...

Page 173: ...17 Logic function 2 source 2 invert Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default Open loop Closed loop vector Servo Regen 0 Update rate 4ms x number of menu 9 or 12 functions active read 9 08 Logic function 1 output invert 9 18 Logic function 2 output invert Drive modes Open loop Closed loop vector Servo Regen Coding Bi...

Page 174: ... PS 1 1 1 Range Open loop Closed loop vector Servo Regen 0 to 3 Default Open loop Closed loop vector Servo Regen 2 Update rate Background read Pr 9 21 Mode Comments 0 Zero at power up Reset to zero at each power up Up down and reset are active at all times 1 Last value at power up Set to value at power down when drive powered up Up down and reset are active at all times 2 Zero at power up and only...

Page 175: ... loop vector Servo Regen 1 000 Update rate 4ms x number of menu 9 or 12 functions active read 9 25 Motorized pot destination Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 2 1 1 1 1 Range Open loop Closed loop vector Servo Regen Pr 0 00 to Pr 21 51 Default Open loop Closed loop vector Servo Regen Pr 0 00 Update rate Read on reset 9 2...

Page 176: ...e rate 4ms x number of menu 9 or 12 functions active read 9 31 Binary sum fours input Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default Open loop Closed loop vector Servo Regen 0 Update rate 4ms x number of menu 9 or 12 functions active read 9 32 Binary sum output Drive modes Open loop Closed loop vector Servo Regen Coding B...

Page 177: ...n to the destination parameter is defined as follows If destination parameter maximum 7 Offset Destination parameter Binary sum output If destination parameter maximum 7 Offset Destination parameter Destination parameter maximum x Binary sum output 7 Offset 9 34 Binary sum offset Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1...

Page 178: ...er is set if the absolute value of the ramp output Pr 2 01 or speed feedback Pr 3 02 is at or below minimum speed 0 5Hz or minimum speed 5rpm Minimum speed is defined by Pr 1 07 The parameter is only set if the drive is running 10 01 Drive ok Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Update rate Background write 10 02 Driv...

Page 179: ...he braking energy accumulator is greater than 75 This parameter is held on for at least 0 5s so that it can be seen on the display 10 07 Above set speed Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Update rate Background write 10 08 Load reached Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC N...

Page 180: ...power up until the DC bus voltage exceeds the under voltage restart level This parameter is set if the drive output current is larger than 105 of rated current Pr 5 07 and the overload accumulator is greater than 75 to warn that if the motor current is not reduced the drive will trip on an Ixt overload If the rated current Pr 5 07 is set to a level above the maximum heavy duty current Pr 11 32 the...

Page 181: ...oding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Update rate Background write 10 20 Trip 0 10 21 Trip 1 10 22 Trip 2 10 23 Trip 3 10 24 Trip 4 10 25 Trip 5 10 26 Trip 6 10 27 Trip 7 10 28 Trip 8 10 29 Trip 9 Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 1 Range Open loop Closed loop vector Servo Regen 0 to 230...

Page 182: ...3 Analog input 3 current loss current mode 29 Check analog input 3 terminal 8 current signal is present 4 20mA 20 4mA CL bit Trip initiated from the control word Pr 6 42 35 Disable the control word by setting Pr 6 43 to 0 or check setting of Pr 6 42 ConF P The number of power modules installed no longer matches the value stored in Pr 11 35 111 Ensure that all power modules are correctly connected ...

Page 183: ...This trip can only be cleared by loading default parameters and saving parameters EnC1 Drive encoder trip Encoder power supply overload 189 Check encoder power supply wiring and encoder current requirement Maximum current 200mA 15V or 300mA 8V and 5V EnC2 Drive encoder trip Wire break Drive encoder terminals 1 2 3 4 5 6 190 Check cable continuity Check wiring of feedback signals is correct Check e...

Page 184: ...g the over speed threshold level as a value which is too large may mean that an encoder fault will not be detected Enc11 Drive encoder trip A failure has occurred during the alignment of the analog signals of a SINCOS encoder with the digital count derived from the sine and cosine waveforms and the comms position if applicable This fault is usually due to noise on the sine and cosine signals 161 C...

Page 185: ...eap overflow Hardware fault return drive to supplier HF10 Data processing error Router error Hardware fault return drive to supplier HF11 Data processing error Access to EEPROM failed Hardware fault return drive to supplier HF12 Data processing error Main program stack overflow Hardware fault return drive to supplier HF13 Data processing error Software incompatible with hardware Hardware or softwa...

Page 186: ... rated current is not set to zero Check the load on the motor has not changed Ensure rated speed parameter is correct RFC If seen during an autotune in servo mode ensure that the motor rated current Pr 0 46 Pr 5 07 or Pr 21 07 is Heavy Duty current rating of the drive Tune the rated speed parameter closed loop vector only Check feedback device signal for noise Check the feedback device mechanical ...

Page 187: ...ck feedback device mechanical coupling Check feedback signals are free from noise Is motor cable length within limits for that frame size Reduce the values in speed loop gain parameters Pr 3 10 Pr 3 11 and Pr 3 12 closed loop vector and servo modes only Has offset measurement test been completed servo mode only Reduce the values in current loop gain parameters Pr 4 13 and Pr 4 14 closed loop vecto...

Page 188: ...Check nominal AC supply level Check for supply disturbances which could cause the DC bus to rise voltage overshoot after supply recovery from a notch induced by DC drives Check motor insulation Drive voltage rating Peak voltage Maximum continuous voltage level 15s 200 415 410 400 830 815 575 990 970 690 1190 1175 If the drive is operating in low voltage DC mode the overvoltage trip level is 1 45 x...

Page 189: ...e or power down the drive normally to ensure this trip does or occur the next time the drive is powered up rS Failure to measure resistance during autotune or when starting in open loop vector mode 0 or 3 33 Check motor power connection continuity SAVE Er User save parameters in the EEPROM are corrupt 36 Indicates that the power was removed when user parameters were being saved The drive will reve...

Page 190: ...iled Check the correct encoder type is entered into Pr 15 16 17 15 Check encoder wiring Check supply voltage level Replace feedback device 8 SM Universal Encoder Plus Auto configuration on power up has been requested and failed Change the setting of Pr 15 16 17 18 and manually enter the number of turns bits Pr 15 16 17 09 and the equivalent number of lines per revolution Pr 15 16 17 10 and the sin...

Page 191: ...y zero or overflow 51 Array index out of range 52 Control word user trip 53 DPL program incompatible with target 54 DPL task overrun 55 Unused 56 Invalid timer unit configuration 57 Function block does not exist 58 Flash PLC Storage corrupt 59 Drive rejected application module as Sync master 60 CTNet hardware failure Please contact your supplier 61 CTNet invalid configuration 62 CTNet invalid baud...

Page 192: ...supply absent 5 SM I O Timer Real time clock communication error 74 All Module over temperature Error code Module Trip Description 0 All No trip 1 SM EtherCAT No fieldbus mode has been selected 2 SM EtherCAT Critical task over run 52 SM PROFIBUS DP SM INTERBUS SM DeviceNet SM CANOpen User control word trip 58 SM LON Incorrect non volatile storage 61 SM PROFIBUS DP SM INTERBUS SM DeviceNet SM CANOp...

Page 193: ...r defined trip 38 Onboard PLC and or SM Applications program must be interrogated to find the cause of this trip t040 to t089 User defined trip 40 to 89 Onboard PLC and or SM Applications program must be interrogated to find the cause of this trip t099 User defined trip 99 Onboard PLC and or SM Applications program must be interrogated to find the cause of this trip t101 User defined trip 101 Onbo...

Page 194: ...wiring is correct Swap any two motor phases closed loop vector only tunE3 Drive encoder commutation signals connected incorrectly or measured inertia out of range see Pr 5 12 13 Check motor cable wiring is correct Check feedback device U V and W commutation signal wiring is correct tunE4 Drive encoder U commutation signal fail during an autotune 14 Check feedback device U phase commutation wires c...

Page 195: ...25V 575 690 435 590V No Trip No Trip No Trip 1 UV 40 to 89 t040 to t089 182 C Err 2 OV 90 UP div0 183 C dAt 3 OI AC 91 UP PAr 184 C FULL 4 OI br 92 UP ro 185 C Acc 5 PS 93 UP So 186 C rtg 6 Et 94 UP ovr 187 C TyP 7 O SPd 95 UP OFL 188 C cPr 8 PS 10V 96 UP uSEr 189 EnC1 9 PS 24V 97 UP udF 190 EnC2 10 br th 98 UP ACC 191 EnC3 11 tunE1 99 t099 192 EnC4 12 tunE2 100 193 EnC5 13 tunE3 101 t101 194 EnC6...

Page 196: ...ips occurs or would occur if another trip had not already become active OI br PS It br or OV or any HFxx trip UU trip It should be noted that although the UU trip operates in a similar way to all other trips all drive functions can still operate but the drive cannot be enabled The following differences apply to the UU trip 1 Power down save user parameters are saved when UU trip is activated excep...

Page 197: ...ture feedback multiplexer failure 20 Power circuit identification code error 21 Power circuit unrecognised frame size 22 Power circuit multi module frame size mismatch 23 Power circuit multi module voltage rating mismatch 24 Power circuit unrecognised drive size 25 Current feedback offset error 26 Soft start relay failed to close or soft start monitor failed or braking IGBT short circuit at power ...

Page 198: ...age power in the resistor does not exceed the rating of the resistor For SP0xxx SP1xxx and SP2xxx drives the default value is a suitable value for standard braking resistors that can be mounted within the drive as given in the table below If Pr 10 31 is set to zero then the braking resistor thermal protection system is disabled Drive voltage rating Parameter default SP0xxx SP1xxx and SP2xxx All ot...

Page 199: ...ing of the resistor is not to be exceeded in the cycle shown in the diagram above the average power in the resistor is given by Pav Pon x Ton Tp Where Tp is the full power braking period Pon E Ton Therefore Pav E Tp Therefore full power braking period Pr 10 31 Tp E Pav The resistance of the braking resistor R the total energy E and the average power Pav can normally be obtained for the resistor an...

Page 200: ... counter is reset to zero If this parameter is 0 then Pr 10 01 Drive ok is cleared every time the drive trips regardless of any auto reset that may occur When this parameter is set the Drive ok indication is not cleared on a trip if an auto reset is going to occur 10 32 External trip Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1...

Page 201: ... br th because the thermistor appears to be open circuit This trip can be disabled so that the drive can run by setting bit 3 of Pr 10 37 to one If the resistor is installed then no trip is produced unless the thermistor fails and so bit 3 of Pr 10 37 can be left at zero This feature only applies to size 0 drives When a value other than zero is written to the user trip parameter the actions descri...

Page 202: ...e Open loop Closed loop vector Servo Regen 0 0 to 100 0 Update rate Background read 10 40 Status word Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range Open loop Closed loop vector Servo Regen 0 to 32 767 Update rate Background write 15 14 13 12 11 10 9 8 Not used Pr 10 15 Pr 10 14 Pr 10 13 Pr 10 12 Pr 10 11 Pr 10 10 Pr 10 0...

Page 203: ...wn the trip log The time for Trips 1 to 9 are stored as the time difference between when Trip 0 occurred and the relevant trip in hours and minutes The maximum time difference that can be stored is 600 hours If this time is exceeded the value stored is 600 00 If the powered up clock is used as the source for this function all the times in the log are reset to zero at power up because they were rel...

Page 204: ... Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 Range Open loop Closed loop vector Servo Regen Pr 1 00 to Pr 21 51 Default Open loop Closed loop vector Servo Regen See Table 5 12 Update rate Background read Parameter Menu 0 Open loop Closed loop vector Servo Regen Pr 11 01 Pr 0 11 Pr 5 01 Pr 5 01 Pr 3 29 Pr 5 01 Pr 11 02 Pr 0 12 Pr 4 01 Pr 4 01 Pr 4 01 Pr 4 01 Pr 11 03 Pr 0 13 Pr 4 02 Pr 4 02 Pr 7...

Page 205: ...ons protocol used by the 485 comms port on the drive This parameter can be changed via the drive keypad via a Solutions Module or via the comms interface itself If it is changed via the comms interface the response to the command uses the original protocol The master should wait at least 20ms before sending a new message using the new protocol Note ANSI uses 7 data bits 1 stop bit and even parity ...

Page 206: ...ns Module or via a Solutions Module see Solutions Module User Guide The communications buffer can hold a maximum of 128bytes Modbus RTU protocol but with SM Keypad Plus only This setting is used for disabling comms access when the SM Keypad Plus is used as a hardware key See the SM Keypad Plus User Guide for more information Used in all comms modes to define the baud rate Modbus RTU only This para...

Page 207: ...dard product and restrictions on the values allowed for some parameters The drive software version consists of three numbers xx yy zz Pr 11 29 displays xx yy and zz is displayed in Pr 11 34 Where xx specifies a change that affects hardware compatibility yy specifies a change that affects product documentation and zz specifies a change that does not affect the product documentation 11 26 Minimum co...

Page 208: ...ue for the current drive mode and the drive mode is not changed This parameter indicates the continuous current rating of the drive for Heavy Duty operation See section 5 6 Menu 4 Torque and current control on page 88 for more details This parameter has four possible values 200 400 575 690 and indicates the voltage rating of the drive 11 30 User security code Drive modes Open loop Closed loop vect...

Page 209: ...f the data block last parameter or difference from default data block transferred from a SMARTCARD to the drive Data blocks are stored on a SMARTCARD with header information including a number to identify the block The header information also includes the type of data stored in the block i e the file type the drive mode if this is parameter or difference from default data the version number and a ...

Page 210: ...data is taken from the card defaults are loaded in the destination drive using the same default code as was last used in the source drive Difference from defaults type data block This type of data block is created when 4xxx in Pr x 00 is used to initiate the transfer This data block format referred to a difference from defaults file is different depending on the software version The data held in t...

Page 211: ...ing of the source and destination drive are different then the parameters are transferred with the exception of rating dependent parameters RA attribute set see table below which are left at their default values In this case a C rtg trip is given as a warning that this has happened It is possible to suppress this warning trip for any data transfer to the drive including a boot transfer at power up...

Page 212: ...r When a SMART card is used with software version V01 11 00 onwards it must have the correct product identifier in the card header to give full functionality with the drive The product identifier is written to the card when the whole card is erased If the identifier does not match the drive product and the card contains any data blocks a C Prod trip is produced Also if the following functions are ...

Page 213: ... parameter file 3 3CL VECt Closed loop vector mode parameter file 4 3SErVO Servo mode parameter file 5 3REGEn Regen mode parameter file 6 8 3Un Unused 9 4C SE Commander SE mode difference from default file not used 10 4OPEn LP Open loop mode difference from default file 11 4CL VECt Closed loop vector mode difference from default file 12 4SErVO Servo mode difference from default file 13 4REGEn Rege...

Page 214: ...o 4 the drive operates in the same way as with Pr 11 42 set to 3 and automatically creates a copy of it parameters on a SMART card Pr 11 42 has the NC not clonable attribute and so it does not have a value stored on a SMART card in the normal way However when data is transferred to a card from the source drive the value of this parameter is held in the header of parameter or difference from defaul...

Page 215: ...ber of the last set of defaults loaded i e 1233 1244 etc 11 43 Load defaults Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range Open loop Closed loop vector Servo Regen 0 to 2 Default Open loop Closed loop vector Servo Regen 0 Update rate Background read Parameter value Equivalent Pr x 00 value Defaults loaded 1 Eur 1233 Norm...

Page 216: ...0 to 2 Default Open loop Closed loop vector Servo Regen 2 Update rate Background read Value Description 0 Halt the Drive Onboard Application Lite ladder Program 1 Run the Drive Onboard Application Lite ladder Program if installed Any out of range parameter writes attempted will be clipped to the maximum minimum values valid for that parameter before being written 2 Run the Drive Onboard Applicatio...

Page 217: ...s set for the duration of the first ladder diagram scan from the ladder diagram stopped state This enables the user to perform any required initialisation every time the ladder diagram is run This parameter is set every time the ladder is stopped 11 50 Drive Onboard Application Lite Ladder Program Average Scan Time Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ...

Page 218: ...ore sources are routed to a valid parameter Figure 5 18 Menu 12 logic diagram Any variable parameter 12 03 Threshold Detector 1 input source 12 04 Threshold Detector 1 threshold level Threshold Detector 1 Threshold Detector 1 x 1 12 06 Threshold Detector 1 output invert 12 01 Threshold Detector 1 output indicator 12 05 Threshold Detector 1 hysteresis Any unprotected bit parameter 12 07 Threshold D...

Page 219: ...51 Default Open loop Closed loop vector Servo Regen Pr 0 00 Update rate Read on reset 12 32 12 31 Variable Selector 2 Variable selector 2 mode Variable selector 2 control 12 30 12 35 12 28 12 33 Variable selector 2 input 1 source Variable selector 2 input 1 scaling 12 29 12 34 Variable selector 2 input 2 source Variable selector 2 input 2 scaling Variable selector 2 output indicator Variable selec...

Page 220: ...1 1 1 Range Open loop Closed loop vector Servo Regen 0 00 to 100 00 Default Open loop Closed loop vector Servo Regen 0 00 Update rate 4ms x number of menu 9 or 12 functions active read 12 05 Threshold detector 1 hysteresis 12 25 Threshold detector 2 hysteresis Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 Range Open loop Close...

Page 221: ...lt Open loop Closed loop vector Servo Regen Pr 0 00 Update rate Read on reset 12 10 Variable selector 1 mode 12 30 Variable selector 2 mode Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range Open loop Closed loop vector Servo Regen 0 to 11 Default Open loop Closed loop vector Servo Regen 0 Update rate 4ms x number of menu 9 or ...

Page 222: ... control Pr 12 15 or Pr 12 35 is zero It is active when the control has a non zero value 12 13 Variable selector 1 source 1 scaling 12 33 Variable selector 2 source 1 scaling Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 3 1 1 Range Open loop Closed loop vector Servo Regen 4 000 Default Open loop Closed loop vector Servo Regen 1 000 U...

Page 223: ...with a resolution of 0 1rpm Full scale of the source parameter corresponds to 1000 0rpm Scaling may be applied using Pr 12 14 to give a full scale value of 4000 0rpm The speed input is added to the accumulator to move the output position forwards or backwards with respect to the position input This sample time for this function is 4ms x number of menu 9 and 12 functions active Extending the sample...

Page 224: ...ate is defined as a value greater than or equal to half the source maximum and the low state is defined as a value less than half the source maximum with the scaling parameters set to 1 000 If digital inputs are used as the sources and the scaling parameters are 1 000 high is therefore defined as 1 and low is defined as 0 The variable selector output gives 0 if the rectifier is OK healthy otherwis...

Page 225: ... Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Range Open loop Closed loop vector Servo 0 to 3 Default Open loop Closed loop vector Servo 0 Update rate Read on drive reset The brake control functions are provided to allow well co ordinated operation of an external brake with the drive While both hardware and software are designed to high standards of qua...

Page 226: ... 01 Output frequency Brake release frequency Brake apply frequency 12 44 12 45 _ _ 1 11 Reference on LAT 10 02 Drive active Post brake release delay 12 47 Pre brake release delay 12 46 12 40 Brake release Ramp hold 2 03 Brake controller enable 12 41 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals X X X X i o r LAT input reset output If the reset input ...

Page 227: ...quired amount of torque to ensure that the motor rotates in the demanded direction when the brake is released This parameter should be set to a level slightly above the motor slip frequency that is likely to occur under the highest expected load that is applied to the motor when the brake is released The brake apply frequency threshold is used to ensure that the brake is applied before the motor f...

Page 228: ...slip compensation to become fully active at least 0 5s During the Pre brake delay period the frequency reference is held constant Pr 2 03 1 The post brake release delay is used to allow for the brake release time During this period the frequency reference is held constant Pr 2 03 1 so that there is no sudden increase in motor speed when the brake actually releases 12 46 Pre brake release delay Dri...

Page 229: ... apply speed 12 45 _ Post brake release delay 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals LAT input reset output If the reset input is 1 the output is 0 If the reset input is 0 the output latches at 1 if the input is 1 i r o _ Motor flux 7 8 x Rated flux 1 11 Reference on LAT i o r OR Brake apply speed delay 12 46 10 02 Drive active 12 47 12 40 Bra...

Page 230: ...ally releases The brake apply delay is used to allow for the brake application time During this period the Hold zero speed parameter Pr 6 08 is one and so the drive is enabled with zero speed reference This ensures that the motor remains stationary while the brake is being applied 12 43 Low current threshold Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV P...

Page 231: ...has released If this parameter is set to one the position controller see menu 13 is also enabled Pr 13 10 1 and the local position reference source is selected Pr 13 04 4 LocAL during the period when ramp hold is active Provided the default non absolute mode is selected the position controller can help to limit the movement of the motor when the brake is released When Pr 12 49 is changed from one ...

Page 232: ...equency reference every 4ms Open loop mode The position controller outputs are a velocity feed forward and a speed reference both in 0 1rpm units When the position controller is selected i e Pr 13 10 is non zero these values are converted to 0 1Hz units and combined as shown below before being written to the velocity feed forward parameter Pr 1 39 The velocity feed forward select Pr 1 40 is always...

Page 233: ...play Parameter x 00 Parameter description format Advanced parameter descriptions Macros Serialcomms protocol Electronic nameplate Performance RFC mode Menu 13 Unidrive SP Advanced User Guide 233 Issue Number 10 www controltechniques com ...

Page 234: ...05 17 06 Slot 3 13 20 13 21 13 22 Local reference 1 0 13 23 Local reference disable 0 1 2 3 4 13 04 Position controller reference source x 1 0 1 13 06 Position reference invert 13 07 13 08 Ratio 0 1 x 1 0 1 13 19 Relative jog reverse 13 18 Relative jog enable 13 17 Relative jog reference ò D Position _ ò 13 16 Position error reset 0 1 2 3 13 05 D Position Position controller feedback source Positi...

Page 235: ...parameter Input terminals Output terminals X X X X 13 01 13 02 13 03 Position loop error 13 10 Position controller mode 1 01 0 1 1 39 Frequency speed reference selected Velocity feed forward 1 40 Velocity feed forward select 1 03 Pre ramp reference Menu 2 Ramp Control 2 01 Post ramp reference 13 09 Position controller P gain 13 12 Position controller speed clamp _ Position loop disabled Revolution...

Page 236: ...13 22 Local reference 1 0 13 23 Local reference disable 0 1 2 3 4 13 04 Position controller reference source x 1 0 1 13 06 Position reference invert 13 07 13 08 Ratio 0 1 x 1 0 1 13 19 Relative jog reverse 13 18 Relative jog enable 13 17 Relative jog reference ò D Position _ ò 13 16 Position error reset 0 1 2 3 13 05 D Position Position controller feedback source _ 13 13 Orientation position refer...

Page 237: ... One of the position sources is invalid The position feedback initialised parameter Pr 3 48 is zero 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals Orientation 13 14 13 15 Orientation acceptance window Orientation position complete 13 01 13 02 13 03 Position loop error Position loop enabled 1 6 08 Hold zero speed 13 10 Position controller mode 1 01 1 3...

Page 238: ...me the position controller cannot be enabled If a Solutions Module slot is selected as a source but the module is not a position feedback category Solutions Module the position controller cannot be enabled Orientation mode can always be enabled in closed loop modes 13 01 Revolutions error Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 ...

Page 239: ...oller mode as shown in the following table 13 06 Position reference invert Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Default Open loop Closed loop vector Servo 0 Update rate Background read 13 07 Ratio numerator Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 3 1 1 1 Range Op...

Page 240: ...rtional to the speed of the reference position If for any reason the user wishes to provide the velocity feed forward from a source other than the reference position the feed forward system can be made inactive i e Pr 13 10 2 or 4 The external feed forward can be provided via Menu 1 from any of the frequency speed references However if the feed forward level is not correct a constant position erro...

Page 241: ... set to one Therefore when this parameter is one the position controller operates on the absolute position from the reference and feedback If the feedback device is not absolute then the absolute position is the change of position since the drive was powered up When this parameter is zero or the position control mode is not 1 or 2 the error integrator is loaded with zero when the position controll...

Page 242: ...s changed The position controller is disabled transiently to reset the error integrator 4 One of the position sources is invalid 5 The position feedback initialised Pr 3 48 is zero 13 14 Orientation acceptance window Drive modes Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range Closed loop vector Servo 0 to 4 096 Default Closed loop vector Servo 256 Upda...

Page 243: ...rence turns Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range Open loop Closed loop vector Servo 0 to 65 535 Default Open loop Closed loop vector Servo 0 Update rate 4ms read 13 21 Local reference position Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range Open loop Cl...

Page 244: ...three values If Pr 13 24 is set to one the local reference is a 32bit position made from the position and fine position values The position delta used as the input to the position controller is calculated correctly even when the turns are ignored as the 32bit position is treated as a roll over roll under counter This feature can be used for example with the local reference when only the position a...

Page 245: ...play Parameter x 00 Parameter description format Advancedparameter descriptions Macros Serialcomms protocol Electronic nameplate Performance RFC mode Menu 14 Unidrive SP Advanced User Guide 245 Issue Number 10 www controltechniques com ...

Page 246: ...miting variable clamp levels and programmable destination The sample rate of the PID controller is 4ms Figure 5 26 Menu 14 logic diagram 14 19 14 02 14 20 14 03 14 21 14 04 14 07 _ 14 22 14 09 10 01 14 08 Any variable parameter Any variable parameter Any variable parameter Any bit parameter Main reference source parameter PID Main reference PID reference source parameter PID reference PID feedback...

Page 247: ...on Pr xx 00 and unprotected destination parameter 14 10 14 11 14 12 14 17 14 13 14 14 14 18 14 01 14 15 14 16 Any unprotected variable parameter PID derivative gain PID integral gain PID proportional gain PID hold integrator enable PID output high limit PID output low limit PID symmetrical limits enable PID controller output PID output scale factor PID output destination parameter 0 XX 0 XX Key Re...

Page 248: ...put 14 01 PID output Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 Range Open loop Closed loop vector Servo Regen 100 00 Update rate 4ms write 14 02 PID main reference source 14 03 PID reference source 14 04 PID feedback source Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US...

Page 249: ...te rate 4ms read 14 09 PID optional enable source Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 Range Open loop Closed loop vector Servo Regen Pr 0 00 to Pr 21 51 Default Open loop Closed loop vector Servo Regen Pr 0 00 Update rate Read on reset 14 10 PID P gain Drive modes Open loop Closed loop vector Servo Regen Coding Bit...

Page 250: ... SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 Range Open loop Closed loop vector Servo Regen 0 00 to 100 00 Default Open loop Closed loop vector Servo Regen 100 00 Update rate Background read 14 14 PID lower limit Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 Range Open loop Closed loop vector Servo Regen 100 00 Default...

Page 251: ...r Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 Range Open loop Closed loop vector Servo Regen 100 00 Update rate 4ms write 14 20 PID reference Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 Range Open loop Closed loop vector Servo Regen 100 00 Update rate 4ms write 14 21 PID feedback Drive modes ...

Page 252: ...f a module with 4ms update time and a module with 8ms are installed to the drive then the combined update time for the time critical parameters of each module is 12ms In the parameter tables the update time added by the type of module is given for example 4ms for the SM Encoder Plus or 8ms for the SM I O Plus When parameters are saved by the user in the drive EEPROM the option code of the currentl...

Page 253: ...d When the drive is reset this parameter is cleared for the relevant Solutions Module Error code Encoders Fault description 1 All Power supply short circuit 2 Ab Fd Fr Ab SErvo Fd SErvo Fr SErvo SC SErvo Hardware wire break detect on A B and Z inputs 1 SC SC HiPEr SC EndAt SSC SSI SC SErvo Software wire break detection on sine wave signals 3 Ab SErvo Fd SErvo Fr SErvo SC SErvo Phase error 2 SC SEr...

Page 254: ...al detect a wire break 2 SC SC HiPEr SC EndAt SC SSI SC SErvo The differential levels of the sine and cosine waveforms are available to the drive from this the drive detects wire break if Sine2 Cosine2 are less than the value produced by two valid waveforms with a differential peak to peak magnitude of 0 25V 1 4 of the nominal level This detects wire break in the sine and cosine connections 4 5 SC...

Page 255: ...eter x 00 Parameter description format Advancedparameter descriptions Macros Serialcomms protocol Electronic nameplate Performance RFC mode Menus 15 to 17 SM Uni Enc Pl Unidrive SP Advanced User Guide 255 Issue Number 10 www controltechniques com ...

Page 256: ...t Clock output Encoder input Clock output Encoder SK1 Term Cos Cosref Sin Sinref Aout Fout Data SSI output Aout Fout Data SSI output Bout Dout SSI input Bout Dout SSI input Clock Clock U U V V W W x 16 Termination disable x 09 Encoder setup Incremental encoder SC encoder SC Hiper encoder SC EnDAt SC SSI Comms encoder X X X X x 17 Error detection x 29 x 30 x 31 Position Fine position Revolution cou...

Page 257: ... 41 Freeze invert x 35 x 36 x 37 Freeze revolution counter Freeze position Freeze fine position x 40 SM Applications SM Encoder Plus Main drive Pass freeze to drive and other slots x 39 Freeze Marker Freeze input x 49 Lock position feedback 3 26 21 21 Speed feedback selector Speed feedback selector Motor map 2 x 28 Encoder simulation mode x 27 Simulated encoder resolution x 25 x 26 Numerator Denom...

Page 258: ...er Plus the software must be of version 04 xx xx Failure to comply with the above can result in Solutions Module failure Provided the set up parameters for the position feedback are correct this parameter shows the speed in rpm this parameter is filtered to give a readable indication of speed Standard source for simulated encoder output with feedback position being updated every 250μs for the simu...

Page 259: ...f Pr x 09 5 then Pr x 04 counts up to 31 before being reset If Pr x 09 is greater than 16 the number of turns bits is 16 and Pr x 04 counts up to 65535 before being reset SC HiPEr SC EndAt SC SSI and Pr x 16 1 or 2 Rotary encoder Pr x 09 must contain the number of bits in the comms message used to give the multi turn information For a single turn comms encoder Pr x 09 must be set to zero As well a...

Page 260: ... information at different frequencies and with different voltage levels at the drive encoder port 200kHz and 250kHz are not available with hardware versions less than 4 x x If the position feedback device is a rotary SINCOS encoder with comms the position supplied via comms gives a number of counts per revolution that is a power of two and the resolution is defined by the single turns comms bit Pr...

Page 261: ...t interfaces A fixed baud rate of 9600 is used with Hiperface encoders and this parameter has no effect Any baud rate can be used when encoder comms is used with a SINCOS encoder to obtain the absolution position during initialisation When the encoder comms is used and the position within one turn can be obtained in 30μs and the rest of the message including CRC within a further 30μs 60μs total th...

Page 262: ...e the least significant bit to show the status of the encoder power supply In this case the single turn position resolution should be set to include this bit but the Solutions Module should be set up to monitor it via Pr x 17 Some SSI encoders use a right shifted format where the unused single turn position bits are removed instead of being set to zero For these encoders the single turn position r...

Page 263: ...n over each sample is then used to determine the current position This method always gives 16 bits of turns information that can be used without jumps in position by the position controller in Menu13 and SM applications modules etc This method will only operate correctly if the change of position over any 250μs period is less than 0 5 of a turn or else the turns information will be incorrect The t...

Page 264: ...to sine wave ratio Pr x 09 2 The equivalent lines per revolution Pr x 10 3 The encoder comms resolution linear encoder comms bits Pr x 11 For SC HiPEr or SC EndAt encoders the rotary encoder select Pr x 16 is also set up If the encoder is not recognized there is a comms error or the resulting parameter values are out of range the Solutions Module initiates a trip 7 or 12 to 16 trip to prompt the u...

Page 265: ... is returned to 1 if auto configuration completes correctly SC SSI SSI SSI encoders normally use gray code data format However some encoders use binary format that may be selected by setting this parameter to one 0 0ms 1 1ms 2 2ms 3 4ms 4 8ms 5 16ms A sliding window filter may be applied to the feedback This is particularly useful in applications where the feedback is used to give speed feedback f...

Page 266: ...he user to design their own characteristic without trips using the threshold detector Example Speed is 200rpm Pr x 20 is 400rpm so Pr x 21 shows 50 Pr x 22 is 0 500 so the final percentage value is 25 The destination is a 16 bit bipolar parameter which therefore will have 25 2 15 8192 written to it Effect of encoder resolution A 1024 line encoder as the input produces 4096 counts per revolution Th...

Page 267: ... i e SinCos and the source has been selected as the internal position Pr x 05 the resolution can be increase to a 24 bit position value by setting Pr x 27 to a one Pr x 28 defines the output mode for simulated encoder output as follows Modes 6 and 7 are only available with the drive software versions 01 07 00 onwards and issue 4 SM Universal Encoder Plus If the source is not the feedback device th...

Page 268: ...selection of which mode used is dependent on the value of Pr x 38 The default is 1 that corresponds to only the 24V input to this Solutions Module The values correspond to the modes as described in the table below x 31 Non marker reset fine position RO Uni NC PT Ú 0 to 65535 1 232nds of a revolution Ö Update rate 4ms write x 32 Marker revolution counter RO Uni NC PT Ú 0 to 65535 revolutions Ö Upda...

Page 269: ... Pr x 42 requires the user to minus 65536 to get the negative result 0 675V approximate differential input produces 16384 the maximum The value given is quantized to 32 as the ADC produces a 10bit value with the outputs most significant bit in bit14 of the value in Pr x 42 0 5V gives approximately 12192 and 0 25V gives approximately 6112 In AB SErvo 3 FD SErvo 4 or FR SErvo 5 mode the value in Pr ...

Page 270: ...PR divider Pr x 46 is used to scale the equivalent lines per revolution in Pr x 10 of incremental and SinCos encoders without comms on rotary motors and all but comms only encoders on linear motors Servo encoders must have the same number and pitch of poles as the motor The equivalent line per revolution parameter Pr x 10 is divided by the value in Pr x 46 This can be used when an encoder is used ...

Page 271: ...he PCB temperature exceeds 90 C 94 C V03 02 00 or later the drive fan is forced to operate at full speed for a minimum of 10s If the temperature falls below 90 C 94 C V03 02 00 or later the fan can operate normally again If the PCB temperature exceeds 100 C the drive is tripped and the error status is set to 74 The SM Universal Encoder Plus includes a processor with software The software version i...

Page 272: ...solver This trip can be enabled disabled by Pr x 17 Figure 5 28 SM Resolver logic diagram Error code Reason for error 0 No fault detected 1 Excitation supply short circuit 2 Wire break detect 74 The Solutions Module has overheated SM Applications Freeze flag x 13 x 10 x 15 Equivalent lines per revolution Resolver excitation Resolver poles Error detection level Term Resolver connections 9 SIN LOW 1...

Page 273: ...y RO parameter Input terminals Output terminals The parameters are all shown at their default settings x 04 x 05 Position Revolution counter Positional information x 29 x 30 Position Revolution counter Non marker reset positional information x xx x 25 Ratio numerator Encoder source x 24 Encoder simulation source Term 1 2 3 4 5 6 7 8 A A 0V B B 0V Z Z Simulated encoder output connections Position x...

Page 274: ...ate time of 4ms and a 2 pole resolver the maximum speed is 7500rpm If this maximum speed is exceeded the resolver position and freeze position will be incorrect Position speed feedback update rate If the module is selected for motor control position feedback then the position and speed parameters are updated as defined with each parameter but are available within the drive at a faster rate as show...

Page 275: ...solution of feedback This parameter should only be set to 256 10 bit resolution 1 024 12 bit resolution or 4 096 14 bit resolution If the parameter is set to any other value the drive assumes the following 32 to 256 256 257 to 1 024 1 024 1 025 to 50 000 4 096 If the drive is operating in Closed loop vector or Servo modes and the resolver is selected to provide speed feedback for the drive see Pr ...

Page 276: ...les divides exactly into the number of motor poles i e a 4 pole resolver with an 8 pole motor Trips can be enabled disabled using Pr x 17 as follows The binary sum defines the level of error detection as below The wire break trip is not activated provided one signal is 1 5Vrms or both are 0 2Vrms approximately x 13 Resolver excitation RW Uni US Ú 3 1 0 2 1 1 or 2 Ö 3 1 0 Update rate Background rea...

Page 277: ...resolver position is zero therefore the marker pulse width is equivalent to one encoder count if the ratio is 1 but is reduced if the ratio is less than 1 Some ratios are not possible when the resolver resolution is reduced below 14 bits as shown in the table below Pr x 24 Pr 3 29 Encoder simulation output is derived from the drive encoder port via hardware from the A B and Z inputs The drive enco...

Page 278: ... an error occurs the reason for the error is written to this parameter and the drive may produce a SLX Er trip where x is the slot number A value of zero indicates that the Solutions Module has not detected an error a non zero value indicates that an error has been detected See Table 5 14 on page 272 for the meaning of the values in this parameter When the drive is reset this parameter is cleared ...

Page 279: ...eter x 00 Parameter description format Advancedparameter descriptions Macros Serialcomms protocol Electronic nameplate Performance RFC mode Menus 15 to 17 SM Encoder Pl Unidrive SP Advanced User Guide 279 Issue Number 10 www controltechniques com ...

Page 280: ...oder Output Plus module These parameters are not used when operating with a SM Encoder Plus module Figure 5 29 SM Encoder Plus logic diagram Error code Reason for error 0 No fault detected 1 Power supply overloaded SM Encoder Output Plus only x 29 x 30 Position Revolution counter Non marker position information x 32 x 33 Position Revolution counter Marker position information x 45 Position feedbac...

Page 281: ...mode Menus 15 to 17 SM Encoder Pl Unidrive SP Advanced User Guide 281 Issue Number 10 www controltechniques com x 03 x 19 Feedback filter Speed 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals The parameters are all shown at their default settings x 04 x 05 Position Revolution counter Positional information x 49 Lock position feedback ...

Page 282: ...position information x 45 Position feedback initialised x 07 Marker position disable x 16 Encoder termination x 15 Encoder type Marker flag _ SM Applications Freeze flag 8 Way Term Encoder connections 1 A 2 A 3 B 4 B 5 Z 6 Z 7 0V 8 V x 10 Equivalent lines per revolution x 08 Marker input SM Universal Encoder Plus Freeze input x 39 x 35 x 36 Freeze revolution counter Freeze position Freeze position...

Page 283: ... Issue Number 10 www controltechniques com 9 Way Solutions Module terminal block Ab Fd Fr Ab L Fd L PL2 term 0V A A B B 0V 0V A A B B 3 4 5 6 1 2 7 8 9 F F D D F F D D F F R R Z Z x 03 x 19 Feedback filter Speed 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals The parameters are all shown at their default settings x 04 x 05 Position Revolution counter P...

Page 284: ...le category with the default parameter values for the new category When no Solutions Module is installed in the relevant slot this parameter is zero When a Solutions Module is installed this parameter displays the identification code 104 SM Encoder Plus SM Encoder Output Plus The new parameters values are not stored in EEPROM until the user performs a parameter save When parameters are saved by th...

Page 285: ...x 10 is rounded down to the nearest value that is a power of 2 e g if 5 000 is set in Pr x 10 the drive actually uses 4 096 The encoder supply voltage for this Solutions Module is defined by this parameter as 0 5V 1 8V or 2 15V The following encoders can be connected to the SM Encoder Plus 0 Ab Quadrature incremental encoder with or without marker pulse 1 Fd Incremental encoder with frequency and ...

Page 286: ...put with minimal delay from either the drive encoder Pr x 24 3 29 or the encoder connected to this option module Pr x 24 equal to any other value The drive encoder can be an incremental encoder Ab Fd Fr Ab Servo Fd Servo Fr Servo or it can be a SINCOS encoder SC SC Hiper SC EnDat or SC SSI If any other encoder types are selected the output is undefined If a SINCOS encoder is being used the encoder...

Page 287: ...lent lines per revolution ELPR is not a power of 2 or the ELPR of the encoder simulation output is less than 1 after the divide ratio has been applied Pr x 29 and Pr x 30 are duplicates of Pr x 04 and Pr x 05 respectively and not affected by the marker or freeze inputs Each time the marker becomes active the non marker position values Pr x 29 and Pr x 30 are sampled and stored in Pr x 32 and Pr x ...

Page 288: ...x 05 are updated normally The error status is provided so that the only one option error trip is required for each Solutions Module slot If an error occurs the reason for the error is written to this parameter and the drive may produce a SLX er trip where X is the slot number A value of zero indicates the Solutions Module has not detected an error a non zero value indicates that an error has been ...

Page 289: ...Any bit parameter X 23 x 1 x 1 X 13 X 03 X 32 Any unprotected bit parameter Any bit parameter X 22 x 1 x 1 X 12 X 10 T2 digital I O 1 T2 digital I O 1 state X 31 T2 output select Any unprotected bit parameter Any bit parameter X 21 T2 digital I O 1 destination source x 1 x 1 X 11 T2 digital I O 1 invert X 09 X 29 Positive logic select 0 XX 0 XX Key Read write RW parameter Read only RO parameter In...

Page 290: ... side drivers only and the relay outputs operate with positive logic only T6 digital input 4 Any unprotected bit parameter X 24 x 1 X 14 T6 digital input 4 state indicator X 04 X 25 Any unprotected bit parameter x 1 X 15 X 05 Any unprotected bit parameter X 26 x 1 X 16 X 06 The parameters are all shown at their default setting 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input term...

Page 291: ...high side drivers only 1 15V high side drivers only Relay outputs 0 open 1 closed 0 open 1 closed Terminal Type I O state Invert source destination output select Parameter Parameter Default Parameter Default Parameter Default T2 DI O1 Pr x 09 Pr x 11 0 Pr x 21 00 00 Pr x 31 0 T3 DI O2 Pr x 10 Pr x 12 0 Pr x 22 00 00 Pr x 32 0 T4 DI O3 Pr x 03 Pr x 13 0 Pr x 23 00 00 Pr x 33 0 T6 DI4 Pr x 04 Pr x 1...

Page 292: ...supply the input can reach full scale The output operates in voltage mode only Terminal Input Input modes Resolution T9 AI1 Voltage only 10 bit plus sign T10 AI2 Voltage only 10 bit plus sign Terminal Output Output modes Resolution T12 AO1 Voltage only 10 bit plus sign X 41 T9 Analog input 1 scaling Any unprotected variable parameter X 43 T9 Analog input 1 destination x 1 X 42 T9 Analog input 1 in...

Page 293: ...the destination for a parameter outside the Solutions Module menu the data is taken from the source parameter at the rate defined by the combined update time The menu for the relevant slot appears for the new Solutions Module category with the default parameter values for the new category When no Solutions Module is installed in the relevant slot this parameter is zero When a Solutions Module is i...

Page 294: ...I O 1 source destination x 22 T3 digital I O 2 source destination x 23 T4 digital I O 3 source destination x 24 T6 digital input 4 destination x 25 T7 digital input 5 destination x 26 T8 digital input 6 destination x 27 Relay 1 source x 28 Relay 2 source RW Uni DE PT US Ú Pr 0 00 to Pr 21 51 Ö Pr 0 00 Update rate Read on drive reset x 29 Input polarity select RW Bit DE PT US Ú OFF 0 or On 1 Ö On 1...

Page 295: ...r On 1 Ö OFF 0 Update rate Background read x 43 Analog input 1 destination RW Uni DE PT US Ú Pr 0 00 to Pr 21 51 Ö Pr 0 00 Update rate Read on reset x 44 Analog input 2 RO Bi NC PT Ú 100 0 Ö Update rate 8ms x number of dumb modules x 45 Analog input 2 scaling RW Uni US Ú 0 000 to 4 000 Ö 1 000 Update rate Background read x 46 Analog input 2 invert RW Bit US Ú OFF 0 or On 1 Ö OFF 0 Update rate Back...

Page 296: ... slot number A value of zero indicates that the Solutions Module has not detected an error a non zero value indicates that an error has been detected See Table 5 16 on page 289 for the meaning of the values in this parameter When the drive is reset this parameter is cleared for the relevant Solutions Module This Solutions Module includes a temperature monitoring circuit If the PCB temperature exce...

Page 297: ...nt input too high or too low 3 Reference encoder supply over current 4 Solutions Module serial communications error 5 Real time clock error SM I O Timer only 74 Solutions Module over temperature 70 C x 04 State x 14 Invert x 24 Destination 0 00 21 51 x 05 State x 15 Invert x 25 Destination 0 00 21 51 x 06 State x 16 Invert x 26 Destination 0 00 21 51 x 27 0 00 x 17 Invert Default source Pr 0 00 21...

Page 298: ... Read write RW parameter Read only RO parameter Input terminals Output terminals The parameters are all shown at their default settings x 40 Level x 03 Current loop loss indicator x 41 Scaling x 1 x 42 Invert x 43 Destination 0 00 21 51 Default destination Pr 0 00 200R 0V Current mode and protection x 38 Mode T2 Analog Input 1 T3 Analog Output 1 0 XX 0 XX Key Read write RW parameter Read only RO p...

Page 299: ...Pr x 51 These two parameters display the software version in the form of Pr x 02 xx yy Pr x 51 zz If the Solutions Module analog input is programmed in any of the modes 2 to 5 see Pr x 38 on page 302 then this bit is set if the current input falls below 3mA This bit can be designated to a digital output to indicate that the current input is less than 3mA 0 OFF inactive 1 On active Terminals T5 to ...

Page 300: ...ary values shown in the table i e 120 Destination parameters define the parameter each of the programmable inputs is to control Only parameters that are not protected can be controlled by the programmable digital inputs If a non valid parameter is programmed the digital input is not routed anywhere x 14 Terminal T5 digital input 1 invert x 15 Terminal T6 digital input 2 invert x 16 Terminal T7 dig...

Page 301: ...ameters controlled by user 2 Real time clock reads real time clock parameters and sets Pr x 30 to 0 This parameter is not available on the SM I O Lite Pr x 34 to Pr x 37 are not available on the SM I O Lite x 27 Terminal T21 T23 relay source RW Uni DE PT US Ú Pr 0 00 to Pr 21 51 Ö Pr 0 00 Update rate Read on drive reset x 30 Real time clock update mode RW Uni Ú 0 to 2 Ö 0 Update rate Background re...

Page 302: ...ltage input where the input range is 10V In current mode this is a unipolar current input having a maximum measurable input of 20mA The drive can be programmed to convert the measured current to any one of the defined ranges in Pr x 38 The selected range is converted to 0 0 100 0 This parameter is used to scale the analog input if so desired However in most cases it is not necessary as each input ...

Page 303: ... slot number A value of zero indicates that the Solutions Module has not detected an error a non zero value indicates that an error has been detected See Table 5 17 on page 297 for the meaning of the values in this parameter for the SM I O Lite and SM I O Timer When the drive is reset this parameter is cleared This Solutions Module includes a temperature monitoring circuit If the PCB temperature e...

Page 304: ...unprotected bit parameter Any bit or integer parameter X 21 T3 digital I O 1 source destination x 1 x 1 X 11 T3 digital I O 1 invert X 09 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals The parameters are all shown at their default setting X 32 X 22 x 1 x 1 X 12 X 10 T4 digital I O 2 T4 digital I O 2 state T4 digital I O 2 output select T4 digital I O ...

Page 305: ... triggering is used then care should be taken to ensure that the input is actively pulled high or pulled high via a suitably low pull up resistance Figure 5 21 SM I O PELV relay logic diagram Figure 5 22 SM I O PELV analog input logic diagram current mode Any unprotected bit parameter X 25 x 1 X 15 X 05 T7 digital input 5 T7 digital input 5 state T7 digital input 5 invert T7 digital input 5 destin...

Page 306: ...e 5 23 SM I O PELV analog input logic diagram voltage mode Figure 5 24 SM I O PELV analog output logic diagram X 41 Analog input 1 scaling Any unprotected parameter X 43 Analog input 1 destination x 1 X 42 Analog input 1 invert X 40 Analog input 1 Analog input 1 level 8 X 38 Analog input 1 mode selector 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals T...

Page 307: ... software versions Pr x 02 shows the version number of the main module processor Pr x 51 which is normally used to give a sub version number shows the software version in the slave processor which operates on the PELV side of the isolation barrier These parameters indicate the input and output states of the terminals The performance of the freeze input is highly dependant upon the quality of the s...

Page 308: ...ut the PELV user power supply present but all of the module IO will be inoperable Digital and analog inputs will read zero Digital outputs will be in their inactive state and analog outputs will be at 0mA Setting these parameters to On 1 causes the output sense from the source to be inverted The freeze input function is enabled for DI5 if the destination parameter for this input Pr x 25 is set to ...

Page 309: ...t x 20 Digital I O read word RO Uni NC PT US Ú 0 to 255 Ö Update rate 500μs write Bit Digital I O Parameter Bit Update Rate Input Output 0 T3 Digital I O 1 Pr x 09 500μs 4ms 1 T4 Digital I O 2 Pr x 10 500μs 4ms 2 T5 Digital I O 3 Pr x 03 500μs 4ms 3 T6 Digital I O 4 Pr x 04 500μs 4ms 4 T7 Digital input 5 Pr x 05 500μs 5 T2 PELV user power supply state Pr x 06 500μs 6 T14 T15 Digital output 7 relay...

Page 310: ...alog input 1 mode RW Uni US Ú 0 20 20 0 4 20 tr 4 20 20 4 tr 20 4 4 20 4 20 20 4 20 4 UOLt UoLt Ö 0 20 Update rate Background read Parameter value Parameter string Mode Comments SP SK 0 0 20 0 20 0 20mA 1 20 0 20 0 20 0mA 2 4 20 tr 4 20 4 20mA with trip on loss Trip 2 if I 3 0mA 3 20 4 tr 20 4 20 4mA with trip on loss Trip 2 if I 3 0mA 4 4 20 4 20 4 20mA with no trip on loss 5 20 4 20 4 20 4mA wit...

Page 311: ...the meaning of the values in this parameter When the drive is reset this parameter is cleared for the relevant Solutions Module This Solutions Module includes a temperature monitoring circuit If the PCB temperature exceeds 90 C the drive fan is forced to operate at full speed for a minimum of 10s If the temperature falls below 90 C the fan can operate normally again If the PCB temperature exceeds ...

Page 312: ...ture 100 C 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals X X X X The parameters are all shown at their default settings x 04 x 14 Invert x 24 Destination x 05 x 15 Invert x 25 Destination x 06 x 16 Invert x 26 Destination 5 7 8 x 09 State x 11 Invert x 21 Destination Any unprotected parameter x 10 x 12 Invert x 22 Destination Any unprotected paramete...

Page 313: ...ns Module is saved in EEPROM If the drive is subsequently powered up with a different Solutions Module installed or no Solutions Module installed where one was previously installed the drive gives a SLx dF or SLx nf trip Digital inputs and relay outputs Terminal Input Destination Source State Invert 1 Input 1 Pr x 21 Pr x 09 Pr x 11 2 Input 2 Pr x 22 Pr x 10 Pr x 12 4 Input 3 Pr x 23 Pr x 03 Pr x ...

Page 314: ...software version RO Uni NC PT Ú 00 00 to 99 99 Ö Update rate Write on power up x 03 T4 digital input 3 state x 04 T5 digital input 4 state x 05 T7 digital input 5 state x 06 T8 digital input 6 state x 07 Relay 1 state x 08 Relay 2 state x 09 T1 digital input 1 state x 10 T2 digital input 2 state RO Bit NC PT Ú OFF 0 or On 1 Ö Update rate Background write x 11 T1 digital input 1 invert x 12 T2 digi...

Page 315: ...ve SP If the temperature falls below 90 C the fan can operate normally again If the PCB temperature exceeds 100 C the drive is tripped and the error status is set to 74 The Solutions Module includes a processor with software The software version is displayed in Pr x 02 and Pr x 51 in the form Pr x 02 xx yy and Pr x 51 zz Where xx specifies a change that affects hardware compatibility yy specifies ...

Page 316: ...meter X 21 T3 digital I O 1 source destination x 1 x 1 X 11 T3 digital I O 1 invert X 09 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals The parameters are all shown at their default setting X 32 X 22 x 1 x 1 X 12 X 10 T4 digital I O 2 T4 digital I O 2 state T4 digital I O 2 output select T4 digital I O 2 source destination T4 digital I O 2 invert X 33...

Page 317: ...re 5 30 SM I O 24V Protected digital input logic diagram Any unprotected parameter X 25 x 1 X 15 X 05 T7 digital input 5 T7 digital input 5 state T7 digital input 5 invert T7 digital input 5 destination Any unprotected parameter X 26 x 1 X 16 X 06 T8 digital input 6 T8 digital input 6 state T8 digital input 6 invert T8 digital input 6 destination Any unprotected parameter X 27 x 1 X 17 X 07 T9 dig...

Page 318: ... 24V Protected relay logic diagram Figure 5 32 SM I O 24V Protected analog output logic diagram Relay 1 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals The parameters are all shown at their default setting Any bit or integer parameter Relay 2 Any bit or integer parameter 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Outpu...

Page 319: ... Module is installed when one was previously installed the drive will trip on SLx dF or SLx nF This module contains two processors and thus two software versions Pr x 02 shows the version number of the main module processor Pr x 51 which is normally used to give a sub version number shows the software version in the slave processor These parameters indicate the input and output states of the termi...

Page 320: ... Ú 0 to 255 Ö Update rate 500μs write Bit Digital I O Parameter Bit Update Rate Input Output 0 T3 Digital I O 1 Pr x 09 500μs 4ms 1 T4 Digital I O 2 Pr x 10 500μs 4ms 2 T5 Digital I O 3 Pr x 03 500μs 4ms 3 T6 Digital I O 4 Pr x 04 500μs 4ms 4 T7 Digital input 5 Pr x 05 500μs 5 T8 Digital input 6 Pr x 06 500μs 6 T9 Digital input 7 Pr x 07 500μs 7 T14 T15 Digital output 8 relay Pr x 08 4ms 8 T16 T17...

Page 321: ...l 12 should be programmed into this parameter The parameter required to be represented as an analog signal by the analog output on terminal 10 should be programmed into this parameter This parameter can be used to scale the analog output if so desired x 39 Analog output mode RW Uni US Ú 0 20 20 0 4 20 20 4 Ö 0 20 Update rate Background read Parameter value Parameter string Mode 0 0 20 0 20mA 1 20 ...

Page 322: ...e 316 for the meaning of the values in this parameter When the drive is reset this parameter is cleared for the relevant Solutions Module This Solutions Module includes a temperature monitoring circuit If the PCB temperature exceeds 90 C the drive fan is forced to operate at full speed for a minimum of 10s If the temperature falls below 90 C the fan can operate normally again If the PCB temperatur...

Page 323: ...ase of solely using the 24V back up power supply and pressing the stop reset button When parameters are saved by the user in the drive EEPROM the option code of the currently installed Solutions Module is saved in the drive EEPROM If the drive is subsequently powered up with a different Solutions Module installed or no Solutions Module is installed when one was previously installed the drive will ...

Page 324: ...IO1 to DIO8 in decimal from 0 to 255 DIO9 to DIO32 have no affect on this parameter The bits in this parameter reflect the state of Pr x 03 to Pr x 10 as follows x 03 Digital I O 3 state x 04 Digital I O 4 state x 05 Digital I O 5 state x 06 Digital I O 6 state x 07 Digital I O 7 state x 08 Digital I O 8 state x 09 Digital I O 1 state x 10 Digital I O 2 state RO Bit NC PT Ú OFF 0 or On 1 Ö OFF 0 U...

Page 325: ...I O line is set up as an input for the fast update method the corresponding bit in the read register shows the state of the input Bits that correspond to I O lines that are set as outputs in the direction register or in the direction registers for the standard update method show the state of the output I O line If this parameter is set to 0 00 or a non existent parameter then no read register is d...

Page 326: ... value of 21 binary 10101 The control of the 32 digital I O is limited by the range of the controlling parameter Control of all the 32 digital I O lines can only be achieved using software like SyPTLite and SyPTPro For example with Pr 18 13 as the write register 16 digital outputs can be written and with Pr 20 23 as the write register all the 32 digital outputs can be written The error status is p...

Page 327: ...of range E g arr 20 where arr has only been DIMensioned to 19 elements May Yes Yes 52 Control word user trip Instigated by setting the trip bit in the control word 90 11 Yes No No 53 DPL program incompatible with target For example downloading a program compiled for UD70 Yes N A N A 54 DPL task overrun This occurs if the DPL code within a real time task e g POS0 cannot be completed in time Use par...

Page 328: ...re unavailable The user program attempted to access unavailable hardware e g if access is made to digital I O RS485 port or CTNet on SM Applications Lite module Yes Yes Yes 76 Module type cannot be resolved Module is not recognized Yes No Not Run 77 Inter Solutions Module comms error with module in slot 1 Yes Yes Yes 78 Inter Solutions Module comms error with module in slot 2 Yes Yes Yes 79 Inter ...

Page 329: ... bits Mode 44 1 start bit 7 data bits EVEN parity 1 stop bit Mode 74 1 start bit 7 data bits ODD parity 1 stop bit 15 45 75 2 wire Modbus RTU slave The EIA RS485 port is set for Mode 15 1 start bit 8 data bits NO parity 2 stop bits Mode 45 1 start bit 8 data bits EVEN parity 1 stop bit Mode 75 1 start bit 8 data bits ODD parity 1 stop bit 16 46 76 2 wire Modbus ASCII slave The EIA RS485 is set for...

Page 330: ...e programming client SyPTPro and if set to 1 On it will be sent to the EIA RS485 port Defines the scheduling period tick time in milliseconds for the DPL CLOCK task A value of zero will disable the CLOCK task Prior to version 01 05 00 Unidrive SP the default for this parameter was 0ms disabled Defines the scheduling rate for the POS tasks to suit the application performance and the resource needed...

Page 331: ...f that parameter When set it enables the DPL program watchdog function The DPL WDOG command must then be executed every 200ms This can be used to protect the program against malfunction If the command is not executed within a 200ms time period the drive will trip on SLx tO Please note that the WDOG command must also be executed once for the watchdog to be enabled This is normally executed at the e...

Page 332: ...e unique Defines the node address for CTNet Every node on a CTNet network must have a unique address Setting this to zero will disable CTNet on this node Specifies the data rate for CTNet All nodes on the network must be set to the same data rate The rates are defined as follows Specifies the synchronization message generation rate for CTNet This message is used to tell all nodes when to transmit ...

Page 333: ...ter Format Channel Description Pr x 26 NNNSS 1 Defines the destination node number and slot NNN Node number 1 255 SS Slot number 1 3 e g A value of 201 means node ID 2 slot 1 Pr x 27 MMPP 1 Defines the source drive parameter which is to be transmitted MM Menu number PP Parameter number e g A value of 302 means Pr 3 02 speed Pr x 28 NNNSS 2 Destination node number and slot for channel 2 Pr x 29 MMP...

Page 334: ...ls of different tasks may be changed with this parameter The parameter is accessed in a bit wise manner This parameter is dependant on what is running in the module i e Indexer This parameter is dependant on what is running in the module i e Indexer x 39 Inter module Drive Sync Status Access RW Range 0 1 Default 0 Update Rate NA Synchronisation Status Status 0 The synchronization master request is...

Page 335: ...lable for the user to put in an ID code of their program This may for example be the software version number Use the function block SETUSERID to write to this parameter When a run time error occurs the error number is placed into this parameter See Table 5 35 on page 327 for the meaning of the values in this parameter See the Applications Modules User Guide for further information Specifies the mi...

Page 336: ...02 Y NVM Invalid Error 103 Y Power Up Test Failure Error SM EZMotion module Power Up Test failed Cycle power to the system If problem persists please contact factory 104 Y Following Error Amount of following error exceeded following error limit set in PowerTools Pro software Increase Following Error Limit in PowerTools Pro configuration Increase Velocity Loop Bandwidth and or Position Loop Bandwid...

Page 337: ...ram has resulted in an overflow of the resultant parameter Verify that the sum of all the operands in addition formulas will not result in a value in the following range 231 SUM 231 1 136 Y Program Error Math Divide By Zero Formula in user program causes a divide by zero Make sure that the denominator in all division formulas is not equal to zero 137 Y Program Error Math Divide Operand Too Large 1...

Page 338: ...werTools Pro configuration to match the module type actually installed and then re download the configuration 172 Y Invalid Slot 2 Selection Solutions Module selected for Slot 2 in PowerTools Pro file does not match actual module type installed Switch module located in Slot 2 to match module type selected in PowerTools Pro file Alternatively update the PowerTools Pro configuration to match the mod...

Page 339: ...or This parameter shows the status of digital Input 1 on the SM EZMotion module A value of 1 indicates that the Input is active A value of 0 indicates that the Input is inactive This equates Pin 2 on the EZMotion I O Connector This parameter shows the status of digital Input 2 on the SM EZMotion module A value of 1 indicates that the Input is active A value of 0 indicates that the Input is inactiv...

Page 340: ...below to determine the status of each process Leading zeros in the value are not displayed Examples Pr x 48 11023 would signify that user programs are currently running on Task 2 and Task 1 and that a Index is running on Profile 1 while a Jog is running on Profile 0 Pr x 48 104 would signify that a user program is running on Task 0 and Gearing motion is running on Profile 0 x 19 EZInput 3 Status D...

Page 341: ...is forced to operate at full speed for a minimum of 10s If the temperature falls below 90 C the fan can operate normally again If the PCB temperature exceeds 100 C the drive is tripped and the error status is set to 74 Most Solutions Modules include a processor with software The software version is displayed in these parameters in the form Pr x 02 xx yy and Pr x 50 zz Where xx specifies a change t...

Page 342: ... bS uses an external host for the speed demand only Error Modes Reason for error 0 Enc Only Host No fault detected 1 Enc Only Host SLM 24V power supply over load 2 Enc Only SLM version too low 3 Enc Only Drive Link error 4 Enc Only Host Drive switching frequency incompatible is not 4kHz 8kHz or 16kHz 5 Enc Only Host Feedback selection Pr 3 26 is not the current Solutions Module 6 Enc Only Encoder ...

Page 343: ...rameter x 00 Parameter description format Advancedparameter descriptions Macros Serialcomms protocol Electronic nameplate Performance RFC mode Menus 15 to 17 SM SLM Unidrive SP Advanced User Guide 343 Issue Number 10 www controltechniques com ...

Page 344: ...port RJ45 SLM port Back up battery connection if required x 07 x 10 Encoder lines per rev 1 0 Operating mode Host mode Encoder only mode 1 0 Pr 8kHz Pr SM SLM slot 5 18 3 26 x 30 Auto basic drive set up x 12 SLM power up delay 1 2 3 4 0 Read data from SLM EEPROM CT Coder Idle Idle Idle Reset Encoder only mode x 26 Autotune mode 1 0 x 29 Action save to SLM EEPROM CT Coder 1 2 0 Idle High performanc...

Page 345: ...Normal performance Normal performance x 28 Parameters transferred x 14 0 Power up 1 Normal comms mode set up 2 Normal comms mode set up wait 3 Axis initialisation 4 Axis initialisation wait 5 SP comms mode set up 6 SP comms mode set up wait 7 Wait for hardware enable 8 Auto flux angle 9 Auto flux angle wait 10 Complete autoflux angle 11 Auto L s 12 Auto L s wait 13 Auto current loop gains 14 Auto ...

Page 346: ...dF or SLx nf trip Provided the set up parameters for the position feedback are correct this parameter shows the speed feedback in rpm This parameter is filtered to increase readability These parameters effectively give the position with a resolution of 1 232 ths of a revolution as a 48 bit number as shown below When the feedback device rotates by more than one revolution the revolutions in Pr x 04...

Page 347: ...he electrical angle offset in degrees The SLM flux offset is the mechanical offset in 65535 places per revolution offset by 120 This parameter is used to set the mask used on the fine position sent from the SLM module to the Solutions Module 1024 lines results in 6 extra bits of fine position information being used This takes the full position resolution to 22 bits A 2046 line encoder uses 7 extra...

Page 348: ...un the minimal movement test to find the flux angle and then run the pulse test to tune the current controller CLOSED LOOP run the movement test 2 3 base speed to tune the field controller and then run the pulse test to tune the current controller 4 RESET the whole initialisation system including trigger SLM command 245 and 246 4 will hold the sequencer in reset x 14 Sequencer status RO ni NC PT Ú...

Page 349: ... 25 is in electrical degrees SLM EEPROM CT Coder data is in mechanical 65536 per rev offset by 120 Pr x 27 2 All for Pr x 27 1 and Rated motor voltage Pr 5 09 Stator resistance Pr 5 17 per phase in 0 000 delta 4 3 times per phase in 0 00 Stator transient inductance Pr 5 24 per phase in 0 000 delta 4 3 times per phase in 0 00 Current controller Kp gain Pr 4 13 Current controller Ki gain Pr 4 14 Ind...

Page 350: ...start depends on Pr x 28 The parameter set is the same as was controlled by Pr x 27 when saving was performed In Encoder only mode a parameter transfer cannot be performed with the drive in either RUN or STOP Values of Pr x 26 Pr x 27 and Pr x 28 are read when Pr x 29 1 The sequencer is reset to POWER_UP Pr x 29 is reset to 0 after the update which is very fast Sets Pr 3 26 to the slot with the SL...

Page 351: ...for the relevant Solutions Module This Solutions Module includes a temperature monitoring circuit If the PCB temperature exceeds 94 C the drive fan is forced to operate at full speed for a minimum of 10s If the temperature falls below 94 C the fan can operate normally again If the PCB temperature exceeds 100 C the drive will trip and the error status is set to 74 The SM SLM includes a processor wi...

Page 352: ...led when one was previously installed the drive will trip on SLx dF or SLx nF Error code Module Trip Description 0 All No trip 1 SM Ether CAT No field bus mode has been selected 2 SM Ether CAT Critical task over run 52 SM PROFIBUS DP SM Interbus SM DeviceNet SM CANOpen User control word trip 58 SM LON Incorrect non volatile storage 61 SM PROFIBUS DP SM Interbus SM DeviceNet SM CANOpen SM SERCOS Co...

Page 353: ... parameter for Fieldbus category modules When the drive is reset this parameter is cleared This Solutions Module includes a temperature monitoring circuit If the PCB temperature exceeds 90 C the drive fan is forced to operate at full speed for a minimum of 10s If the temperature falls below 90 C the fan can operate normally again If the PCB temperature exceeds 100 C the drive will trip on SLx Er a...

Page 354: ... loop vector Servo Regen 32 768 to 32 767 Default Open loop Closed loop vector Servo Regen 0 Update rate N A 18 02 to 18 10 Application menu 1 read only integer Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 Range Open loop Closed loop vector Servo Regen 32 768 to 32 767 Default Open loop Closed loop vector Servo Regen 0 Update rate ...

Page 355: ... loop vector Servo Regen 32 768 to 32 767 Default Open loop Closed loop vector Servo Regen 0 Update rate N A 19 02 to 19 10 Application menu 2 read only integer Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 Range Open loop Closed loop vector Servo Regen 32 768 to 32 767 Default Open loop Closed loop vector Servo Regen 0 Update rate ...

Page 356: ...ck or difference from default data block on a SMART card with software versions before V01 07 00 However with V01 07 00 onwards these parameters are saved in a difference from defaults type data block if they are not at their default value 20 01 to 20 20 Application menu 3 read write integer Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU ...

Page 357: ...D RA NC NV PT US RW BU PS 1 1 1 1 Closed loop vector Servo VM Range Open loop Closed loop vector Servo 0 to 3 000 0Hz SPEED_LIMIT_MAX rpm Default Open loop Closed loop vector Servo EUR 50 0 USA 60 0 EUR 1 500 0 USA 1 800 0 3 000 0 Normal parameter Open loop Closed loop vector Servo Pr 1 06 Update rate Background read 21 02 Minimum reference clamp Drive modes Open loop Closed loop vector Servo Codi...

Page 358: ...ad keys and the keypad reference parameter Pr 1 17 is selected The sequencing bits Pr 6 30 to Pr 6 34 have no effect and jog is disabled Reference selected by timer The presets are selected automatically in turn Pr 1 16 defines the time between each change Value of Pr 21 03 Display String Pr 1 49 0 A1 A2 Selected by terminal input 1 A1 Pr 1 2 A2 Pr 2 3 Pr 3 4 Pad 4 5 Prc 5 Pr 1 49 Pr 1 50 Referenc...

Page 359: ...S RW BU PS 1 1 1 1 Range Open loop Closed loop vector 0 to 3000 0 Hz 0 to 1250 0 Hz Default Open loop Closed loop vector EUR 50 0 USA 60 0 Normal parameter Open loop Closed loop vector Pr 5 06 Update rate Background read 21 07 Rated current Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 2 1 1 1 1 Range Open loop Closed loop vector Se...

Page 360: ... loop Closed loop vector Servo Pr 5 09 Update rate Level 4 read 21 10 Rated power factor Drive modes Open loop Closed loop vector Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 3 1 1 1 1 Range Open loop Closed loop vector 0 000 to 1 000 Default Open loop Closed loop vector 0 850 Normal parameter Open loop Closed loop vector Pr 5 10 Update rate Background read 21 11 Number of motor poles ...

Page 361: ...xt VM DP ND RA NC NV PT US RW BU PS 3 1 1 1 1 Range Open loop Closed loop vector Servo 0 000 to 500 000 mH Default Open loop Closed loop vector Servo 0 000 Normal parameter Open loop Closed loop vector Servo Pr 5 24 Update rate Background read 21 15 Motor 2 active Drive modes Open loop Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 Default Open loop Close...

Page 362: ... loop vector Servo Pr 3 10 Update rate Background read 21 18 Speed controller Ki gain Drive modes Closed loop vector Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 Range Closed loop vector Servo 0 00 to 655 35 s rad s 1 Default Closed loop vector Servo 0 10 1 00 Normal motor parameter Closed loop vector Servo Pr 3 11 Update rate Background read 21 19 Speed controller Kd gai...

Page 363: ...Closed loop vector Servo 0 Normal motor parameter Closed loop vector Servo Pr 3 26 Update rate Background read 21 22 Current controller Kp gain Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range Open loop Closed loop vector Servo Regen 0 to 30 000 Default Drive voltage rating Open loop Closed loop vector Servo Regen 200V 400V 5...

Page 364: ... loop vector 0 to 100 of rated flux Default Closed loop vector 75 Normal parameter Closed loop vector Pr 5 30 Update rate Background read 21 27 Motoring current limit Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 1 1 1 Range Open loop Closed loop vector Servo Regen 0 to MOTOR2_CURRENT_LIMIT_MAX Default Open loop Closed loop vect...

Page 365: ...ND RA NC NV PT US RW BU PS 1 1 1 1 1 1 Range Open loop Closed loop vector Servo Regen 0 to MOTOR2_CURRENT_LIMIT_MAX Default Open loop Closed loop vector Servo Regen 165 0 175 0 Normal parameter Open loop Closed loop vector Servo Regen Pr 4 07 Update rate Background read 21 30 Motor volts per 1000rpm Ke Drive modes Servo Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 1 1 1 Range Servo 0 t...

Page 366: ...re used for this menu if the saved parameters are from a software version which did not include this menu 22 01 to 22 07 22 10 to 22 11 22 18 22 20 to 22 29 Parameter 00 xy set up Drive modes Open loop Closed loop vector Servo Regen Coding Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS 2 1 1 1 1 Range Open loop Closed loop vector Servo Regen Pr 1 00 to Pr 21 51 Default Open loop Closed loop vec...

Page 367: ... Pr 2 25 Pr 2 26 Pr 2 27 Pr 2 28 Pr 2 29 Menu 3 Pr 3 01 Pr 3 02 Pr 3 03 Pr 3 10 Pr 3 18 Pr 3 22 Pr 3 27 Menu 4 Pr 4 01 Pr 4 02 Pr 4 08 Pr 4 17 Menu 5 Pr 5 01 Pr 5 03 Pr 5 04 Pr 5 07 Pr 5 08 Pr 5 24 Pr 5 25 Menu 11 Pr 11 32 Menu 20 Pr 20 21 Pr 20 22 Pr 20 23 Pr 20 24 Pr 20 25 Pr 20 26 Pr 20 27 Pr 20 28 Pr 20 29 Pr 20 30 Pr 20 31 Pr 20 32 Pr 20 33 Pr 20 34 Pr 20 35 Pr 20 36 Pr 20 37 Pr 20 38 Pr 20 3...

Page 368: ...he drive in closed loop mode analog input 2 is the speed override reference Enabling torque mode with the drive in open loop mode will put the drive in to pure torque control In closed loop mode the drive will be put in to torque control with speed override Macro 5 PID set point control The PID control macro enables the drive s own internal PID controller to control the speed of the motor Analog i...

Page 369: ...Uni US VT Rated rpm autotune 5 16 0 to 2 0 RW Uni US 0 34 User security code 11 30 0 to 999 0 RW Uni NC PS 0 35 Serial comms mode 11 24 AnSI 0 rtu 1 Lcd 2 rtU 1 RW Txt US 0 36 Serial comms baud rate 11 25 300 0 600 1 1 200 2 2 400 3 4 800 4 9 600 5 19 200 6 38 400 7 57 600 8 Modbus RTU only 115 200 9 Modbus RTU only 19 200 6 RW Txt US 0 37 Serial comms address 11 23 0 to 247 1 RW Uni US 0 38 Curre...

Page 370: ...The SECURE DISABLE input on Unidrive SP which is an enhanced equivalent of the enable input on Unidrive Classic is now on terminal 31 unlike Unidrive Classic which uses terminal 30 The SECURE DISABLE input is also permanently positive logic unlike the enable input in Unidrive Classic which can be changed to negative logic Macro 3 on Unidrive SP works in a slightly different way to Unidrive Classic...

Page 371: ...OG INPUT 1 INPUT 2 SELECT 0V common 0V common ANALOG INPUT 1 ANALOG INPUT 2 Signal connector Status relay Drive healthy 41 42 23 24 25 29 26 27 28 30 31 0V common Analog frequency speed reference 1 0 10V SPEED TORQUE 0V common Analog frequency speed reference 2 4 20mA 4 5 6 3 7 11 9 10 24V 22 DRIVE ENABLE AT ZERO SPEED Analog I O Digital I O Parameter Value OL CL 5 14 Voltage mode select Fd 7 11 T...

Page 372: ...ram Reference selection Frequency speed ref 1 Frequency speed ref 2 Precision reference not used with Menu 0 Preset references use Macro 3 JOG SELECT RUN FORWARD RUN REVERSE RESET Menu 0 changes from default configuration 6 0 05 Reference selector ANALOG INPUT 1 INPUT 2 Minimum frequency speed clamp Maximum frequency speed clamp 0 01 0 02 DRIVE ENABLE 6 0 XX 0 XX Key Read write RW parameter Read o...

Page 373: ...tor speed 0 33 0 03 0 04 0 06 0 07 Speed loop integral gain 0 08 No of poles Power factor Rated voltage Rated speed Rated current Rated frequency PWM switching frequency 0 41 0 42 to 0 47 Motor parameters CL Speed loop PID gains Power stage AT ZERO SPEED Speed loop derivative gain 0 09 0 10 Voltage mode selector Dynamic V f select 0 07 Boost voltage 0 08 0 09 OL Motor voltage control Estimated mot...

Page 374: ...amp reference 2 01 SPEED_FREQ_MAX Hz rpm RO Bi PT 0 13 Active current 4 02 DRIVE_CURRENT_MAX A RO Bi FI NC PT 0 14 Jog reference 1 05 0 to 400 0 Hz 0 to 4 000 0 rpm 0 0 RW Uni US 0 15 Ramp mode select 2 04 FASt 0 Std 1 Std hV 2 FASt 0 Std 1 Std 1 RW Txt US 0 16 Stop mode 6 01 COASt 0 rP 1 rP dcl 2 dcl 3 td dcl 4 COASt 0 rP 1 no rP 2 rP 1 no rP 2 RW Txt US 0 17 Relay source invert 8 17 OFF 0 or On ...

Page 375: ... Pr 9 22 9 07 Logic function 1 source 2 invert On 1 9 10 Logic function 1 destination Pr 1 10 9 14 Logic function 2 source 1 Pr 8 02 9 17 Logic function 2 source 2 invert On 1 9 20 Logic function 2 destination Pr 9 28 9 21 Motorized pot mode 0 9 25 Motorized pot destination Pr 1 37 11 01 Define Pr 0 11 Pr 1 03 11 02 Define Pr 0 12 Pr 2 01 11 03 Define Pr 0 13 Pr 4 02 11 04 Define Pr 0 14 Pr 1 05 1...

Page 376: ...eds UP DRIVE ENABLE Motorized pot zero start select 0 27 0 28 0 29 0 30 Motorized pot bipolar select Motorized pot rate Motorized pot output scale factor Motorized pot reset indicator 0 26 0 25 6 6 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals Pr Function 0 11 Pre ramp reference 0 12 Post ramp reference 0 13 Motor active current 0 14 Jog reference no...

Page 377: ...op integral gain 0 08 Speed loop derivative gain 0 09 0 10 Voltage mode selector Dynamic V f 0 07 Boost voltage 0 08 0 09 OL Motor voltage control Estimated motor speed 0 10 Motor active current PWM switching frequency 0 41 0 13 Power stage select CL Speed loop PID gains OL FREQUENCY CL SPEED TORQUE _ 0 38 Current loop Current loop P gain 0 39 Current loop I gain Motor control Current limit Rated ...

Page 378: ... Post ramp reference 2 01 SPEED_FREQ_MAX Hz rpm RO Bi PT 0 13 Active current 4 02 DRIVE_CURRENT_MAX A RO Bi FI NC PT 0 14 Jog reference 1 05 0 to 400 0 Hz 0 to 4 000 0 rpm 0 0 RW Uni US 0 15 Ramp mode select 2 04 FASt 0 Std 1 Std hV 2 FASt 0 Std 1 Std 1 RW Txt US 0 16 Stop mode 6 01 COASt 0 rP 1 rP dcl 2 dcl 3 td dcl 4 COASt 0 rP 1 no rP 2 rP 1 no rP 2 RW Txt US 0 17 Relay source invert 8 17 OFF 0...

Page 379: ...r 1 42 8 31 T24 digital I O 1 output select OFF 0 8 39 T28 T29 digital input auto selection disable On 1 11 01 Define Pr 0 11 Pr 1 03 11 02 Define Pr 0 12 Pr 2 01 11 03 Define Pr 0 13 Pr 4 02 11 04 Define Pr 0 14 Pr 1 05 11 05 Define Pr 0 15 Pr 2 04 11 06 Define Pr 0 16 Pr 6 01 11 07 Define Pr 0 17 Pr 8 17 11 08 Define Pr 0 18 Pr 2 06 11 09 Define Pr 0 19 Pr 2 07 11 10 Define Pr 0 20 Pr 1 29 11 11...

Page 380: ...ies speeds PRESET SELECT A Preset reference 2 0 26 0 27 0 28 Preset reference 3 Preset reference 4 Preset reference 1 A 0 0 1 1 B 0 1 0 1 Preset speed 1 2 3 4 Maximum freq speed clamp 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals Pr Function 0 11 Pre ramp reference 0 12 Post ramp reference 0 13 Motor active current 0 14 Jog reference not used 0 15 Ra...

Page 381: ...t ramp reference 0 11 0 12 S ramp 0 07 Speed loop integral gain 0 08 PWM switching frequency 0 41 0 13 CL Speed loop PID gains Power stage Speed loop derivative gain 0 09 0 10 Voltage mode selector Dynamic V f select 0 07 Boost voltage 0 08 0 09 OL Motor voltage control Motor speed 0 10 _ 0 38 Current loop Current loop P gain 0 39 Current loop I gain Motor control Current limit Rated rpm autotune ...

Page 382: ...tal I O Parameter Range Ú Default Ö Type OL CL OL VT SV 0 11 Pre ramp reference 1 03 SPEED_FREQ_MAX Hz rpm RO Bi NC PT 0 12 Post ramp reference 2 01 SPEED_FREQ_MAX Hz rpm RO Bi PT 0 13 Active current 4 02 DRIVE_CURRENT_MAX A RO Bi FI NC PT 0 14 Jog reference 1 05 0 to 400 0 Hz 0 to 4 000 0 rpm 0 0 RW Uni US 0 15 Ramp mode select 2 04 FASt 0 Std 1 Std hV 2 FASt 0 Std 1 Std 1 RW Txt US 0 16 Stop mod...

Page 383: ...lect On 1 8 39 T28 T29 digital input auto selection disable On 1 9 04 Logic function 1 source 1 Pr 6 32 9 07 Logic function 1 source 2 invert On 1 9 10 Logic function 1 destination Pr 7 09 9 33 T26 digital I O 3 output select Pr 4 11 11 01 Define Pr 0 11 Pr 1 03 11 02 Define Pr 0 12 Pr 2 01 11 03 Define Pr 0 13 Pr 4 02 11 04 Define Pr 0 14 Pr 1 05 11 05 Define Pr 0 15 Pr 2 04 11 06 Define Pr 0 16 ...

Page 384: ...l Frequency speed reference Torque control OL Not used CL Speed over ride Analog input 1 scaling 0 29 0 30 0 27 Analog input 2 Analog input 2 scaling Minimum frequency speed clamp Pr Function 0 11 Pre ramp reference 0 12 Post ramp reference 0 13 Motor active current 0 14 Jog reference not used 0 15 Braking mode 0 16 Stop mode 0 17 Status relay 0 18 S ramp 0 19 S ramp da dt 0 20 Skip frequency spee...

Page 385: ...amp reference 0 11 0 12 S ramp 0 07 Speed loop integral gain 0 08 PWM switching frequency 0 41 0 13 CL Speed loop PID gains Power stage Speed loop derivative gain 0 09 0 10 Voltage mode selector Dynamic V f select 0 07 Boost voltage 0 08 0 09 OL Motor voltage control Estimated motor speed 0 10 AT ZERO SPEED AT MIN SPEED Motor control Current limit Rated rpm autotune 0 33 0 06 No of poles Power fac...

Page 386: ... Type OL CL OL VT SV 0 11 Pre ramp reference 1 03 SPEED_FREQ_MAX Hz rpm RO Bi NC PT 0 12 Post ramp reference 2 01 SPEED_FREQ_MAX Hz rpm RO Bi PT 0 13 Active current 4 02 DRIVE_CURRENT_MAX A RO Bi FI NC PT 0 15 T7 analog input 2 mode 7 11 0 20 0 20 0 1 4 20tr 2 20 4tr 3 4 20 4 20 4 5 VOLt 6 VOLt 6 RW Txt US 0 16 T8 analog input 3 mode 7 15 0 20 0 20 0 1 4 20tr 2 20 4tr 3 4 20 4 20 4 5 VOLt 6 th SC ...

Page 387: ...igital input auto selection disable On 1 11 01 Define Pr 0 11 Pr 1 03 11 02 Define Pr 0 12 Pr 2 01 11 03 Define Pr 0 13 Pr 4 02 11 04 Define Pr 0 14 Pr 0 00 11 05 Define Pr 0 15 Pr 7 11 11 06 Define Pr 0 16 Pr 7 15 11 07 Define Pr 0 17 Pr 7 01 11 08 Define Pr 0 18 Pr 7 02 11 09 Define Pr 0 19 Pr 7 03 11 10 Define Pr 0 20 Pr 14 10 11 11 Define Pr 0 21 Pr 14 11 11 12 Define Pr 0 22 Pr 14 12 11 13 De...

Page 388: ...ramp reference 0 12 Post ramp reference 0 13 Motor active current 0 14 Not used 0 15 0 16 0 17 0 18 0 19 0 20 PID proportional gain 0 21 0 22 0 23 PID output high limit 0 24 0 25 0 26 Preset reference 7 0 27 0 28 0 29 0 30 Optional PID enable source Analog input 2 PID reference mode Analog input 3 PID feedback mode Analog input 1 freq speed ref Analog input 2 PID reference Analog input 3 PID feedb...

Page 389: ...oop PID gains Speed loop derivative gain 0 09 0 10 Motor active current PWM switching frequency 0 41 0 13 Power stage Voltage mode selector Dynamic V f select 0 07 Boost voltage 0 08 0 09 OL Motor voltage control Estimated motor speed 0 10 TORQUE AT ZERO SPEED OL FREQUENCY CL SPEED Motor control Current limit Rated rpm autotune 0 33 0 06 No of poles Power factor Rated voltage Rated speed Rated cur...

Page 390: ...d during deceleration This distance will be increased if the deceleration time is extended AT ZERO SPEED DRIVE ENABLE Signal connector Status relay Drive healthy 41 42 Analog I O Digital I O Parameter Range Ú Default Ö Type OL CL OL VT SV 0 11 Pre ramp reference 1 03 SPEED_FREQ_MAX Hz rpm RO Bi NC PT 0 12 Post ramp reference 2 01 SPEED_FREQ_MAX Hz rpm RO Bi PT 0 13 Active current 4 02 DRIVE_CURREN...

Page 391: ...5 Logic function 1 source 1 invert On 1 OFF 0 9 06 Logic function 1 source 2 Pr 6 36 Pr 0 00 9 07 Logic function 1 source 2 invert On 1 OFF 0 9 08 Logic function 1 output invert On 1 OFF 0 9 10 Logic function 1 destination Pr 2 35 Pr 0 00 11 01 Define Pr 0 11 Pr 1 03 11 02 Define Pr 0 12 Pr 2 01 11 03 Define Pr 0 13 Pr 4 02 11 04 Define Pr 0 14 Pr 8 05 11 05 Define Pr 0 15 Pr 8 03 11 06 Define Pr ...

Page 392: ...0 15 0 17 0 16 0 22 Run reverse indicator Limit reverse indicator Limit reverse invert Frequency speed reference Direction control Bi directional frequency speed reference RUN enabled RUN disabled at limit 0 1 Pr Function 0 11 Pre ramp reference 0 12 Post ramp reference 0 13 Motor active current 0 14 Limit forward 0 15 Run 0 16 Run reverse 0 17 0 18 Stop mode 0 19 Hold zero speed 0 20 OL Limit dec...

Page 393: ...d loop proportional gain Motor speed Post ramp reference 0 12 0 07 Speed loop integral gain 0 08 CL Speed loop PID gains Speed loop derivative gain 0 09 0 10 Ramps Acceleration rate OL Limit deceleration rate 0 03 0 20 Pre ramp reference 0 11 CL Deceleration rate 0 04 RESET DRIVE ENABLE _ 0 38 Current loop Current loop P gain 0 39 Current loop I gain Motor control Current limit Rated rpm autotune ...

Page 394: ...7 Brake control The brake control macro configures the drive to apply or release a mechanical brake on a motor in a crane or hoist application The drive issues a brake release signal via a digital output when the relevant conditions are met Parameter Range Ú Default Ö Type OL CL OL VT SV 0 11 Pre ramp reference 1 03 SPEED_FREQ_MAX Hz rpm RO Bi NC PT 0 12 Post ramp reference 2 01 SPEED_FREQ_MAX Hz ...

Page 395: ...ce 2 invert OFF 0 On 1 9 14 Logic function 2 source 1 Pr 10 01 Pr 1 11 9 15 Logic function 2 output invert OFF 0 On 1 9 16 Logic function 2 source 2 Pr 10 03 9 17 Logic function 2 source 2 invert On 1 OFF 0 9 19 Logic function 2 delay 0 2 11 01 Define Pr 0 11 Pr 1 03 11 02 Define Pr 0 12 Pr 2 01 11 03 Define Pr 0 13 Pr 4 02 11 04 Define Pr 0 14 Pr 4 01 11 05 Define Pr 0 15 Pr 12 01 11 06 Define Pr...

Page 396: ... references see the Unidrive SP Advanced User Guide OL Not used CL JOG SELECT RUN FORWARD RUN REVERSE Current threshold RESET 0 14 0 05 Reference selector ANALOG INPUT 1 INPUT 2 select Minimum frequency speed clamp 0 01 0 02 0 19 BRAKE RELEASE Maximum frequency speed clamp Jog reference see the Unidrive SP Advanced User Guide Drive healthy indicator 0 16 At zero speed indicator 0 17 Brake release ...

Page 397: ...eed 0 10 Pr Function 0 11 Pre ramp reference 0 12 Post ramp reference 0 13 Motor active current 0 14 Motor current magnitude 0 15 Current detected 0 16 Drive healthy 0 17 At zero speed 0 18 Brake release indica 0 19 Current threshold 0 20 OL Brake release delay CL 0 21 0 22 0 23 not used 0 24 not used 0 25 not used 0 26 not used 0 27 not used 0 28 not used 0 29 not used 0 30 not used tor Brake app...

Page 398: ... the drive 0 15 4 5 6 3 7 11 9 10 4 24 25 29 26 27 28 0V common 30 31 24V 22 DRIVE ENABLE Signal connector Status relay Drive healthy 41 42 Analog I O Digital I O Parameter Range Ú Default Ö Type OL CL OL VT SV 0 11 Pre ramp reference 1 03 SPEED_FREQ_MAX Hz rpm RO Bi NC PT 0 12 Post ramp reference 2 01 SPEED_FREQ_MAX Hz rpm RO Bi PT 0 13 Active current 4 02 DRIVE_CURRENT_MAX A RO Bi FI NC PT 0 14 ...

Page 399: ...r 0 11 Pr 1 03 11 02 Define Pr 0 12 Pr 2 01 11 03 Define Pr 0 13 Pr 4 02 11 04 Define Pr 0 14 Pr 13 17 11 05 Define Pr 0 15 Pr 13 10 11 06 Define Pr 0 16 Pr 3 34 11 07 Define Pr 0 17 Pr 13 07 11 08 Define Pr 0 18 Pr 3 27 11 09 Define Pr 0 19 Pr 3 29 11 10 Define Pr 0 20 Pr 13 02 11 11 Define Pr 0 21 Pr 17 05 11 12 Define Pr 0 22 Pr 17 03 11 13 Define Pr 0 23 Pr 17 10 11 14 Define Pr 0 24 Pr 13 09 ...

Page 400: ...eference not used with Menu 0 Preset references see the Unidrive Advanced User Guide Reference encoder resolver position 0 21 Encoder reference resolver speed 0 22 Encoder feedback position 0 19 Feedback encoder speed 0 18 Reference encoder resolver ratio 0 17 Reference encoder resolver revolution counter 0 29 Feedback encoder revolution counter 0 30 0 14 Orientation acceptance window 0 27 Orienta...

Page 401: ...lver speed drive 0 19 0 20 Position error 0 21 0 22 0 23 Reference 0 24 Position loop gain 0 25 Positioning speed limit 0 26 Orientation reference 0 27 Orientation acceptance window 0 28 Stop mode 0 29 0 30 selector selector Reference encoder resolver ratio Feedback encoder Reference resolver position drive Reference encoder Feedback resolver position option Reference encoder Feedback resolver spe...

Page 402: ...n 9 decimal places If the decimal point is not in the same position as used by the parameter some accuracy may be lost or extra decimal places added i e if 1 2345 is written to a parameter with one decimal place the result is 1 2 if 1 2 is written to a parameter with three decimal places the result is 1 200 It should be noted that parameters can only have 0 1 2 3 4 5 or 6 decimal places 5 The data...

Page 403: ...ted provide the address was valid for the drive even if the parameter does not exist The valid address is cancelled if a message is received for a non valid address or one of the following occurs 1 The command is aborted because a non numerical value is received in the drive address menu or parameter numbers 2 The command is aborted because the two digits for drive address 1st digit drive address ...

Page 404: ...ough 247 decimal In the master request this byte indicates the target slave node in the slave response this byte indicates the address of the slave sending the response Global addressing Address zero addresses all slave nodes on the network Slave nodes suppress the response messages for broadcast requests 7 2 3 MODBUS registers The MODBUS register address range is 16bit 65536 registers which at th...

Page 405: ...is an echo of the request returned after the register contents have been written The register address can correspond to a 32bit parameter but only 16 bits of data can be sent Table 7 3 Master request Table 7 4 Slave response FC16 Write multiple Writes a contiguous array of registers The slave imposes an upper limit on the number of registers which can be written If this is exceeded the slave will ...

Page 406: ...ssed as a 32 bit parameter The number of 16 bit registers must be even during a 32 bit access Example If 1 28 is a 32 bit parameter with a value of 0x12345678 1 29 is a signed 16 bit parameter with a value of 0xABCD and 1 30 is a signed 16 bit parameter with a value of 0x0123 Byte Description 0 Slave source node address 1 Function code 0x10 2 Start register address MSB 3 Start register address LSB...

Page 407: ...it CRC is appended to the message and transmitted LSB first The CRC is calculated on ALL the bytes in the frame 7 2 10 Device compatibility parameters All devices have the following compatibility parameters defined Read Start register address Number of 16bit registers Response Comments 1 28 127 1 0x5678 Standard 16 bit access to a 32bit register will return low 16bit word of truncated data 1 28 16...

Page 408: ...rive without additional equipment Pr 18 11 to Pr 18 17 can be used to transfer this data if Pr 3 49 is set to one It should be noted that the data within the objects in the encoder is undefined until it has been written and that the manufacturer s data is undefined until it has been written by a complete motor object write with Pr 3 49 set to one The tables given below show the motor and performan...

Page 409: ... 15 7 1 1 0 16 8 0 18 17 Motor serial number MSW 0 0 17 8 1 1 0 18 9 0 1 06 Maximum speed 0 0 19 9 1 1 0 20 10 0 2 0 21 10 1 3 18 Motor and load inertia 0 0 22 11 0 1 0 23 11 1 2 0 24 12 0 3 25 Encoder phase angle 0 0 25 12 1 1 0 26 13 0 4 15 Motor thermal time constant 0 0 27 13 1 1 0 28 14 0 4 25 Low speed thermal protection mode 0 0 29 14 1 5 06 Rated frequency 0 0 30 15 0 1 0 31 15 1 5 07 Rate...

Page 410: ...ameter Parameter description Byte Block Address Address Byte 1 0 32 0 Checksum 0 1 1 32 1 1 1 2 33 0 Number of bytes 0 1 3 33 1 1 1 4 34 0 3 10 Speed controller Kp gain 0 1 5 34 1 1 1 6 35 0 3 11 Speed controller Ki gain 0 1 7 35 1 1 1 8 36 0 3 12 Speed controller Kd gain 0 1 9 36 1 1 1 10 37 0 3 17 Speed controller set up method 0 1 11 37 1 3 19 Compliance angle 0 1 12 38 0 1 1 13 38 1 3 20 Bandw...

Page 411: ...in 0 2 5 50 1 1 2 6 51 0 3 11 Speed controller Ki gain 0 2 7 51 1 1 2 8 52 0 3 12 Speed controller Kd gain 0 2 9 52 1 1 2 10 53 0 3 17 Speed controller set up method 0 2 11 53 1 3 19 Compliance angle 0 2 12 54 0 1 2 13 54 1 3 20 Bandwidth 0 2 14 55 0 3 21 Damping factor 1 2 15 55 1 4 05 Motoring current limit 0 2 16 56 0 1 2 17 56 1 4 06 Regen current limit 0 2 18 57 0 1 2 19 57 1 4 12 Torque dema...

Page 412: ...p Closed loop Preset Precision Preset Precision Accuracy 0 01 0 01 0 01 0 01 Resolution 0 1Hz 0 001Hz 0 1rpm 0 001rpm Open Loop Closed loop Pr 1 36 Pr 1 37 Pr 4 08 Pr 3 19 Other Pr 1 36 Pr 1 37 Pr 4 08 Pr 3 22 Other All kHz Analog input 1 4ms 4ms 4ms 4ms 250μs 4ms 250μs 4ms Analog input 2 3 4ms 4ms 4ms 4ms 250μs 250μs 250μs 4ms Open loop Closed loop Analog input 1 16 bits plus sign 16 bits plus si...

Page 413: ...owing bandwidth values are for 12kHz PWM switching frequency 9 6 1 Speed loop The speed loop bandwidth is 160Hz 9 6 2 Current loop The current loop bandwidth is 1100Hz for the 3dB point and 400Hz for the 45 point 1 The gain characteristic and associated 3dB point is most useful where drive is used in an application where the current controller is not included within an outer control loop 2 The pha...

Page 414: ...ent on the output of the speed estimator but this filter may be extended by setting Pr 3 42 as follows 0 4ms 1 8ms 2 16ms 3 32ms 4 64ms 5 128ms The output of the speed estimator can include some ripple which increases as the drive passes into field weakening and the filter can be used to remove this ripple This is particularly useful when using standard ramp or spinning start with a low friction h...

Page 415: ... 218 Braking IGBT active 179 Braking resistor alarm 179 Braking time 197 C Catch a spinning motor 138 Closed loop vector mode 64 Coding 18 Coiler uncoiler mode 101 Compliance angle 63 Compliance angle set up 63 Control word 145 Current control 88 Current controller Ki gain 103 Current controller Kp gain 102 Current limit 98 Current limit operation 103 D Damping factor 64 DC bus voltage 114 DC_VOLT...

Page 416: ...dynamic performance enable 128 High stability space vector modulation 126 I IGBT junction temperature 160 Inertia compensation enable 108 Inertia compensation torque 50 Inertia measurement 119 Injection braking level 137 Integral gain 60 J Jog acceleration rate 48 Jog deceleration rate 49 Jog reference 32 K Keypad 10 Keypad control 14 Keypad control mode reference 37 Keypad operation 10 L Limit sw...

Page 417: ...t electronic nameplate transfer 78 Motor object parameters 408 Motor rated current 114 Motor rpm 113 Motor saturation breakpoint 129 Motor torque per amp Kt 130 Motor volts per 1000rpm Ke 131 Motorized pot 172 N Non rigid position control 240 Number of motor poles 117 O Open collector output 168 Operating resolution 275 Orientation on stop 240 Output frequency 113 Output power 113 Output voltage 1...

Page 418: ...9 SPEED_LIMIT_MAX 19 SPEED_MAX 19 Square law mode 116 Stationary test 118 119 Stator inductance 128 Stator resistance 122 Status mode 11 Status word 202 Stop mode 135 Switching frequency maximum 124 T Temperature monitoring circuit 326 Thermal protection mode 105 Thermal time constant 105 Thermistor 156 Threshold detector 1 219 Threshold detector 2 219 Threshold detectors 218 Torque control 101 To...

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