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configuration
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the motor
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Information
130
Unidrive SPM User Guide
www.controltechniques.com Issue Number: 3
9.4.3 Closed loop vector mode
Induction motor with incremental encoder feedback
For simplicity only an incremental quadrature encoder will be considered here. For information on setting up one of the other supported speed
feedback devices, refer to section 9.6
Setting up a feedback device
on page 132.
Action
Detail
Before power-up
Ensure:
•
Drive Enable signal is not given (terminal 31)
•
Run signal is not given
•
Motor and feedback device are connected
Power-up the
drive
Ensure:
•
Drive displays ‘inh’
If the drive trips, see
Chapter 15
Diagnostics
on page 275.
Set motor
feedback
parameters
Incremental encoder basic set-up
Enter:
•
Drive encoder type in Pr
3.38
= Ab (0): Quadrature encoder
•
Encoder power supply in Pr.
3.36
= 5V (0), 8V (1) or 15V (2)
.
If output voltage from the encoder is >5V, then the termination resistors must be disabled Pr
3.39
to 0.
•
Drive encoder Lines Per Revolution (LPR) in Pr
3.34
(set according to encoder)
•
Drive encoder termination resistor setting in Pr.
3.39
:
0
= A-A\, B-B\, Z-Z\ termination resistors disabled
1
= A-A\, B-B\, termination resistors enabled, Z-Z\ termination resistors disabled
2
= A-A\, B-B\, Z-Z\ termination resistors enabled
Enter motor
nameplate
details
Enter:
•
Motor rated frequency in Pr
0.47
(Hz)
•
Motor rated current in Pr
0.46
(A)
•
Motor rated speed (base speed - slip speed) in Pr
0.45
(rpm)
•
Motor rated voltage in Pr
0.44
(V) - check if
or
connection
Set maximum
speed
Enter:
•
Maximum speed in Pr
0.02
(rpm)
Set acceleration /
deceleration
rates
Enter:
•
Acceleration rate in Pr
0.03
(s/1000rpm)
•
Deceleration rate in Pr
0.04
(s/1000rpm) (If braking resistor installed, set Pr
0.15
= FAST. Also ensure Pr
10.30
and Pr
10.31
are set correctly, otherwise premature ‘It.br’ trips may be seen.)
Autotune
Unidrive SP is able to perform either a stationary or a rotating autotune. The motor must be at a
standstill before an autotune is enabled. A stationary autotune will give moderate performance whereas
a rotating autotune will give improved performance as it measures the actual values of the motor
parameters required by the drive.
•
A stationary autotune can be used when the motor is loaded and it is not possible to
uncouple the load
from the motor shaft. The stationary autotune measures the stator resistance and transient inductance of
the motor. These are used to calculate the current loop gains, and at the end of the test the values in Pr
0.38
and Pr
0.39
are updated. A stationary autotune does not measure the power factor of the motor so
the value on the motor nameplate must be entered into Pr
0.43
.
•
A rotating autotune should only be used if the motor is un
coupled. A rotating autotune first performs a
stationary autotune before rotating the motor at
2
/
3
base speed in the direction selected. The rotating
autotune measures the stator inductance of the motor and calculates the power factor.
To perform an autotune:
•
Set Pr
0.40
= 1 for a stationary autotune or set Pr
0.40
= 2 for a rotating autotune
•
Close the Drive Enable signal (terminal 31). The drive will display ‘rdY’
•
Close the run signal (terminal 26 or 27). The lower display will flash ‘Auto’ and ‘tunE’ alternatively, while
the drive is performing the autotune.
•
Wait for the drive to display ‘rdY’ or ‘inh’ and for the motor to come to a standstill
If the drive trips, see Chapter 15
Diagnostics
on page 275.
Remove the drive enable and run signal from the drive.
Save parameters
Enter 1000 in Pr
xx.00
Press the red
reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)
Run
Drive is now ready to run
NOTE
Setting the encoder voltage supply too high for the encoder could result in damage to the feedback
device.
CAUTION
Mot X XXXXXXXXX
No XXXXXXXXXX kg
IP55 I.cl F C 40 s S1
°
V
Hz min
-1
kW cos
φ
A
230
400
50 1445 2.20 0.80 8.50
4.90
CN = 14.5Nm
240
415
50 1445 2.20 0.76 8.50
4.90
CN = 14.4Nm
CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN
I.E.
C
34
1
(87)
0.02
t
1000rpm
0.03
t
0.04
A rotating autotune will cause the motor to accelerate up to
2
/
3
base speed in the direction
selected regardless of the reference provided. Once complete the motor will coast to a stop. The
enable signal must be removed before the drive can be made to run at the required reference.
The drive can be stopped at any time by removing the run signal or removing the drive enable.
WARNING
cos
∅
σ
L
S
T
Nm
N rpm
saturation
break-
points
R
S
L
S
