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252
Unidrive SPM User Guide
www.controltechniques.com Issue Number: 3
13.19 Menu 21: Second motor parameters
* The menu 0 references are only valid when the second motor map parameters have been made active by setting Pr
11.45
to 1. (The second motor
map only becomes effective when the output stage of the drive is not enabled, i.e. inh, rdY, or trip states.)
When the second motor map parameters are active, the symbol ‘Mot2’ will appear in the lower left hand corner of the LCD display or the decimal point
that is second from the right on the first row of the LED display is lit.
Parameter
Range(
Ú
)
Default(
Ö
)
Type
OL
CL
OL
VT
SV
21.01
Maximum reference clamp
{
0.02
}*
0 to 3,000.0 Hz
SPEED_LIMIT_MAX rpm
EUR> 50.0
USA> 60.0
EUR> 1,500.0
USA> 1,800.0
3,000.0
RW Uni
US
21.02
Minimum reference clamp
{
0.01
}*
±3,000.0 Hz
±SPEED_LIMIT_MAX rpm
0.0
RW Bi
PT US
21.03
Reference selector
{
0.05
}* A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), PAd (4), Prc (5)
A1.A2 (0)
RW Txt
US
21.04
Acceleration rate
{
0.03
}*
0.0 to 3,200.0
s/100Hz
0.000 to 3,200.000
s/1000rpm
5.0
2.000
0.200
RW Uni
US
21.05
Deceleration rate
{
0.04
}*
0.0 to 3200.0
s/100Hz
0.000 to 3,200.000
s/1000rpm
10.0
2.000
0.200
RW Uni
US
21.06
Rated frequency
{
0.47
}*
0 to 3000.0 Hz
VT> 0 to 1250.0Hz
EUR> 50
USA> 60
RW Uni
US
21.07
Rated current
{
0.46
}*
0 to RATED_CURRENT_MAX A
Drive rated current (Pr
11.32
)
RW Uni
RA
US
21.08
Rated load rpm
{
0.45
}*
0 to 180,000 rpm
0.00 to 40,000.00 rpm
EUR> 1,500
USA> 1,800
EUR> 1,450.00
USA> 1,770.00
3,000.00
RW Uni
US
21.09
Rated voltage
{
0.44
}*
0 to AC_VOLTAGE_SET_MAX V
200V rating drive: 230V
400V rating drive: EUR> 400V, USA> 460V
575V rating drive: 575V
690V rating drive: 690V
RW Uni
RA
US
21.10
Rated power factor
{
0.43
}*
0.000 to 1.000
VT> 0.000 to 1.000
0.85
RW Uni
RA
US
21.11
Number of motor poles
{
0.42
}*
Auto to 120 pole (0 to 60)
Auto (0)
6 POLE (3) RW Txt
US
21.12
Stator resistance
0.000 to 65.000
x 10 m
Ω
0.0
RW Uni
RA
US
21.13
Voltage offset
0.0 to 25.0 V
0.0
RW Uni
RA
US
21.14
Transient inductance (
σ
L
s)
0.000 to 500.000mH
0.000
RW Uni
RA
US
21.15
Motor 2 active
OFF (0) or On (1)
RO Bit
NC PT
21.16
Thermal time constant
{
0.45
}*
0.0 to 3000.0
89.0
20.0
RW Uni
US
21.17
Speed controller Kp gain
{
0.07
}*
0.000 to 6.5535 rad s
-1
0.0300
0.0100
RW Uni
US
21.18
Speed controller Ki gain
{
0.08
}*
0.00 to 655.35 s/rad s
-1
0.10
1.00
RW Uni
US
21.19
Speed controller Kd gain
{
0.09
}*
0.00000 to 0.65535
s
-1
/rad s
-1
0.00000
RW Uni
US
21.20
Encoder phase angle
{
0.43
}*
0.0 to 359.9
°
electrical
0.0
RW Uni
US
21.21
Speed feedback selector
drv (0), SLot1 (1),
SLot2 (2), SLot3 (3)
drv (0)
RW Txt
US
21.22
Current controller Kp gain
{
0.38
}*
0 to 30,000
20
200V: 75, 400V: 150,
575V: 180, 690V: 215
RW Uni
US
21.23
Current controller Ki gain
{
0.39
}*
0 to 30,000
40
200V: 1,000, 400V: 2,000,
575V: 2,400, 690V: 3,000
RW Uni
US
21.24
Stator inductance (L
s
)
VT> 0.00 to 5,000.00 mH
0.00
RW Uni
RA
US
21.25
Motor saturation breakpoint 1
VT> 0 to 100% of rated flux
50
RW Uni
US
21.26
Motor saturation breakpoint 2
VT> 0 to 100% of rated flux
75
RW Uni
US
21.27
Motoring current limit
0 to MOTOR2_CURRENT_LIMIT_MAX %
165.0
175.0
RW Uni
RA
US
21.28
Regen current limit
0 to MOTOR2_CURRENT_LIMIT_MAX %
165.0
175.0
RW Uni
RA
US
21.29
Symmetrical current limit
{
0.06
}*
0 to MOTOR2_CURRENT_LIMIT_MAX %
165.0
175.0
RW Uni
RA
US
21.30
Motor volts per 1,000 rpm, K
e
SV> 0 to 10,000 V
98
RW Uni
US
21.31
Motor pole pitch
0.00 to 655.35 mm
0.00
RW Uni
US
RW Read / Write
RO
Read only
Uni
Unipolar
Bi
Bi-polar
Bit
Bit parameter
Txt
Text string
FI
Filtered
DE
Destination
NC
Not copied
RA
Rating dependent
PT
Protected
US
User save
PS
Power down save
Encoder phase angle (servo mode only)
With drive software version V01.08.00 onwards, the encoder phase angles in Pr
3.25
and Pr
21.20
are copied to the SMARTCARD when using
any of the SMARTCARD transfer methods.
With drive software version V01.05.00 to V01.07.01, the encoder phase angles in Pr
3.25
and Pr
21.20
are only copied to the SMARTCARD
when using either Pr
0.30
set to Prog (2) or Pr
xx.00
set to 3yyy.
This is useful when the SMARTCARD is used to back-up the parameter set of a drive but caution should be used if the SMARTCARD is used to
transfer parameter sets between drives.
Unless the encoder phase angle of the servo motor connected to the destination drive is known to be the same as the servo motor connected
to the source drive, an autotune should be performed or the encoder phase angle should be entered manually into Pr
3.25
(or Pr
21.20
). If the
encoder phase angle is incorrect the drive may lose control of the motor resulting in an O.SPd or Enc10 trip when the drive is enabled.
With drive software version V01.04.00 and earlier, or when using software version V01.05.00 to V01.07.01 and Pr
xx.00
set to 4yyy is used,
then the encoder phase angles in Pr
3.25
and Pr
21.20
are not copied to the SMARTCARD. Therefore, Pr
3.25
and Pr
21.20
in the destination
would not be changed during a transfer of this data block from the SMARTCARD.
WARNING
