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Emerson Unidrive SPM, User Manual

The Emerson Unidrive SPM is a cutting-edge motor drive system. Enhance your understanding and maximize its potential with the comprehensive user manual available for free download at manualshive.com. Discover in-depth instructions, troubleshooting tips, and operational insights to optimize your experience with this exceptional product.

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Safety 

Information

Introduction

Product 

Information

System 

configuration

Mechanical 

Installation

Electrical 

Installation

Getting 
Started

Basic 

parameters

Running 

the motor

Optimization

SMARTCARD 

operation

Onboard 

PLC

Advanced 

parameters

Technical 

Data

Diagnostics

UL Listing 

Information

124

 Unidrive SPM User Guide

www.controltechniques.com                                                       Issue Number: 3

9      Running the motor

This chapter takes the new user through all the essential steps to 
running a motor for the first time, in each of the possible operating 
modes.
For information on tuning the drive for the best performance, see 
Chapter 10

Optimization

.

9.1      Quick start Connections

9.1.1     Basic requirements 

This section shows the basic connections which must be made for the 
drive to run in the required mode. For minimal parameter settings to run 
in each mode please see the relevant part of section 9.4

Quick Start 

commissioning/start-up

on page 128. 

Table 9-1 Minimum control connection requirements for each 

control mode

Table 9-2 Minimum control connection requirements for each 

mode of operation

Speed feedback

Suitable devices are: 
•

Incremental encoder (A, B or F, D with or without Z)

•

Incremental encoder with forward and reverse outputs (F, R with or 
without Z)

•

SINCOS encoder (with, or without Stegmann Hiperface, EnDat or 
SSI communications protocols)

•

EnDat absolute encoder

Speed and position feedback

Suitable devices are:
•

Incremental encoder (A, B or F, D with or without Z) with 
commutation signals (U, V, W)

•

Incremental encoder with forward and reverse outputs (F, R with or 
without Z) and commutation outputs (U, V, W)

•

SINCOS encoder (with Stegmann Hiperface, EnDat or SSI 
communications protocols)

•

EnDat absolute encoder

 
For Solutions Module terminal information see section 13.15

Menus 15, 

16 and 17: Solutions Module set-up

on page 215 or the appropriate 

Solutions Module option user guide.

9.2      Changing the operating mode

Changing the operating mode returns all parameters to their default 
value, including the motor parameters. (Pr 

0.49

 and Pr 

0.34

 are not 

affected by this procedure.)

Procedure

Use the following procedure only if a different operating mode is 
required:
1. Enter either of the following values in Pr 

xx.00

, as appropriate:

1253 (EUR, 50Hz AC supply frequency)
1254 (USA, 60Hz AC supply frequency)

2. Change the setting of Pr 

0.48

 as follows:

The figures in the second column apply when serial communications are 
used.
3. Either:
•

Press the red 

 reset button 

•

Toggle the reset digital input

•

Carry out a drive reset through serial communications by setting Pr 

10.38

 to 100 (ensure that Pr. 

xx.00

 returns to 0).

9.3      Changing keypad mode

Pressing the following keypad buttons selects the keypad mode
•

Blue  - Auto

•

Red 

 - Off

•

Green  - Hand

In Hand mode, the motor speed is adjusted by pressing the keypad up/
down arrow buttons. 
In Auto mode, the motor speed control reference is determined by the 
value set in the speed/frequency reference selector Pr 

0.05

. If hand 

mode is selected then the motor speed will not change during the 
transition.
In Off mode, the motor will be stopped but pressing the keypad up/down 
arrow buttons will allow the keypad control reference Pr 

1.17

 to be 

adjusted. Selecting Hand mode will then ramp the motor up to the 
selected speed.

Ensure that no damage or safety hazard could arise from the 
motor starting unexpectedly.

The values of the motor parameters affect the protection of 
the motor.
The default values in the drive should not be relied upon.
It is essential that the correct value is entered in Pr 

0.46

 

Motor 

rated current

. This affects the thermal protection of the motor.

If the keypad mode has been used previously, ensure that 

the keypad reference has been set to 0 using the 

 

buttons as if the drive is started using the keypad it will run to 
the speed defined by the keypad reference (Pr 

0.35

).

If the intended maximum speed affects the safety of the 
machinery, additional independent over-speed protection 
must be used.

Drive control method

Requirements

Terminal mode

Drive Enable 
Speed reference
Run forward or run reverse 
command

Keypad mode

Drive Enable

Serial communications

Drive Enable
Serial communications link

Operating mode

Requirements

Open loop mode

Induction motor 

Closed loop vector mode

Induction motor with speed 
feedback

Closed loop servo mode

Permanent magnet motor with 
speed and position feedback 

WARNING

CAUTION

CAUTION

WARNING

Pr 0.48 setting

Operating mode

1

Open-loop

2

Closed-loop vector

3

Closed-loop Servo

4

Regen (See the 

Unidrive SP Regen 

Installation Guide

 for more information 

about operating in this mode)

Summary of Contents for Unidrive SPM

Page 1: ...User Guide Unidrive SPM Universal Variable Speed AC Drive Modular Solutions for induction and servo motor applications Part Number 0471 0053 03 Issue 3 www controltechniques com ...

Page 2: ...mising the environmental impacts of its manufacturing operations and of its products throughout their life cycle To this end we operate an Environmental Management System EMS which is certified to the International Standard ISO 14001 Further information on the EMS our Environmental Policy and other relevant information is available on request or can be found at www greendrives com The electronic v...

Page 3: ...fety information It is essential that the warnings are observed and the information considered when working with or designing a system using the drive This map of the user guide helps to find the right sections for the task you wish to complete but for specific information refer to Contents on page 4 to 5 NOTE 1 Safety information 3 Product information 5 Mechanical installation 6 Electrical instal...

Page 4: ...ons 65 6 2 AC supply requirements 67 6 3 Output sharing choke specification 69 6 4 Supplying the drive with DC DC bus paralleling 70 6 5 Resistor sizing for Unidrive SPMU softstart 70 6 6 Heatsink fan supply 73 6 7 Control 24Vdc supply 73 6 8 Low voltage DC power supply 73 6 9 Ratings 74 6 10 Output circuit and motor protection 75 6 11 Braking 77 6 12 Ground leakage 79 6 13 EMC Electromagnetic com...

Page 5: ...189 13 8 Menu 8 Digital I O 192 13 9 Menu 9 Programmable logic motorized pot binary sum and timers 195 13 10 Menu 10 Status and trips 198 13 11 Menu 11 General drive set up 199 13 12 Menu 12 Threshold detectors variable selectors and brake control function 200 13 13 Menu 13 Position control 206 13 14 Menu 14 User PID controller 212 13 15 Menus 15 16 and 17 Solutions Module set up 215 13 16 Menu 18...

Page 6: ...ters The drives must be installed only by professional assemblers who are familiar with requirements for safety and EMC The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used Refer to the User Guide An EMC Data Sheet is also available giving detailed EMC information SPMA1401 SPMA1402 SPMA1421 SPMA1422 SPMA1...

Page 7: ...fe mechanical brake in case of loss of motor braking The SAFE TORQUE OFF SECURE DISABLE function has been approved1 as meeting the requirements of EN954 1 category 3 for the prevention of unexpected starting of the drive It may be used in a safety related application The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant sa...

Page 8: ...maller drives Soft start is built in The Unidrive SPMU is used as a front end to the SPMD inverter module or as a stand alone rectifier for several smaller drives Softstart must be supplied externally using a resistor and contactor or SPMC An external 24V 3A power supply is required in addition to the AC supply to allow the rectifier to operate See section 6 14 3 Unidrive SPMC U control connection...

Page 9: ...Figure 2 4 Dual diode rectifier To gain access to the second power stage terminals the housing covers must be removed See Figure 5 3 on page 35 2 2 SPMA inverter The SPMA is a complete drive with internal rectifier and AC input line chokes AC in to AC out It can provide a maximum continuous output current of 236A 400V drive DC connections are available for use in regen and bus parallel application...

Page 10: ...ing IGBT fitted Figure 2 6 SPMA inverter schematic 2 4 Input line reactor The INL line reactor must be used in conjunction with the Unidrive SPMC U rectifiers See section 6 2 2 Input line reactor specifications on page 67 for further information Figure 2 7 Single input line reactor INLX0X force cooled INLX0XW Figure 2 8 Dual input line reactor INLX1X This is not an interbridge reactor 2 5 Output s...

Page 11: ...he minimum material version Minimum airflow and maximum ambient temperature must be maintained Refer to Table 14 24 on page 270 Unidrive SPM product line SPMC Number of rectifier stages Voltage rating Current rating step SPMU Uncontrolled rectifier SPMC 1 4 0 2 Controlled rectifier 4 380V to 480V 6 500V to 690V Unidrive SPM product line SPMA SPM frame size Voltage rating Configuration Current rati...

Page 12: ...the motor speed is below 15 of base speed when Pr 4 25 0 default and below 50 when Pr 4 25 1 For constant torque applications or applications which require a high overload capability e g winders hoists The thermal protection is set to protect force ventilated induction motors and permanent magnet servo motors by default N If the application uses a self ventilated TENV TEFC induction motor and incr...

Page 13: ... modules Normal Duty Heavy Duty Required output sharing choke Maximum continuous output current Peak current Nominal motor power at 400V Nominal motor power at 460V Maximum continuous output current Open loop peak current Closed loop peak current Nominal motor power at 400V Nominal motor power at 460V A A kW hp A A A kW hp 2 x SPMA14X1 389 428 225 300 342 439 512 185 300 1 x OTL411 2 x SPMA14X2 44...

Page 14: ...dule in two ways directly above the inverter docked or independently mounted in different vertical planes undocked Changes in the flow of air mean that the ratings are different for the two mounting methods for SPMD12x4 For details on docking refer to section 5 6 Docking a Unidrive SPMC U to an SPMD on page 39 Model Normal Duty Heavy Duty Required rectifier Required input line reactor External 24V...

Page 15: ...imum continuous output current Peak current Nominal motor power at 400V Nominal motor power at 460V Maximum continuous output current Open loop peak current Closed loop peak current Nominal motor power at 400V Nominal motor power at 460V A A kW hp A A A kW hp 2 x SPMD14X1 389 428 225 300 342 439 512 185 300 1 x SPMC2402 1 x INL411 1 x OTL411 2 x SPMD14X2 467 514 280 400 399 513 598 225 300 1 x OTL...

Page 16: ...s output current Peak current Nominal motor power at 690V Nominal motor power at 575V Maximum continuous output current Open loop peak current Closed loop peak current Nominal motor power at 690V Nominal motor power at 575V A A kW hp A A A kW hp 2 x SPMD16X1 237 261 250 250 190 244 284 200 200 1 x SPMC2601 1 x INL611 1 x OTL611 2 x SPMD16X2 273 300 280 300 237 305 356 250 250 1 x OTL612 2 x SPMD16...

Page 17: ...tor using the feedback device to ensure the rotor speed is exactly as demanded Motor flux is accurately controlled at all times to provide full torque all the way down to zero speed For further details refer to section 10 1 3 Closed loop vector motor control on page 141 3 2 4 Servo For use with permanent magnet brushless motors with a feedback device installed The drive directly controls the speed...

Page 18: ... Encoder connection Control terminals Solutions Module slot 1 Solutions Module slot 3 Rating label Status LED Approvals label B Relay terminals AC supply Internal EMC filter DC supply Motor connections Low voltage DC mode enable heatsink fan supply connections Brake resistor Control master pod Control slave pod SPMA Motor connections Low voltage DC mode enable heatsink fan supply connections recti...

Page 19: ...pprovals label B SPMA SPMD Master only Model Heavy Duty Normal Duty power rating Customer and date code Approvals Please read manual before connecting SPMA1601 90 110kW STDN39 Electric Shock Risk Wait 10 min between disconnecting supply removing covers Ser No 3000005001 Made In U K Serial number SP 100 TH Approvals label A SPMA SPMD Master and Slave I P 500 690V 50 60Hz 3ph 128 0A O P 0 690V 100 1...

Page 20: ...w controltechniques com Issue Number 3 3 6 Options Figure 3 3 Control options available with Unidrive SPM A SMARTCARD is provided as standard Only one SMARTCARD can be installed at any one time For further information refer to Chapter 11 SMARTCARD operation on page 149 Paralleling cable is only supplied with a control slave pod Power down the drive before installing removing the Solutions Module W...

Page 21: ...o provide sufficient reactance could damage or reduce the service life of the rectifier or inverter CAUTION Power down the drive before installing removing the Solutions Module Failure to do so may result in damage to the product CAUTION Table 3 15 Solutions Module identification Type Solutions Module Color Name Further Details Feedback Light Green SM Universal Encoder Plus Universal Feedback inte...

Page 22: ...log input current modes 2 x Analog outputs current modes 4 x Digital input outputs 1 x Digital input 2 x Relay outputs Olive SM I O 120V Additional I O conforming to IEC 61131 2 120Vac 6 digital inputs and 2 relay outputs rated for 120Vac operation Cobalt Blue SM I O 24V Protected Additional I O with overvoltage protection up to 48V 2 x Analog outputs current modes 4 x Digital input outputs 3 x Di...

Page 23: ...nt Torque velocity and position control modes supported with data rates bit sec 2MB 4MB 8MB and 16MB Minimum 250μsec network cycle time Two digital high speed probe inputs 1μsec for position capture Beige SM Ethernet Ethernet option 10 base T 100 base T Supports web pages SMTP mail and multiple protocols DHCP IP addressing Standard RJ45 connection Pale Green SM LON LonWorks option LonWorks adapter...

Page 24: ...accessory kit box including the items shown in Table 3 18 and two CD ROMs The Unidrive SPM CD ROM contains information specific to this product and the standard Unidrive SP CD ROM contains general documentation and software tools Table 3 18 Accessories supplied with Unidrive SPM Description SPMA SPMD SPMC U UL warning label Nylon washers Sealing clips Through panel mounting gasket Mounting bracket...

Page 25: ...tion This chapter demonstrates various Unidrive SPM system configurations A suitable external 24Vdc power supply is available from the supplier of the drive See section 14 1 4 Unidrive SPM 24V power supply on page 267 for further details Figure 4 1 Layout for a Unidrive SPMA module operating on a 3 phase AC supply Refer to Table 6 15 on page 74 for technical data and part numbers Fuses are needed ...

Page 26: ...Figure 4 2 Layout for two or more Unidrive SPMA modules operating on a 3 phase AC supply Refer to Table 6 15 on page 74 for technical data and part numbers Fuses are needed only if the power supply has a current rating of more than 10A Refer to section 14 1 3 Supply requirements on page 267 for supply requirements Refer to the external 24V power supply current consumption column in the ratings tab...

Page 27: ...Figure 4 3 Layout for an Unidrive SPMD module operating on a 3 phase supply Refer to Table 6 16 Table 6 17 on page 74 and Table 6 18 on page 75 for technical data and part numbers Fuses are needed only if the power supply has a current rating of more than 10A Refer to Table 6 2 Table 6 3 Table 6 4 and Table 6 5 on page 68 for technical data and part numbers Refer to section 14 1 3 Supply requireme...

Page 28: ...Line reactor U V W DC DC Rectifier to inverter control wiring Fuses 24V SPMD enable 24Vdc Fuses K 1 OPEN CLOSED K 2 OPEN CLOSED 3s Under Voltage Drive Healthy 3s Under voltage active Pr 10 16 Switching sequence for K1 and K2 24Vdc Refer to Table 6 16 Table 6 17 on page 74 and Table 6 18 on page 75 for technical data and part numbers Fuses are needed only if the power supply has a current rating of...

Page 29: ...erface lead Rectifier to inverter control wiring Refer to Table 6 16 Table 6 17 on page 74 and Table 6 18 on page 75 for technical data and part numbers Refer to Table 6 2 Table 6 3 Table 6 4 and Table 6 5 on page 68 for technical data and part numbers Fuses are needed only if the power supply has a current rating of more than 10A Refer to section 14 1 3 Supply requirements on page 267 for supply ...

Page 30: ...ne reactor 24Vdc 24Vdc Refer to Table 6 16 Table 6 17 on page 74 and Table 6 18 on page 75 for technical data and part numbers Refer to Table 6 2 Table 6 3 Table 6 4 and Table 6 5 on page 68 for technical data and part numbers Fuses are needed only if the power supply has a current rating of more than 10A Refer to section 14 1 3 Supply requirements on page 267 for supply requirements Current shari...

Page 31: ...3 Table 6 4 and Table 6 5 on page 68 for technical data and part numbers Fuses are needed only if the power supply has a current rating of more than 10A Refer to section 14 1 3 Supply requirements on page 267 for supply requirements Current sharing between drives whose motor outputs are connected in parallel When used from a 3 phase supply it is preferable not to link the DC bus because the impeda...

Page 32: ...ide www controltechniques com Issue Number 3 Parallel control connections Figure 4 8 Parallel control connections Only supplied with slave drive N The parallel cable should be routed according to the rules shown in Figure 6 25 Sensitive signal circuit clearance on page 84 for the control cable N The screw locks on the parallel cable must be fully tightened Control master pod Control slave pod Para...

Page 33: ...ent is located nearby then full precautions must be observed In built into the drive is an internal EMC filter which reduces emissions under certain conditions If these conditions are exceeded then the use of an external EMC filter may be required at the drive inputs which must be located very close to the drives Space must be made available for the filters and allowance made for carefully segrega...

Page 34: ...c parameters Running the motor Optimization SMARTCARD operation Onboard PLC Advanced parameters Technical Data Diagnostics UL Listing Information 34 Unidrive SPM User Guide www controltechniques com Issue Number 3 Figure 5 1 Location and identification of terminal covers Control Output Input SPMA SPMD SPMC U Control Output Input Input Output ...

Page 35: ...al cover undo the screw and lift the terminal cover off as shown When replacing the terminal covers the screws should be tightened with a maximum torque of 1 N m 0 7 lb ft Figure 5 2 Removing the terminal covers Uni SPMA illustrated Figure 5 3 Removing the Unidrive SPMC U dual rectifier terminal covers and housing When removing the Unidrive SPMC U dual rectifier centre housing undo the 3 x T25 tor...

Page 36: ...Remove any flash sharp edges once the break outs are removed Grommets are available for the Unidrive SPM finger guards Two versions are available allowing for either single or double cable entries N These grommets are required to meet IP20 when installed in an open environment Figure 5 5 Unidrive SPM finger guard grommets The grommets are available as a kit of four grommets under the following par...

Page 37: ... A and pull in the direction shown B The drive has the facility for all three Solutions Module slots to be used at the same time as illustrated N It is recommended that the Solutions Module slots are used in the following order slot 3 slot 2 and slot 1 Figure 5 7 Installation and removal of a keypad To install align the keypad and press gently in the direction shown until it clicks into position T...

Page 38: ...he terminal cover screw highlighted and then removing the two plastic covers 2 Care must be taken when installing master control pod Refer to Figure 5 10 Use the 2 x M6 screws to mount the control master pod to the drive in the position shown 3 The terminal covers can then be re installed Figure 5 9 Mounting the control slave pod on the drive 1 In order to expose the mounting holes remove the cont...

Page 39: ...MC U to an SPMD Docking a Unidrive SPMC U to an SPMD allows the user to create an AC input AC output drive The advantages of docking are Optimization of enclosure layout Reduced cabling Docking results in a reduction of heatsink air flow which has an effect on the drive rating Refer to section 14 1 1 Power and current ratings Derating for switching frequency and temperature on page 263 5 6 1 Insta...

Page 40: ...isting Information 40 Unidrive SPM User Guide www controltechniques com Issue Number 3 Figure 5 13 Location of the docking kit when installed N A current derating must be applied to the Unidrive SPMD1404 when docked with the Unidrive SPMC U Details can be found insection 14 1 1 Power and current ratings Derating for switching frequency and temperature on page 263 Top of SPMD inverter Bottom of SPM...

Page 41: ...ugh panel mounting is where the drive is secured with the heatsink protruding through the enclosure panel to the external environment This has the effect of reducing the temperature within the enclosure The following drawings show the dimensions of the drive and mounting holes for each method to allow a back plate to be prepared 5 7 1 Surface mounting Figure 5 14 Surface mounting the Unidrive SPMA...

Page 42: ...e Number 3 Figure 5 15 Surface mounting the Unidrive SPMD Figure 5 16 Surface mounting the Unidrive SPMC U rectifier 310mm 12 205in 18 9mm 0 744in 758 7mm 29 870in 18 9mm 0 744in 298mm 11 732in 795 5mm 31 319in 258 6 0 5mm 10 181 0 020in 25 7 0 5mm 1 012 0 020in 8 5mm 0 335in 8 5mm 0 335in 777 5 0 5mm 30 650 0 020in 310 1mm 12 209in 18 3mm 0 720in 386 4mm 15 213in 297 4mm 11 709in 399 1mm 15 713in...

Page 43: ... SPMC U rectifier and docking kit N A current derating must be applied to the Unidrive SPMD1404 when docked with the Unidrive SPMC U Details can be found in section 14 1 1 Power and current ratings Derating for switching frequency and temperature on page 263 310 1mm 12 209in 18 3mm 0 720in 18 3mm 0 720in 1145 1mm 45 083in 297 4mm 11 709in 1145 1mm 45 083in 25 7 0 5mm 1 012 0 020in 8 5mm 0 335in 25...

Page 44: ...rive SPM User Guide www controltechniques com Issue Number 3 5 7 2 Through panel mounting Figure 5 18 Through panel mounting the Unidrive SPMA 310mm 12 205in 200mm 7 874in 1105 6mm 43 528in 8 5mm 0 335in 8 5mm 0 335in 1131mm 44 528in 1179 3mm 46 429in 98mm 3 858in 298mm 11 732in 258 6 0 5mm 10 181 0 020in 286 0 0 5mm 11 260 0 020in 1107 8 0 5mm 43 614 0 020in 27 1 0 5mm 1 067 0 020in 13 7 0 5mm 0 ...

Page 45: ...n 806 9mm 31 768in 202mm 7 953in 95mm 3 740in 297mm 11 693in 732 0mm 28 819in R6 5mm 0 256in 27 1 0 5mm 1 067 0 020in 286 0 0 5mm 11 260 0 020in 258 6 0 5mm 10 181 0 020in 8 5mm 0 335in 8 5mm 0 335in R6 5mm 0 256in 13 7 0 25mm 0 539 0 010in 735 0 28 937 0 5mm 0 020in 258 6 0 5mm 10 181 0 020in 789 2 0 5mm 31 071 0 020in 310 1mm 12 209in 25 1mm 0 988in 386 4mm 15 213in 198 3mm 7 807in 95 7mm 3 768i...

Page 46: ...rive SPMD when docked with the Unidrive SPMC U Details can be found insection 14 1 1 Power and current ratings Derating for switching frequency and temperature on page 263 310 1mm 12 209in 24 0mm 0 945in 25 1mm 0 988in 1145 1mm 45 083in 1194 1mm 47 012in 198 3mm 7 807in 96 7mm 3 807in 297mm 11 693in 341 9mm 13 461in 731 9mm 28 815in 1118 2mm 44 024in 8 5mm 0 335in 286 0 0 5mm 11 260 0 020in 258 6 ...

Page 47: ...MA and SPMD can be secured using the screws already located there This only applies to the bottom of the Unidrive SPMC U rectifier On the right hand side the mounting brackets are just inserted into the slots in the chassis of the drive no mounting screws are present here Drive specific brackets Unidrive SPMA Unidrive SPMA also requires two top mounting brackets when the drive is surface mounted T...

Page 48: ...ting Information 48 Unidrive SPM User Guide www controltechniques com Issue Number 3 Figure 5 26 Installation of the Unidrive SPMC U through panel mounting brackets 1 Common Unidrive SPM mounting bracket Ensure short section attached to backplate 2 Unidrive SPMC U supply ground bracket M10x20 screw required to mount bracket maximum length 40mm 1 575in used with vibration resistant washer Torque se...

Page 49: ... maintained for the drive and external EMC filter Forced or convection air flow must not be restricted by any object or cabling Note For EMC compliance 1 When using an external EMC filter one filter is required for each drive 2 Power cabling must be at least 100mm 4in from the drive in all directions A A SPMA SPMD 60mm 2 362in Docked SPMD and SPMC 60mm 2 362in 30mm 1 181in A A Optional braking res...

Page 50: ...g must be at least 100mm 4in from the drive in all directions A 60mm 2 362in Optional braking resistor and overload Locate optional braking resistor external to cubicle preferably near to or on top of the cubicle Locate the overload protection device as required External controller Signal cables Plan for all signal cables to be routed at least 300mm 12in from the drive and any power cable A A Encl...

Page 51: ...ture correction factor Note The ambient temperature correction factor used is for altitude calculation only If the ambient is less than 40 C the drive cannot be over rated The maximum permissible output currents should remain the same as those given at 40 C If the drive is required to operate above 40 C the derates at 50 C should be applied Refer to section 14 1 1 Power and current ratings Deratin...

Page 52: ...ques com Issue Number 3 Figure 5 31 Enclosure design example Drive selection Select drives necessary to achieve desired output current based on altitude calculation and other drive derates e g paralleling derates switching frequency derates ambient derate etc Enclosure design to prevent recirculation of hot air Figure 5 32 Recommended enclosure design For front view of enclosure refer to Figure 5 ...

Page 53: ...closure External ambient temperature rise 64 5 C This shows that with a maximum allowable drive ambient temperature of 40 C the enclosure will get 24 5 C too hot Processing results Option 1 If the absolute temperature inside the enclosure is still less than 50 C select a drive with the correct rating at 50 C Option 2 Add more venting if possible to reduce the recirculation and recalculate Option 3...

Page 54: ...Do not block the inlet and outlets of the drive airflow Keep to best practice spacing between drives and other parts in enclosure 7 Beware of blocking air inlets or outlets with cable routing 5 9 Heatsink fan operation The Unidrive SPMA SPMD and SPMC U are ventilated by a heatsink mounted fan and an auxiliary fan to ventilate the drive box The fan housing forms a baffle plate channelling the air t...

Page 55: ... fan part 2 1 Remove the cable from the fan connector 2 Undo fan cassette screws 3 Slide fan cassette out of heatsink chamber 4 Remove fan screws in order to remove fan from cassette Figure 5 38 Removal of Unidrive SPMC U fan The following rectifiers only have one fan included in their assembly SPMU1402 SPMC U1601 Table 5 5 Unidrive SPM fan assembly part numbers Fan cassette screws Fan connector 1...

Page 56: ... NEMA 12 at the rear of the heatsink for through panel mounting This allows the front of the drive along with various switchgear to be housed in an IP54 NEMA 12 enclosure with the heatsink protruding through the panel to the external environment Thus the majority of the heat generated by the drive is dissipated outside the enclosure maintaining a reduced temperature inside the enclosure This also ...

Page 57: ...panel for the mounting wall of the enclosure through which the drive is mounted 2 Use an internal backplate to pull the rear wall of the enclosure up to the drive gasket See Figure 5 40 for details Nylon washers are supplied in the standard drive kit for sealing off any nut and bolt mountings that exit through the rear wall of the panel 3 If an internal backplate is not available a separate clamp ...

Page 58: ...anel mounted 5 11 External EMC filter In order to provide our customers with a degree of flexibility external EMC filters have been sourced from two manufacturers Schaffner Epcos Filter details for each drive rating are provided in the tables below Both the Schaffner and Epcos filters meet the same specifications Table 5 10 Single drive EMC filter details The external EMC filters for Unidrive SPMA...

Page 59: ...anufacturer A B C D E F G H I J W V 4200 6603 Schaffner 191 mm 7 520 in 140 mm 5 512 in 110 mm 4 330 in 230 mm 9 055 in 210 mm 8 268 in 2 mm 0 079 in 38 mm 1 496 in 136 mm 5 354 in 66 mm 2 600 in 53 5 mm 2 106 in 295 mm 11 614 in 25Nm 18 4 Ib ft 4200 6604 128 mm 5 040 in 357 mm 14 055 in 4200 6315 220 mm 8 661 in 170 mm 6 700 in 43 mm 1 700 in 76 mm 3 000 in 60 mm 2 362 in 339 mm 13 346 in 4200 63...

Page 60: ...os CT part no Weight 2 x SPMD1401 4200 6801 22kg 48 5lb 2 x SPMD1402 2 x SPMD1403 2 x SPMD1404 4200 6802 28kg 61 7lb 4 x SPMD1401 3 x SPMD1403 4 x SPMD1402 4 x SPMD1403 4200 6803 34kg 75lb 4 x SPMD1404 A B D E F H G G C Z W Z V V Ground stud 4200 6801 M10 4200 6802 03 M12 Z 11mm Y 12mm 4200 6801 4200 6802 03 14mm V C Y V V B G CT part no Manufacturer A B C D E F G H W V 4200 6801 Epcos 350mm 13 78...

Page 61: ...cooled INLX0XW For overall dimensions and other details refer to section 6 2 2 Input line reactor specifications on page 67 5 12 2 Output sharing chokes Figure 5 48 Single output sharing choke OTLX0X Figure 5 49 Dual output sharing choke OTLX1X For overall dimensions and other details refer to section 6 3 Output sharing choke specification on page 69 187mm 7 36in M8 130mm 5 12in 5mm 0 2in 227 1mm ...

Page 62: ...2 Unidrive SPM User Guide www controltechniques com Issue Number 3 5 13 Electrical terminals 5 13 1 Location of the power and ground terminals Figure 5 50 Locations of the power and ground terminals on Unidrive SPM Master interface SPMA SPMD SPMC U Relay terminals 3mm Control terminals 2 5mm 8mm AF 8mm AF M10 nut 17mm AF M10 nut 17mm AF 2 5mm M10 nut 17mm AF M10 nut 17mm AF 2 5mm M10 nut 17mm AF M...

Page 63: ...nection type Torque setting All Plug in terminal block 0 5 N m 0 4 lb ft Model AC terminals High current DC and braking Ground terminal All M10 stud 15 N m M10 stud or nut and bolt 15 N m Torque tolerance 10 CT part number Manufacturer Power connections Ground connections Max torque Ground stud size Max torque 4200 6603 Schaffner 12 N m 8 8 lb ft M10 25 N m 18 4 lb ft 4200 6604 4200 6315 4200 6316...

Page 64: ...e or be prevented from being discharged by a voltage applied to the output terminals If the drive has failed in a manner that causes the display to go blank immediately it is possible the capacitors will not be discharged In this case consult Control Techniques or their authorized distributor Equipment supplied by plug and socket Special attention must be given if the drive is installed in equipme...

Page 65: ...ure 6 2 Unidrive SPMD SPMC U rectifier power connections See section 6 1 2 Ground connections See section 6 12 Location of the heatsink fan supply connections SPMA SPMD on page 73 for more information SPMA U V W Motor Optional ground connection DC BR Thermal overload protection device Output connections Input connections Mains Supply L1 L2 Optional line reactor Optional EMC filter Fuses L3 L1 L2 L...

Page 66: ... the SPMD inverter to the SPMC U rectifier See section 5 6 1 Installing the docking kit on page 39 for further details 6 1 2 Ground connections On a Unidrive SPMA SPMD SPMC U the supply and motor ground connections are made using an M10 bolt at the top supply and bottom motor of the drive See Figure 6 3 on page 66 The supply ground and motor ground connections to the drive are connected internally...

Page 67: ...equired it must be located in the primary circuit Unusual hazards can occur on ungrounded supplies with more than one source for example on ships Contact the supplier of the drive for more information Table 6 1 Behaviour of the drive in the event of a ground earth fault with an IT supply 6 2 2 Input line reactor specifications Figure 6 7 Input line reactor output sharing choke dimensions The groun...

Page 68: ...f these motors are started the voltage dip exceeds 20 Such disturbances may cause excessive peak currents to flow in the input power circuit of the drive This may cause nuisance tripping or in extreme cases failure of the drive Drives of low power rating may also be susceptible to disturbance when connected to supplies with a high rated capacity When required each drive must have its own reactor s...

Page 69: ...to skin effect Therefore with the dual OTL chokes only 1m s airflow is required Maximum output frequency for OTL chokes The maximum allowable output frequency for OTL output sharing chokes singles or duals should be limited to 1000Hz Model Current A Inductance μH Width W mm Depth D mm Height H mm Weight kg Max ambient temp C Min airflow m s Required SPM module Part No OTL401 221 40 1 240 220 210 2...

Page 70: ...witching sequence for K1 and K2 6 5 1 Procedure Selection of the resistor and contactor is an iterative process requiring calculations based on the total DC bus capacitance supply voltage and knowledge of the available parts 1 Calculate the total DC bus capacitance of the system by simply adding the DC bus capacitances of each drive that is to be started by the soft start circuit 2 Calculate the e...

Page 71: ...5 Calculate the start up time A start up time of 1 58s is acceptable Step 6 Calculate the supply current throughout the start up time Step 7 Comparing the data from step 6 with the tripping characteristic of the selected MCB Figure 6 11 shows that the supply current is less than the MCB trip curves for each time interval Step 8 To check that the MCB prevents the resistor from overheating assume a ...

Page 72: ...thermal part of the tripping mechanism protects against a high impedance short circuit and the magnetic part of the trip protects the resistor against a direct short circuit Many different MCBs are possible e g GB2CB range from Telemecanique S 281 K range from ABB Table 6 13 MCBs available from Control Techniques Figure 6 11 Example of tripping characteristic Resistor value Ω Power rating W Energy...

Page 73: ...ders or serial communications to continue to operate It can be used to commission the drive when line power voltages are not available as the display operates correctly However the drive will be in the UV trip state unless either line power or low voltage DC operation is enabled therefore diagnostics may not be possible Power down save parameters are not saved when using the 24V back up power supp...

Page 74: ...rotection must be provided at the power input WARNING Model Typical input current Maximum input current Fuse option 1 IEC class gR OR Ferraz HSJ Fuse option 2 HRC AND Semi conductor Typical cable size IEC class gR North America Ferraz HSJ HRC IEC class gG UL class J Semi conductor IEC class aR AC input Motor output Cable installation method A A A A A A mm2 AWG mm2 AWG SPMA14X1 224 241 315 300 250 ...

Page 75: ...age IEC Fuse types IEC class gG Full range breaking capability in general application Slow acting IEC class gR Dual rated semiconductor protection ultra fast acting and cable protection IEC class aR Semiconductor Protection fast acting Provides no protection from slow small overloads so cable must be protected by using a gG fuse or circuit breaker HRC High Rupturing Capacity Denotes the ability of...

Page 76: ...uent sustained braking Multiple motors connected to a single drive For multiple motors the precautions given in section 6 10 3 Multiple motors should be followed For the other cases listed it is recommended that an inverter rated motor be used This has a reinforced insulation system intended by the manufacturer for repetitive fast rising pulsed voltage operation Users of 575V NEMA rated motors sho...

Page 77: ...at the drive can absorb is equal to the power dissipation losses of the drive When the regenerated power is likely to exceed these losses the DC bus voltage of the drive increases Under default conditions the drive brakes the motor under PI control which extends the deceleration time as necessary in order to prevent the DC bus voltage from rising above a user defined set point If the drive is expe...

Page 78: ...ive SPM software contains an overload protection function for a braking resistor In order to enable and set up this function it is necessary to enter two values into the drive Resistor short time overload time Pr 10 30 Resistor minimum time between repeated short time overloads Pr 10 31 This data should be obtained from the manufacturer of the braking resistors Pr 10 39 gives an indication of brak...

Page 79: ...building on page 86 for increased surge immunity of control circuits where control wiring is extended Section 6 13 4 Requirements for meeting the EMC standard for power drive systems IEC61800 3 EN61800 3 Section 6 13 5 Requirements for meeting the generic emission standards for the industrial environment IEC61000 6 4 EN61000 6 4 EN50081 2 The recommendations of section 6 13 3 will usually be suffi...

Page 80: ...1800 3 standard for Power Drive Systems on page 83 and section 14 1 26 Electromagnetic compatibility EMC on page 272 For longer motor cables the filter continues to provide a useful reduction in emission level and when used with any length of shielded motor cable up to the limit for the drive it is unlikely that nearby industrial equipment will be disturbed It is recommended that the filter be use...

Page 81: ...dards on page 84 Figure 6 20 General EMC enclosure layout showing ground connections Metal backplate Optional ground connection External controller 0V If the control circuit 0V is to be grounded this should be done at the system controller only to avoid injecting noise currents into the 0V circuit Grounding bar PE PE If ground connections are made using a separate cable they should run parallel to...

Page 82: ...nterrupted If interruptions are unavoidable ensure the absolute minimum length of pigtail in the shield connections at each interruption Encoder connections Use a cable with the correct impedance Use a cable with individually shielded twisted pairs Connect the cable shields to 0V at both the drive and the encoder using the shortest possible links pigtails The cable should preferably not be interru...

Page 83: ...sembled in the standard recommended configuration Table 6 23 Second environment emission compliance Key Unrestricted EN 61800 3 second environment unrestricted distribution For longer motor cables an external filter is required Where a filter is required follow the guidelines in section 6 13 5 Compliance with generic emission standards Where a filter is not required follow the guidelines given in ...

Page 84: ...troltechniques com Issue Number 3 6 13 5 Compliance with generic emission standards Use the recommended filter and shielded motor cable Observe the layout rules given in Figure 6 24 Ensure the AC supply and ground cables are at least 100mm from the power module and motor cable Figure 6 24 Supply and ground cable clearance Avoid placing sensitive signal circuits in a zone 300mm 12in all around the ...

Page 85: ...tor cable contains an internal safety ground core or there is a separate external ground conductor or grounding is through the shield alone An internal ground core will carry a high noise current and therefore it must be terminated as close as possible to the shield termination Figure 6 27 Grounding the motor cable shield Unshielded wiring to the optional braking resistor s may be used provided th...

Page 86: ...ay from the terminal block Figure 6 31 Connecting the motor cable to a terminal block in the enclosure Using a motor isolator disconnect switch The motor cable shields should be connected by a very short conductor having a low inductance The use of a flat metal coupling bar is recommended conventional wire is not suitable The shields should be bonded directly to the coupling bar using uninsulated ...

Page 87: ...Surge suppression devices are available as rail mounting modules e g from Phoenix Contact Unipolar TT UKK5 D 24 DC Bipolar TT UKK5 D 24 AC These devices are not suitable for encoder signals or fast digital data networks because the capacitance of the diodes adversely affects the signal Most encoders have galvanic isolation of the signal circuit from the motor frame in which case no precautions are...

Page 88: ...s used to supply the DC Bus of SPMD the status output lines can be taken from the SPMC and feed directly into the status inputs of the SPMD The inverter will monitor the status lines and on detection of a trip disable the system Figure 6 36 Single module control terminals and descriptions 75 74 Fan control 0V common Single Module Rectifier SPMC U 73 72 Status input 0 0V common 71 Status input 1 0V...

Page 89: ...l 24V supply 0V common 83 82 Status output 0 0V common 81 80 Status output 1 0V common 60 61 62 63 Inverter master SPMD Status 0 input 0V common Status 1 input 0V common 70 91 90 Relay contacts Rectifier OK 75 74 Fan control 0V common SPMC U 1 73 72 Status input 0 0V common 71 Status input 1 0V common 85 84 External 24V supply 0V common 83 82 Status output 0 0V common 81 80 Status output 1 0V comm...

Page 90: ...ns 85 External 24V supply Function The rectifier must be supplied with 24V to power the fans and control PCB Nominal voltage 24Vdc Minimum continuous operating voltage 23V Maximum continuous operating voltage 28V Current consumption 3 0A Minimum start up voltage 18V Recommended power supply 24V 100W 4 5A Recommended fuse 4A fast blow I2t 20A2s 90 91 Relay contacts Function Rectifier OK indicator C...

Page 91: ...ons 53 54 55 No user connections 60 No connection 61 62 63 No user connections 55 54 53 52 51 50 65 64 63 62 61 60 0V Low voltage DC mode enable Status inputs from rectifier 0V 24V heatsink fan supply Upper terminal connector Lower terminal connector To the heatsink fan Pre wired internally 60 0V common 61 Status 1 input 62 0V common 63 Status 0 input Function To allow status monitoring from the S...

Page 92: ...XTX and RX TX If the end unit is not a drive or the user wishes to use their own termination resistor a 120Ω termination resistor should be connected between RXTX and RX TX at the end unit If the host is connected to a single drive then termination resistors should not be used unless the baud rate is high CT Comms Cable The CT Comms Cable can be used on a multi drop network but should only be used...

Page 93: ...lier Analog input 3 has no default function Refer to Analog input 3 on page 94 The SAFE TORQUE OFF SECURE DISABLE Drive enable terminal is a positive logic input only The control circuits are isolated from the power circuits in the drive by basic insulation single insulation only The installer must ensure that the external control circuits are insulated from human contact by at least one layer of ...

Page 94: ...en loop mode and all other destinations in closed loop vector or servo mode 7 Analog input 2 Default function Frequency speed reference Type of input Bipolar single ended analog voltage or unipolar current Mode controlled by Pr 7 11 Operating in Voltage mode Full scale voltage range 9 8V 3 Maximum offset 30mV Absolute maximum voltage range 36V relative to 0V Input resistance 100kΩ Operating in cur...

Page 95: ... setting the source Pr 8 28 and source invert Pr 8 18 Nominal output current 200mA including all digital I O Maximum output current 240mA including all digital I O Protection Current limit and trip 23 0V common Function Common connection for all external devices 24 Digital I O 1 25 Digital I O 2 26 Digital I O 3 Terminal 24 default function AT ZERO SPEED output Terminal 25 default function DRIVE R...

Page 96: ...ive from generating torque in the motor to a high level of integrity 41 Relay contacts 42 Default function Drive OK indicator Contact voltage rating 240Vac Installation over voltage category II Contact maximum current rating 2A AC 240V 4A DC 30V resistive load 0 5A DC 30V inductive load L R 40ms Contact minimum recommended rating 12V 100mA Contact type Normally open Default contact condition Close...

Page 97: ...oop vector or servo motor a large speed feedback filter Pr 3 42 is required due to the time taken for the position information to be transferred from the encoder into the drive The addition of this filter means that SSI only encoders are not suitable for speed feedback in dynamic or high speed applications Table 6 30 Drive encoder connector details Terminal Setting of Pr 3 38 Ab 0 Fd 1 Fr 2 Ab SEr...

Page 98: ...el Cos 2 Channel Cosref 3 Channel Sin 4 Channel Sinref Type Differential voltage Maximum Signal level 1 25V peak to peak sin with regard to sinref and cos with regard to cosref Maximum input frequency See Table 6 31 Maximum applied differential voltage and common mode voltage range 4V For the SinCos encoder to be compatible with Unidrive SPM the output signals from the encoder must be a 1V peak to...

Page 99: ... cage rotor If the rotor has permanent magnets and or saliency then a transient alignment torque may occur The motor may briefly try to rotate by up to 180 electrical for a permanent magnet motor or 90 electrical for a salient pole induction motor or reluctance motor This possible failure mode must be allowed for in the machine design The following diagrams illustrate how the STO input can be used...

Page 100: ...no single faults in the drive which can permit the motor to be driven Therefore it is not necessary to have a second channel to interrupt the power connection nor a fault detection circuit It is important to note that a single short circuit from the Enable input STO to a DC supply of approximately 24V would cause the drive to be enabled For this reason Figure 6 47 shows the wire from the Enable in...

Page 101: ... on the SM Keypad is displayed on the right hand side of the top row on the SM Keypad Plus This chapter introduces the user interfaces menu structure and security level of the drive 7 1 Understanding the display There are two keypads available for the Unidrive SP The SM Keypad has an LED display and the SM Keypad Plus has an LCD display Both keypads can be installed on the drive but the SM Keypad ...

Page 102: ...r 0 49 the left and right buttons are used to navigate between menus For further information refer to section 7 9 Parameter access level and security on page 106 Use keys to select parameter for editing To enter Edit Mode press key Status Mode Display not flashing Parameter Mode Upper display flashing Edit Mode Character to be edited in lower line of display flashing Change parameter values using ...

Page 103: ...use 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 7 6 Menu structure 7 4 Menu 0 Menu 0 is used to bring together various commonly used parameters for basic easy set up of the drive Appropriate parameters are copied from the advanced menus into menu 0 a...

Page 104: ...ller 9 9 15 16 17 Solutions Module set up 9 9 18 Application menu 1 9 9 19 Application menu 2 9 9 20 Application menu 3 9 9 21 Second motor parameters 9 9 22 Additional Menu 0 set up 9 9 40 Keypad configuration menu X 9 41 User filter menu X 9 70 PLC registers X 9 71 PLC registers X 9 72 PLC registers X 9 73 PLC registers X 9 74 PLC registers X 9 75 PLC registers X 9 85 Timer function parameters X...

Page 105: ... returns to 0 If the drive is in the under voltage trip state or is being supplied from a low voltage DC supply a value of 1001 must be entered into Pr xx 00 to perform a save function 7 8 Restoring parameter defaults Restoring parameter defaults by this method saves the default values in the drive s memory Pr 0 49 and Pr 0 34 are not affected by this procedure Procedure 1 Ensure the drive is not ...

Page 106: ...n the drive is reset the security code will have been activated and the drive returns to Access Level L1 The value of Pr 0 34 will return to 0 in order to hide the security code At this point the only parameter that can be changed by the user is the Access Level Pr 0 49 Unlocking User Security Select a read write parameter to be edited and press the button the upper display will now show CodE Use ...

Page 107: ...to EIA485 and EIA232 to EIA485 isolated converters are available from Control Techniques as follows CT USB Comms cable CT Part No 4500 0096 CT EIA232 Comms cable CT Part No 4500 0087 When using one of the above converters or any other suitable converter with the Unidrive SP it is recommended that no terminating resistors be connected on the network It may be necessary to link out the terminating r...

Page 108: ...CARD operation Onboard PLC Advanced parameters Technical Data Diagnostics UL Listing Information 108 Unidrive SPM User Guide www controltechniques com Issue Number 3 9 Therefore Pr 0 37 is limited to 99 in this mode The value 00 is used to globally address all slaves on the system and x0 is used to address all slaves of group x therefore these addresses should not be set in this parameter ...

Page 109: ... 0 RW Bit US CL Speed controller 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...

Page 110: ... SV Motor 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...

Page 111: ...anical Installation Electrical Installation Getting Started Basic parameters Running the motor Optimization SMARTCARD operation Onboard PLC Advanced parameters Technical Data Diagnostics UL Listing Information Unidrive SPM User Guide 111 Issue Number 3 www controltechniques com ...

Page 112: ...ault settings 0 24 0 25 0 26 0 27 Preset frequency 1 Preset frequency 2 Preset frequency 3 Preset frequency 4 Preset frequency reference Analogue reference 2 1 37 0 20 Any unprotected variable parameter Analogue input 2 destination 0 13 The function of the two digital inputs are controlled by the setting of Pr reference selector See table below for details 0 05 OR Precision reference 0 05 Referenc...

Page 113: ...ZERO SPEED Current limit No of poles Power factor Rated voltage Rated speed Rated current Rated frequency 0 42 0 47 Motor parameters 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 _ L1 L2 L3 _ U V W Resistor optional Drive RUN FORWARD RUN REVERSE RESET Minimum frequency speed clamp 0 01 0 02 26 27 25 Ramps Accel...

Page 114: ...0 04 at the required rate of deceleration Note that larger values produce lower deceleration The rate applies in both directions of rotation 0 00 x 00 Parameter zero RW Uni Ú 0 to 32 767 Ö 0 Value Action 1000 Save parameters when under voltage is not active Pr 10 16 0 and low voltage DC supply is not active Pr 6 44 0 1001 Save parameters under all conditions 1070 Reset all option modules 1233 Load...

Page 115: ...ed value for the motor to run reliably at low speeds Excessive values of Pr 0 08 can cause the motor to be overheated Software V01 10 00 and later the defaults are as above Software V01 09 01 and earlier the default is 1 00 in Closed loop vector and servo modes Closed loop Pr 0 08 3 11 operates in the feed forward path of the speed control loop in the drive See Figure 13 4 on page 174 for a schema...

Page 116: ...form a resultant current vector as shown in the following diagram The active current is the torque producing current and the reactive current is the magnetising or flux producing current Open loop closed loop vector When the motor is being driven below its rated speed the torque is proportional to 0 13 Servo Pr 0 13 can be used to trim out any offset in the user signal to analog input 1 8 2 6 Jog ...

Page 117: ...lows the user to disable the ramps This is generally used when the drive is required to closely follow a speed reference which already contains acceleration and deceleration ramps Open loop Pr 0 17 sets the destination of digital input T29 This parameter is normally set up automatically according to the reference selected by Pr 0 05 In order to manually set up this parameter the T28 and T29 auto s...

Page 118: ...Trip if I 3mA 3 20 4 tr 20 4mA with trip on loss Trip if I 3mA 4 4 20 4 20mA with no trip on loss 0 0 if I 4mA 5 20 4 20 4mA with no trip on loss 100 if I 4mA 6 VOLt Voltage mode 0 20 7 14 Analog input 2 destination RW Uni DE PT US Ú Pr 0 00 to Pr 21 51 Ö Pr 1 37 0 21 7 15 Analog input 3 mode RW Txt PT US Ú 0 to 9 Ö th 8 Pr value Pr string Mode Comments 0 0 20 0 20mA 1 20 0 20 0mA 2 4 20 tr 4 20mA...

Page 119: ...above 62 5 rated load Optimisation is disabled again if the load falls below 50 of rated load For best optimisation results the correct values of stator resistance Pr 5 17 transient inductance Pr 5 24 stator inductance Pr 5 25 and saturation breakpoints Pr 5 29 Pr 5 30 should be stored in the relevant parameters These values can be obtained by the drive during an autotune see Pr 0 40 for further d...

Page 120: ...ve The stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft A rotating autotune first performs a stationary autotune before rotating the motor at 2 3 base speed in the forward direction for several seconds The motor must be free from load for the rotating autotune To perform an autotune set Pr 0 40 to 1 for a stationary test or 2 f...

Page 121: ... conjunction with either the short low speed or minimal movement tests The minimal movement test will move the motor through a small angle to measure the encoder phase angle This test will operate correctly when the load is an inertia and although a small amount of cogging and stiction is acceptable this test cannot be used for a loaded motor To perform an autotune set Pr 0 40 to 1 for a short low...

Page 122: ...compensate for this speed drop Slip compensation is disabled if Pr 0 45 is set to 0 or to synchronous speed or if Pr 5 27 is set to 0 If slip compensation is required this parameter should be set to the value from the rating plate of the motor which should give the correct rpm for a hot machine Sometimes it will be necessary to adjust this when the drive is commissioned because the nameplate value...

Page 123: ...ach bit in this parameter has the following functions Stop on non important trips If bit 0 is set to zero then the drive simply trips when a non important trip occurs Non important trips are th ths Old1 cL2 cL3 SCL If bit 0 is set to one the drive will stop before tripping when one of these trips is initiated except in Regen mode where the drive trips immediately Disable braking IGBT trips For det...

Page 124: ...alues in Pr xx 00 as appropriate 1253 EUR 50Hz AC supply frequency 1254 USA 60Hz AC supply frequency 2 Change the setting of Pr 0 48 as follows The figures in the second column apply when serial communications are used 3 Either Press the red reset button Toggle the reset digital input Carry out a drive reset through serial communications by setting Pr 10 38 to 100 ensure that Pr xx 00 returns to 0...

Page 125: ...anical Installation Electrical Installation Getting Started Basic parameters Running the motor Optimization SMARTCARD operation Onboard PLC Advanced parameters Technical Data Diagnostics UL Listing Information Unidrive SPM User Guide 125 Issue Number 3 www controltechniques com ...

Page 126: ...to protect against fire risk This must be wired to interrupt the AC supply in the event of a fault O p e n L o o p C l o s L o o p e d V e c t o r r e S v o 1 A F Cos 2 A F Cos 3 B D Sin 4 B D Sin 5 Z Data 6 Z Data 7 U Fout Aout Fout Aout 8 U Fout Aout Fout Aout 9 V Dout Bout Dout Bout 10 V Dout Bout Dout Bout 11 W Clk 12 W Clk 13 V V 14 0V 0V 15 Th Th Terminal Encoder connections Encoder connecto...

Page 127: ...ical Data Diagnostics UL Listing Information Unidrive SPM User Guide 127 Issue Number 3 www controltechniques com SPMD U V W 30 31 28 29 26 27 24 25 23 21 22 10 11 8 9 6 7 4 5 3 1 2 Speed reference input RUN FWD RUN REV DRIVE ENABLE 24V 0V 10V Pr PAd 4 0 05 T e r m i n a l M o d e K e y p a d M o d e SM Keypad SM Keypad Plus Optional item must be fitted for keypad mode Braking resistor optional 3 ...

Page 128: ...of the motor and the voltage offset in the drive These are required for good performance in vector control modes A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 0 43 A rotating autotune should only be used if the motor is uncoupled A rotating autotune first performs a stationary autotune before rotating the motor at 2...

Page 129: ...une The motor must be at a standstill before an autotune is enabled A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive It is highly recommended that a rotating autotune is performed Pr 0 40 set to 2 A stationary autotune can be used when the motor is loaded an...

Page 130: ...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 calcul...

Page 131: ...will measure the encoder phase offset angle and calculate the current gains The motor must not be loaded when attempting an autotune The short low speed and normal low speed tests will rotate the motor by up to 2 rotations in the direction selected and the drive measures the encoder phase angle and updates the value in Pr 3 25 The normal low speed test also measures the stator resistance and induc...

Page 132: ...have administrator rights under Windows 2000 XP to install To install CTSoft from the CD insert the CD and the auto run facility should start up the front end screen from which CTSoft can be selected Any previous copy of CTSoft should be uninstalled before proceeding with the installation existing projects will not be lost Included with CTSoft are the user guides for the supported drive models Whe...

Page 133: ...tion Ab SErVO only Termination resistors must be enabled for wire break detection to operate These settings should only be used in closed loop vector mode otherwise a phase offset test must be performed after every power up NOTE Incremental encoder with frequency and direction F and D or Forward and Reverse CW and CCW signals with or without commutation signals Encoder type Pr 3 38 Fd 1 for freque...

Page 134: ... 0 Error detection disabled 1 Wire break detection on Sin and Cos inputs 2 Phase error detection 3 Wire break detection on Sin and Cos inputs and phase error detection Absolute SSI communications only encoder or Absolute Sincos encoder with SSI Encoder type Pr 3 38 SSI 10 for a SSI communications only encoder SC SSI 11 for a Sincos encoder with SSI Encoder power supply voltage Pr 3 36 5V 0 8V 1 or...

Page 135: ...anged software version V01 08 00 and later Initialisation causes an encoder with communications to be re initialised and auto configuration to be performed if selected After initialisation Ab SErVO Fd SErVO and Fr SErVO encoders will use the UVW commutations signals to give position feedback for the first 120 electrical of rotation when the motor is restarted Position feedback device Equivalent Li...

Page 136: ...useful to aid load sharing with mechanically coupled motors Pr 0 42 is also used in the calculation of the motor speed display by the drive for a given output frequency When Pr 0 42 is set to Auto the number of motor poles is automatically calculated from the rated frequency Pr 0 47 and the motor rated speed Pr 0 45 Number of poles 120 x Motor rated frequency Pr 0 47 Motor rated speed Pr 0 45 roun...

Page 137: ...esistance parameter Pr 5 17 However this will not include resistance effects within the drive inverter Therefore if this mode is to be used it is best to use an autotune test initially to measure the stator resistance and voltage offset 3 Ur_Auto The stator resistance and voltage offset are measured once the first time the drive is made to run After the test has been completed successfully the vol...

Page 138: ...omatic optimization of the motor rated speed see Motor rated speed optimization Pr 5 16 later in this table Therefore it is important that the correct value for motor rated voltage is used Pr 0 45 5 08 Motor rated speed Defines the full load rated speed of the motor Pr 0 42 5 11 Motor number of poles Defines the number of motor poles The motor rated speed and motor rated frequency are used to dete...

Page 139: ...n Inertia measurement autotune set Pr 0 40 to 3 and provide the drive with both an enable signal on terminal 31 and a run signal on terminal 26 or 27 Following the completion of an autotune test the drive will go into the inhibit state The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference The drive can be put in to a controlled d...

Page 140: ...sient For a given integral gain the damping can be improved by increasing the proportional gain A compromise must be reached where the system response stiffness and damping are all adequate for the application For RFC mode it is unlikely that the integral gain can be increased much above 0 50 Differential gain Kd Pr 0 09 3 12 and Pr 3 15 The differential gain is provided in the feedback of the spe...

Page 141: ...ion of the motor rated speed see Motor rated speed optimization Pr 5 16 later in this table Therefore it is important that the correct value for motor rated voltage is used Pr 0 45 5 08 Motor rated speed Defines the full load rated speed of the motor Pr 0 42 5 11 Motor number of poles Defines the number of motor poles The motor rated speed and motor rated frequency are used to determine the full l...

Page 142: ...t state The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference The drive can be put in to a controlled disable condition by removing the SAFE TORQUE OFF SECURE DISABLE signal from terminal 31 setting the drive enable parameter Pr 6 15 to OFF 0 or disabling the drive via the control word Pr 6 42 Pr 6 43 Pr 5 16 Motor rated speed au...

Page 143: ...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 response stiffness and damping are all adequate for the application Differential gain Kd Pr 0 09 3 12 and Pr 3 15 The differential gain is provided in the feedback of the speed controller to give additional dam...

Page 144: ...est the drive attempts to accelerate the motor in the direction selected up to 3 4 x rated load rpm and then back to standstill The drive uses rated torque 16 but if the motor cannot be accelerated to the required speed the drive then increases the torque progressively to x1 8 x1 4 x1 2 and x1 rated torque If the required speed is not achieved on the final attempt the test is aborted and a tunE1 t...

Page 145: ...oot 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 response stiffness and damping are all adequate for the application Differential gain Kd Pr 0 09 3 12 and Pr 3 15 The differential gain is provided in the feedback of the speed controller to give additional damping The differential term is im...

Page 146: ...19 I2 K x Motor rated current 2 1 e t τ x 100 This assumes that the maximum allowed motor temperature is produced by K x Motor rated current and that τ is the thermal time constant of the point in the motor that reaches its maximum allowed temperature first τ is defined by Pr 4 15 If Pr 4 15 has a value between 0 0 and 1 0 the thermal time constant is taken as 1 0 The value of K is defined as show...

Page 147: ...be switched between operation with and without feedback when the speed becomes too high for the feedback device The maximum speed limit is defined as above when Pr 3 24 0 or 1 and is 40 000rpm when Pr 3 24 2 or 3 10 6 2 Field weakening constant power operation Open loop and closed loop vector mode only The drive can be used to run an induction machine above synchronous speed into the constant powe...

Page 148: ...pecific constant for the servo motor being used It can normally be found on the motor data sheet in V krpm volts per 1 000rpm 10 6 6 Quasi Square wave open loop only The maximum output voltage level of the drive is normally limited to an equivalent of the drive input voltage minus voltage drops within the drive the drive will also retain a few percent of the voltage in order to maintain current co...

Page 149: ...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 mot...

Page 150: ...cept those with the NC Not copied coding bit set or those that do not have a default value can be transferred to the SMARTCARD Software V01 07 xx All user save US parameters except those with the NC Not copied coding bit set or those that do not have a default value can be transferred to the SMARTCARD In addition to these parameters all menu 20 parameters except Pr 20 00 can be transferred to the ...

Page 151: ...er up Pr 11 42 boot 4 When Pr 11 42 is set to boot 4 the drive operates the same as Auto mode except when the drive is powered up The parameters on the SMARTCARD will be automatically transferred to the drive at power up if the following are true A card is inserted in the drive Parameter data block 1 exists on the card The data in block 1 is type 1 to 5 as defined in Pr 11 38 Pr 11 42 on the card ...

Page 152: ...umber of the currently viewed data block in Pr 11 39 If the destination drive has a different drive mode to the parameters on the card the drive mode will be changed by the action of transferring parameters from the card to the drive The actions of erasing a card erasing a file changing a menu 0 parameter or inserting a new card will effectively set Pr 11 37 to 0 or the lowest file number in the c...

Page 153: ...C bUSY SMARTCARD trip SMARTCARD can not perform the required function as it is being accessed by a Solutions Module 178 Wait for the Solutions Module to finish accessing the SMARTCARD and then re attempt the required function C Chg SMARTCARD trip Data location already contains data 179 Erase data in data location Write data to an alternative data location C Cpr SMARTCARD trip The values stored in ...

Page 154: ...es from default type file Press the red reset button Drive rating parameters are The above parameters will be set to their default values C Typ SMARTCARD trip SMARTCARD parameter set not compatible with drive 187 Press the red reset button Ensure destination drive type is the same as the source parameter file drive type Table 11 4 Trip conditions Trip Diagnosis Parameter Function 2 08 Standard ram...

Page 155: ... full version of SYPT These include Arithmetic blocks Comparison blocks Timers Counters Multiplexers Latches Bit manipulation Typical applications for the Onboard PLC include Ancillary pumps Fans and control valves Interlocking logic Sequences routines Custom control words 12 3 Limitations Compared with the Applications Modules SM Applications SM Applications Lite and SM Applications Plus when pro...

Page 156: ...ications lead to connect the PC to the drive Administrator rights under Windows 2000 XP are required to install the software To install SYPTLite insert the CD and the auto run facility should start up the front end screen from which SYPTLite can be selected See the SYPTLite help file for more information regarding using SYPTLite creating ladder diagrams and the available function blocks 12 5 Onboa...

Page 157: ...er an Onboard PLC program from a drive to the SMARTCARD when the drive contains no program the block is still created on the SMARTCARD but it will contain no data If this data block is then transferred to a drive the destination drive will then have no Onboard PLC program The smallest SMARTCARD compatible with Unidrive SP has a capacity of 4064 bytes and each block can be up to 4064 bytes in size ...

Page 158: ... Guide Menu number Description 0 Commonly used basic set up parameters for quick easy programming 1 Frequency speed reference 2 Ramps 3 Frequency slaving speed feedback and speed control 4 Torque and current control 5 Motor control 6 Sequencer and clock 7 Analog I O 8 Digital I O 9 Programmable logic motorized pot and binary sum 10 Status and trips 11 General drive set up 12 Threshold detectors an...

Page 159: ...17 6 24 6 25 6 26 6 40 Current controller 4 13 4 14 Current 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 04 2 08 6 01 10 30 10 31 10 39 Defaults 11 43 11 46 Digital I O Men...

Page 160: ...5 01 5 02 5 03 5 04 Overspeed threshold 3 08 Phase angle 3 25 5 12 PID controller 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 ...

Page 161: ...e filter change 6 19 6 18 Time powered up log 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 ...

Page 162: ...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 defined by the device selected with the speed feedback selector Pr 3 26 and the ELPR set for the position feedback device In closed loop vector RFC mode SPEED_LIMIT_MAX 40 000rpm SPEED_MAX 40000 0r...

Page 163: ...urrent is given by Pr 5 07 MOTOR2_CURRENT_LIMIT_MAX 1000 0 Maximum current limit settings for motor map 2 This maximum current limit setting 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_M...

Page 164: ...ined as follows Current scaling Kc Kc is the sum of Kc for all the modules Maximum Heavy Duty current rating Maximum Heavy Duty current rating 0 95 x the sum of maximum Heavy Duty current rating for all the modules Maximum Normal Duty rated current Maximum Normal Duty rated current 0 95 x the sum of maximum Normal Duty rated current for all the modules Model KC Maximum Heavy Duty current rating Pr...

Page 165: ...anical Installation Electrical Installation Getting Started Basic parameters Running the motor Optimization SMARTCARD operation Onboard PLC Advanced parameters Technical Data Diagnostics UL Listing Information Unidrive SPM User Guide 165 Issue Number 3 www controltechniques com ...

Page 166: ... 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 reference Preci...

Page 167: ... 1 13 Pre filter reference Pre ramp reference 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 ...

Page 168: ...US 1 22 Preset reference 2 0 25 SPEED_FREQ_MAX Hz rpm 0 0 RW Bi US 1 23 Preset reference 3 0 26 SPEED_FREQ_MAX Hz rpm 0 0 RW Bi US 1 24 Preset reference 4 0 27 SPEED_FREQ_MAX Hz rpm 0 0 RW Bi US 1 25 Preset reference 5 SPEED_FREQ_MAX Hz rpm 0 0 RW Bi US 1 26 Preset reference 6 SPEED_FREQ_MAX Hz rpm 0 0 RW Bi US 1 27 Preset reference 7 SPEED_FREQ_MAX Hz rpm 0 0 RW Bi US 1 28 Preset reference 8 SPEE...

Page 169: ...anical Installation Electrical Installation Getting Started Basic parameters Running the motor Optimization SMARTCARD operation Onboard PLC Advanced parameters Technical Data Diagnostics UL Listing Information Unidrive SPM User Guide 169 Issue Number 3 www controltechniques com ...

Page 170: ...tion 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 1 8 1 50 3 4 1 2 7 5 6 Preset reference selected indicator 2 19 Jog acceleration rate 1 13 Jog selected indicator 1 03 Pre ramp speed reference 2 03 Ramp hold 2 04 Ramp mode select N t N t Acceleration Reverse accel rate Forward accel rate Ramp...

Page 171: ...w controltechniques com 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 indicat...

Page 172: ...000 to 3 200 000 s 1 000rpm 5 0 2 000 0 200 RW Uni US 2 18 Acceleration rate 8 0 0 to 3 200 0 s 100Hz 0 000 to 3 200 000 s 1 000rpm 5 0 2 000 0 200 RW Uni US 2 19 Jog acceleration rate 0 0 to 3 200 0 s 100Hz 0 000 to 3 200 000 s 1 000rpm 0 2 0 000 RW Uni US 2 20 Deceleration rate selector 0 to 9 0 RW Uni US 2 21 Deceleration rate 1 0 04 0 0 to 3 200 0 s 100Hz 0 000 to 3 200 000 s 1 000rpm 10 0 2 0...

Page 173: ...speed upper limit _ 10 06 At speed indicator 20 A 15 way 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 ...

Page 174: ... phase angle ENCODER INTERFACE DRIVE ENCODER POSITION 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 0...

Page 175: ...ow at speed window indicator At speed 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 ...

Page 176: ...17 OL Select x2048 output OFF 0 or On 1 On 1 RW Bit US CL Speed controller set up method 0 to 3 0 RW Uni US 3 18 OL Select F and D frequency slaving output OFF 0 or On 1 OFF 0 RW Bit US CL Motor and load inertia 0 00010 to 90 00000 kg m2 0 00000 RW Uni US 3 19 Compliance angle 0 0 to 359 9 4 0 RW Uni US 3 20 Bandwidth 0 to 255 Hz 10 RW Uni US 3 21 Damping factor 0 0 to 10 0 1 0 RW Uni US 3 22 Hard...

Page 177: ... 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...

Page 178: ...rmal 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 conversion 5...

Page 179: ...nt limit 3 05 Zero speed threshold Speed loop output Torque reference 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...

Page 180: ...eshold Torque reference offset Torque reference Speed over ride level 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 ...

Page 181: ...On 1 OFF 0 RW Bit US 4 11 Torque mode selector 0 14 0 to 1 0 to 4 0 RW Uni US 4 12 Current demand filter 1 0 17 0 0 to 25 0 ms 0 0 RW Uni US 4 13 Current controller Kp gain 0 38 0 to 30 000 20 200V drive 75 400V drive 150 575V drive 180 690V drive 215 RW Uni US 4 14 Current controller Ki gain 0 39 0 to 30 000 40 200V drive 1000 400V drive 2000 575V drive 2400 690V drive 3000 RW Uni US 4 15 Thermal...

Page 182: ...Motor rated voltage 5 07 5 08 Motor rated 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 E...

Page 183: ...anical Installation Electrical Installation Getting Started Basic parameters Running the motor Optimization SMARTCARD operation Onboard PLC Advanced parameters Technical Data Diagnostics UL Listing Information Unidrive SPM User Guide 183 Issue Number 3 www controltechniques com ...

Page 184: ...otor rated current 5 11 Motor 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 Spee...

Page 185: ...er 3 www controltechniques com 4 02 4 17 4 01 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 Mot...

Page 186: ...25 0 of motor rated voltage 1 0 RW Uni US 5 16 Rated rpm autotune 0 33 VT 0 to 2 0 RW Uni US 5 17 Stator resistance 0 000 to 65 000 x 10 mΩ 0 0 RW Uni RA US 5 18 Maximum switching frequency 0 41 3 0 4 1 6 2 3 0 6 2 RW Txt RA US 5 19 High stability space vector modulation OFF 0 or On 1 OFF 0 RW Bit US 5 20 Quasi square enable OFF 0 or On 1 OFF 0 RW Bit US 5 21 Field gain reduction OFF 0 or On 1 OFF...

Page 187: ...ilter changes 6 19 Filter change required done 6 28 Select clock for trip log time stamp 6 16 Electricity cost 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 R...

Page 188: ...rs days 0 to 9 364 years days RW Uni NC PT 6 21 Powered up time hours minutes 0 to 23 59 hours minutes RW Uni NC PT 6 22 Run time years days 0 to 9 364 years days RO Uni NC PT PS 6 23 Run time hours minutes 0 to 23 59 hours minutes RO Uni NC PT PS 6 24 Energy meter MWh 999 9 MWh RO Bi NC PT PS 6 25 Energy meter kWh 99 99 kWh RO Bi NC PT PS 6 26 Running cost 32 000 RO Bi NC PT 6 27 Time before filt...

Page 189: ...log input 3 scaling Any unprotected variable parameter 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...

Page 190: ...2 20 4 tr 3 4 20 4 20 4 5 VOLt 6 th SC 7 th 8 th diSP 9 th 8 RW Txt US 7 16 T8 analog input 3 scaling 0 to 4 000 1 000 RW Uni US 7 17 T8 analog input 3 invert OFF 0 or On 1 OFF 0 RW Bit US 7 18 T8 analog input 3 destination Pr 0 00 to 21 51 Pr 0 00 RW Uni DE PT US 7 19 T9 analog output 1 source Pr 0 00 to 21 51 Pr 5 01 Pr 3 02 RW Uni PT US 7 20 T9 analog output 1 scaling 0 000 to 4 000 1 000 RW Un...

Page 191: ...anical Installation Electrical Installation Getting Started Basic parameters Running the motor Optimization SMARTCARD operation Onboard PLC Advanced parameters Technical Data Diagnostics UL Listing Information Unidrive SPM User Guide 191 Issue Number 3 www controltechniques com ...

Page 192: ...meter 8 23 x 1 x 1 8 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 coll...

Page 193: ...y RO parameter Input terminals Output terminals 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 ...

Page 194: ... 0 RW Bit US 8 16 T29 digital input 6 invert OFF 0 or On 1 OFF 0 RW Bit US 8 17 Relay source invert OFF 0 or On 1 OFF 0 RW Bit US 8 18 T22 24V output source invert OFF 0 or On 1 On 1 RW Bit US 8 20 Digital I O read word 0 to 511 RO Uni NC PT 8 21 T24 digital I O 1 source destination Pr 0 00 to 21 51 Pr 10 03 RW Uni DE PT US 8 22 T25 digital I O 2 source destination Pr 0 00 to 21 51 Pr 10 33 RW Uni...

Page 195: ...meter x 1 9 04 Function 1 input 1 source parameter 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 Any unprotected bit parameter 9 20 Function 2 destination parameter Any bit parameter x 1 9 14 Function 2 input 1 source parameter 9 15...

Page 196: ...ours 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 parameter 9 23 Motorized pot rate Any unprotected variable parameter 9 27 Motorized pot down 9 26 Motorized pot up M 9 03 Motorized pot output indicator 9 22 Motorized pot bipolar select 9 21 9 28 Motorized pot reset ...

Page 197: ...ert OFF 0 or On 1 OFF 0 RW Bit US 9 16 Logic function 2 source 2 Pr 0 00 to 21 51 Pr 0 00 RW Uni PT US 9 17 Logic function 2 source 2 invert OFF 0 or On 1 OFF 0 RW Bit US 9 18 Logic function 2 output invert OFF 0 or On 1 OFF 0 RW Bit US 9 19 Logic function 2 delay 25 0 s 0 0 RW Bi US 9 20 Logic function 2 destination Pr 0 00 to 21 51 Pr 0 00 RW Uni DE PT US 9 21 Motorized pot mode 0 to 3 2 RW Uni ...

Page 198: ...230 RO Txt NC PT PS 10 25 Trip 5 0 to 230 RO Txt NC PT PS 10 26 Trip 6 0 to 230 RO Txt NC PT PS 10 27 Trip 7 0 to 230 RO Txt NC PT PS 10 28 Trip 8 0 to 230 RO Txt NC PT PS 10 29 Trip 9 0 to 230 RO Txt NC PT PS 10 30 Full power braking time 0 00 to 400 00 s 0 00 RW Uni US 10 31 Full power braking period 0 0 to 1500 0 s 0 0 RW Uni US 10 32 External trip OFF 0 or On 1 OFF 0 RW Bit NC 10 33 Drive rese...

Page 199: ...d at power up Pr 0 00 to 00 59 Pr 0 10 RW Uni PT US 11 23 Serial address 0 37 0 to 247 1 RW Uni US 11 24 Serial mode 0 35 AnSI 0 rtU 1 Lcd 2 rtU 1 RW Txt PT US 11 25 Baud rate 0 36 300 0 600 1 1200 2 2400 3 4800 4 9600 5 19200 6 38400 7 57600 8 115200 9 Modbus RTU only 19200 6 RW Txt US 11 26 Minimum comms transmit delay 0 to 250ms 2 RW Uni US 11 28 Drive derivative 0 to 16 RO Uni NC PT 11 29 Soft...

Page 200: ...ctor 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 Detector output destination parameter 1 Any variable parameter 12 23 Threshold Detector 2 input source 12 24 Threshold Detector 2 threshold level Threshold Detector 2 Threshold Detector 2 x 1 12 26 T...

Page 201: ...nput 1 scaling 12 29 12 34 Variable selector 2 input 2 source Variable selector 2 input 2 scaling Variable selector 2 output indicator Variable selector 2 output destination 12 12 12 11 Variable Selector 1 Variable selector 1 mode Variable selector 1 control 12 10 12 15 Any variable parameter 12 08 12 13 Variable selector 1 input 1 source Variable selector 1 input 1 scaling 12 09 12 14 Variable se...

Page 202: ...ower current threshold 12 42 12 43 _ 5 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 ...

Page 203: ...eed feedback Brake 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 X X X X 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 Dr...

Page 204: ...2 13 Variable selector 1 source 1 scaling 4 000 1 000 RW Bi US 12 14 Variable selector 1 source 2 scaling 4 000 1 000 RW Bi US 12 15 Variable selector 1 control 0 00 to 100 00 s 0 00 RW Uni US 12 23 Threshold detector 2 source Pr 0 00 to 21 51 Pr 0 00 RW Uni PT US 12 24 Threshold detector 2 level 0 00 to 100 00 0 00 RW Uni US 12 25 Threshold detector 2 hysteresis 0 00 to 25 00 0 00 RW Uni US 12 26...

Page 205: ...anical Installation Electrical Installation Getting Started Basic parameters Running the motor Optimization SMARTCARD operation Onboard PLC Advanced parameters Technical Data Diagnostics UL Listing Information Unidrive SPM User Guide 205 Issue Number 3 www controltechniques com ...

Page 206: ... 16 06 Slot 2 17 04 17 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...

Page 207: ...X Key Read write RW parameter Read only RO 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 spee...

Page 208: ...5 05 15 06 Slot 1 16 04 16 05 16 06 Slot 2 17 04 17 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...

Page 209: ...error integrator 4 One of the position sources is invalid 5 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 X X X X Orientation 13 14 13 15 Orientation acceptance window Orientation position complete 0 1 0 1 13 01 13 02 13 03 Position loop error Position loop enabled 0 1 2 3 4 5 6 0 1 1 6 08 H...

Page 210: ...sition control 2 Position controller disabled 0 Rigid position control feed fwd 1 Rigid position control 2 Non rigid position control feed fwd 3 Non rigid position control 4 Orientation on stop 5 Orientation on stop and when drive enabled 6 Position controller disabled 0 RW Uni US 13 11 Absolute mode enable OFF 0 or On 1 OFF 0 RW Bit US 13 12 Position controller speed clamp 0 to 250 150 RW Uni US ...

Page 211: ...anical Installation Electrical Installation Getting Started Basic parameters Running the motor Optimization SMARTCARD operation Onboard PLC Advanced parameters Technical Data Diagnostics UL Listing Information Unidrive SPM User Guide 211 Issue Number 3 www controltechniques com ...

Page 212: ...enu 14 User PID controller Figure 13 23 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 source parameter PID feedback PID enable Drive normal indicator Optional P...

Page 213: ...ue Number 3 www controltechniques com 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 Read write RW ...

Page 214: ... 200 0 s 0 0 RW Uni US 14 08 PID enable OFF 0 or On 1 OFF 0 RW Bit US 14 09 PID optional enable source Pr 0 00 to 21 51 Pr 0 00 RW Uni PT US 14 10 PID proportional gain 0 000 to 4 000 1 000 RW Uni US 14 11 PID integral gain 0 000 to 4 000 0 500 RW Uni US 14 12 PID derivative gain 0 000 to 4 000 0 000 RW Uni US 14 13 PID upper limit 0 00 to 100 00 100 00 RW Uni US 14 14 PID lower limit 100 00 100 0...

Page 215: ...Plus and SM I O Plus modules do not contain any software so Pr x 02 and Pr x 51 either show 0 software V01 07 01 and earlier or the parameters do not appear software V01 08 00 and later 13 15 Menus 15 16 and 17 Solutions Module set up Solutions Module slot 1 Menu 15 Solutions Module slot 2 Menu 16 Solutions Module slot 3 Menu 17 Parameter Range Ú Default Ö Type x 01 Solutions Module ID 0 to 599 RO...

Page 216: ...utput Encoder input Data input output Encoder input 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 ...

Page 217: ... 20 Maximum feedback reference rpm _ Freeze flag x 1 x 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 ...

Page 218: ...nation Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE PT US x 24 Encoder simulation source Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni PT US x 25 Encoder simulation ratio numerator 0 0000 to 3 0000 0 2500 RW Uni US x 26 Encoder simulation ratio denominator 0 0000 to 3 0000 1 0000 RW Uni US x 27 Encoder simulation resolution select OFF 0 or On 1 OFF 0 RW Bit NC x 28 Encoder simulation mode Ab 0 Fd 1 SSI Gray 2 SSI B...

Page 219: ...anical Installation Electrical Installation Getting Started Basic parameters Running the motor Optimization SMARTCARD operation Onboard PLC Advanced parameters Technical Data Diagnostics UL Listing Information Unidrive SPM User Guide 219 Issue Number 3 www controltechniques com ...

Page 220: ...rive SPM User Guide www controltechniques com Issue Number 3 Figure 13 26 SM Resolver logic diagram 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 10 SIN HIGH 11 COS LOW 12 COS HIGH 13 REF HIGH excitation 14 REF LOW excitation 15 0V 16 0V 17 0V x 39 x 17 Freeze input SM Universa...

Page 221: ...535 revolutions RO Uni FI NC PT x 05 Position 0 to 65 535 1 216ths of a revolution RO Uni FI NC PT x 10 Equivalent lines per revolution 0 to 50 000 4096 RW Uni US x 13 Resolver excitation 3 1 0 2 1 1 or 2 3 1 0 RW Uni US x 15 Resolver poles 2 pole 0 4 pole 1 6 pole 2 8 pole 3 to 11 2 pole 0 RW Uni US x 17 Error detection level Bit 0 LSB Wire break detect Bit 1 Phase error detect Bit 2 MSB SSI powe...

Page 222: ...27 SM Encoder Plus logic diagram x 29 x 30 Position Revolution counter Non marker position information x 32 x 33 Position Revolution counter Marker position information x 45 Position feedback initialised x 07 Marker position disable x 16 Encoder termination x 15 Encoder type Marker flag _ PL1 Term Encoder connections 1 A 2 A 3 B 4 B 5 Z 6 Z 7 0V 8 Not used x 10 Equivalent lines per revolution x 08...

Page 223: ... PLC Advanced parameters Technical Data Diagnostics UL Listing Information Unidrive SPM User Guide 223 Issue Number 3 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 posi...

Page 224: ...ion Revolution counter Marker 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 PL1 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 Fre...

Page 225: ...rmation Unidrive SPM User Guide 225 Issue Number 3 www controltechniques com PL2 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 ...

Page 226: ...coder supply voltage 0 5V 1 8V 2 15V 0 RW Uni US x 15 Encoder type Ab 0 Fd 1 Fr 2 Ab 0 RW Uni US x 16 Encoder termination 0 to 2 1 RW Bit US x 19 Feedback filter 0 to 5 0 to 16 ms 0 RW Uni US x 24 Encoder simulation source Pr 0 00 to Pr 21 51 0 00 RW Uni PT US x 25 Encoder simulation ratio numerator 0 0000 to 3 0000 0 2500 RW Uni US x 28 Encoder simulation mode 0 Ab 1 Fd 2 Fr 3 Ab with marker lock...

Page 227: ...e category Figure 13 29 SM I O Plus analog logic diagram 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 invert X 40 T9 Analog input 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 settings X 45 Any unprotected variable parame...

Page 228: ... 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 Input terminals Output terminals The parameters are all shown at th...

Page 229: ...4 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 terminals Output terminals T6 digital input 4 invert T6 digital input 4 destination T7 digital input 5 T7 digital input 5 state indicator T...

Page 230: ...ce destination Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE PT US x 22 T3 digital I O 2 source destination Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE PT US x 23 T4 digital I O 3 source destination Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE PT US x 24 T6 digital input 4 destination Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE PT US x 25 T7 digital input 5 destination Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE PT US x 26 T8 dig...

Page 231: ... SM I O Timer digital I O logic diagram 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 51 0V x 07 State Relay source 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 show...

Page 232: ...x 39 Mode Voltage or current 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 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 0 XX 0 XX Key Read write RW p...

Page 233: ...ni NC PT 9 9 x 24 T5 digital input 4 destination Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE PT US 9 9 x 25 T6 digital input 5 destination Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE PT US 9 9 x 26 T7 digital input 6 destination Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE PT US 9 9 x 27 Relay 1 source Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni PT US 9 9 x 30 Real time clock update mode 0 to 2 0 RW Uni NC 9 x 34 Real time c...

Page 234: ... 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 Any unprotected bit parameter Any bit or integer parameter X 33 X 23 x 1 x 1 X 1...

Page 235: ... 13 37 SM I O PELV relay logic diagram Figure 13 38 SM I O PELV analog input logic diagram 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 destination Relay 2 X 17 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 defaul...

Page 236: ...ation Onboard PLC Advanced parameters Technical Data Diagnostics UL Listing Information 236 Unidrive SPM User Guide www controltechniques com Issue Number 3 Figure 13 39 SM I O PELV analog output logic diagram 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 T12 Analog output 2 T10 Analog output 1 1...

Page 237: ... 1 source destination Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE PT US x 22 T4 digital I O 2 source destination Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE PT US x 23 T5 digital I O 3 source destination Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE PT US x 24 T6 digital I O 4 source destination Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE PT US x 25 T7 digital input 5 destination Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE PT US...

Page 238: ... 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 X 23 x 1 x 1 X 13 X 03 T5 digital I O 3 T5 digital I O 3 state T5 digital I O 3 output select T5 ...

Page 239: ...agram 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 digital input 7 T9 digital input 7 state T9 digital in...

Page 240: ...or On 1 OFF 0 RW Bit US x 16 T8 digital input 6 invert OFF 0 or On 1 OFF 0 RW Bit US x 17 T9 digital input 7 invert OFF 0 or On 1 OFF 0 RW Bit US x 18 Relay 1 invert OFF 0 or On 1 OFF 0 RW Bit US x 20 Digital I O read word 0 to 255 RO Uni NC PT x 21 T3 digital I O 1 source destination Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE US x 22 T4 digital I O 2 source destination Pr 0 00 to Pr 21 51 Pr 0 00 RW U...

Page 241: ...tput terminals X X X X The parameters are all shown at their default settings x 04 x 14 Invert x 24 Destination 21 51 x 05 x 15 Invert x 25 Destination 21 51 x 06 x 16 Invert x 26 Destination 21 51 5 7 8 x 09 State x 11 Invert x 21 Destination 0 00 21 51 Any unprotected parameter x 10 x 12 Invert x 22 Destination 0 00 21 51 Any unprotected parameter x 03 x 13 Invert x 23 Destination 0 00 21 51 1 2...

Page 242: ...t 1 state OFF 0 or On 1 RO Bit NC PT x 10 T2 digital input 2 state OFF 0 or On 1 RO Bit NC PT x 11 T1 digital input 1 invert OFF 0 or On 1 OFF 0 RW Bit US x 12 T2 digital input 2 invert OFF 0 or On 1 OFF 0 RW Bit US x 13 T4 digital input 3 invert OFF 0 or On 1 OFF 0 RW Bit US x 14 T5 digital input 4 invert OFF 0 or On 1 OFF 0 RW Bit US x 15 T7 digital input 5 invert OFF 0 or On 1 OFF 0 RW Bit US x...

Page 243: ...r On 1 OFF 0 RW Bit US x 15 Digital I O 5 invert OFF 0 or On 1 OFF 0 RW Bit US x 16 Digital I O 6 invert OFF 0 or On 1 OFF 0 RW Bit US x 17 Digital I O 7 invert OFF 0 or On 1 OFF 0 RW Bit US x 18 Digital I O 8 invert OFF 0 or On 1 OFF 0 RW Bit US x 20 Digital I O read word 0 to 255 0 RO Uni NC PT x 21 Digital I O 1 source destination Pr 0 00 to Pr 21 51 Pr 0 00 RW Uni DE PT US x 22 Digital I O 2 s...

Page 244: ...CTNet node address 0 to 255 0 RW Uni US x 24 CTNet baud rate 5 000 0 2 500 1 1 250 2 0 625 3 2 500 1 RW Txt US x 25 CTNet sync setup 0 000 to 9 999 0 000 RW Uni US x 26 CTNet easy mode first cyclic parameter destination node 0 to 25 503 0 RW Uni US x 27 CTNet easy mode first cyclic source parameter 0 to 9 999 0 RW Uni US x 28 CTNet easy mode second cyclic parameter destination node 0 to 25 503 0 R...

Page 245: ...OFF 0 RW Bit US x 10 to x 19 I data registers 0 9 32 768 to 32 767 RW Bi x 20 to x 29 O data registers 0 9 32 768 to 32 767 RW Bi x 30 Load Solutions Module defaults OFF 0 or On 1 OFF 0 RW Bit US x 31 Save Solutions Module parameters OFF 0 or On 1 OFF 0 RW Bit US x 32 Request to reinitialise OFF 0 or On 1 OFF 0 RW Bit x 33 Download from Fieldbus Solutions Module OFF 0 or On 1 OFF 0 RW Bit x 34 Com...

Page 246: ... byte 3 0 to 255 0 RW Uni x 15 Domain ID byte 4 0 to 255 0 RW Uni x 16 Domain ID byte 5 0 to 255 0 RW Uni x 17 Domain ID byte 6 0 to 255 0 RW Uni x 30 Load Option Defaults Off 0 or On 1 Off 0 RW Bit x 31 Save option parameters Off 0 or On 1 Off 0 RW Bit x 32 Request to re initialise Off 0 or On 1 Off 0 RW Bit x 33 Restore parameters from option module Off 0 or On 1 Off 0 RW Bit x 34 Initialise dri...

Page 247: ...anical Installation Electrical Installation Getting Started Basic parameters Running the motor Optimization SMARTCARD operation Onboard PLC Advanced parameters Technical Data Diagnostics UL Listing Information Unidrive SPM User Guide 247 Issue Number 3 www controltechniques com ...

Page 248: ...reen SLM Not used Not used 5 way terminal RJ45 MC 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...

Page 249: ... High performance Encoder only mode 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...

Page 250: ...000 1024 RW Uni US x 11 SLM software version 0 000 to 9 999 0 000 RO Uni NC PT x 12 SLM power up delay 0 000 0 0 250 1 0 500 2 0 750 3 1 000 4 1 250 5 1 500 6 s 0 250 1 RW Txt US x 13 Not used x 14 Sequencer status 0 to 16 RO Uni NC PT x 15 Not used x 16 Not used x 17 Not used x 18 Not used x 19 Feedback filter 0 0 1 1 2 2 4 3 8 4 16 5 ms 0 0 RW Txt US x 20 Not used x 21 Not used x 22 Not used x 2...

Page 251: ... 18 02 to 18 10 Application menu 1 read only integer 32 768 to 32 767 0 RO Bi NC 18 11 to 18 30 Application menu 1 read write integer 32 768 to 32 767 0 RW Bi US 18 31to 18 50 Application menu 1 read write bit OFF 0 or On 1 0 RW Bit US Parameter Range Ú Default Ö Type 19 01 Application menu 2 power down saved integer 32 768 to 32 767 0 RW Bi NC PS 19 02 to 19 10 Application menu 2 read only intege...

Page 252: ...8 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 Un...

Page 253: ... 51 Pr 11 23 RW Uni PT US 22 10 Parameter 0 40 set up Pr 1 00 to Pr 21 51 Pr 5 12 RW Uni PT US 22 11 Parameter 0 41 set up Pr 1 00 to Pr 21 51 Pr 5 18 RW Uni PT US 22 18 Parameter 0 48 set up Pr 1 00 to Pr 21 51 Pr 11 31 RW Uni PT US 22 20 Parameter 0 50 set up Pr 1 00 to Pr 21 51 Pr 11 29 RW Uni PT US 22 21 Parameter 0 51 set up Pr 1 00 to Pr 21 51 Pr 10 37 RW Uni PT US 22 22 Parameter 0 52 set u...

Page 254: ...ss modes Pr 6 03 Pr 6 48 Pr 4 13 and Pr 4 14 Start stop logic modes Pr 6 04 and Pr 6 40 Catch a spinning motor Pr 6 09 and Pr 5 40 Position loop modes Pr 13 10 Fast disable Pr 6 29 1 14 Reference selector RW Txt NC US Ú A1 A2 0 A1 Pr 2 A2 Pr 2 Pr 3 PAd 4 Prc 5 Ö A1 A2 0 1 15 Preset reference selector RW Uni NC US Ú 0 to 9 Ö 0 8 39 T28 and T29 auto selection disable RW Bit US Ú OFF 0 or On 1 Ö OFF ...

Page 255: ...ases to operate and the drive continues to decelerate at the programmed rate If the standard ramp voltage Pr 2 08 is set lower than the nominal DC Bus level the drive will not decelerate the motor but it will coast to rest The output of the ramp controller when active is a current demand that is fed to the frequency changing current controller Open loop modes or the torque producing current contro...

Page 256: ... Torque control with speed override The output of the speed loop defines the torque demand but is limited between 0 and the resultant torque reference Pr 4 08 and Pr 4 09 if enabled The effect is to produce an operating area as shown below if the final speed demand and the resultant torque reference are both positive The speed controller will try and accelerate the machine to the final speed deman...

Page 257: ...d Servo Only one stopping phases exists and the ready state is entered as soon as the single stopping action is complete The motor can be stopped with position orientation after stopping This mode is selected with the position controller mode parameter Pr 13 10 When this mode is selected Pr 6 01 has no effect Defines the current level used during DC injection braking as a percentage of motor rated...

Page 258: ...m control See parameters Pr 4 13 and Pr 4 14 for set up details The following table shows the voltage levels used by drives with each voltage rating Vml1 is defined by Pr 6 48 The values in the table above are the default values The line power supply loss detection level can be adjusted using this parameter If the value is reduced below the default value the default value is used by the drive If t...

Page 259: ...satisfactory operation with most motors However it may be necessary to change the gains to improve the performance The proportional gain Pr 4 13 is the most critical value in controlling the performance Either the value can be set by auto tuning see Pr 5 12 or it can be set by the user so that Pr 4 13 Kp L T x Ifs Vfs x 256 5 Where T is the sample time of the current controllers The drive compensa...

Page 260: ...nt of the motor during the test therefore the rated current Pr 5 07 Pr 21 07 and Pr 5 10 Pr 21 10 and power factor should be set to values close to those of the motor although these parameters are not as critical as the stator resistance For larger motors it may be necessary to increase Pr 5 40 Spin start boost from its default value of 1 0 for the drive to successfully detect the motor speed It s...

Page 261: ...hes 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 error will exist Relative jogging If relative jogging is enabled the feedback pos...

Page 262: ... a digital I O is set up to provide the fast disable function it is possible to disable the drive within 600μs of de activating the input To do this an enable signal should be given to both the SAFE TORQUE OFF SECURE DISABLE input 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 ...

Page 263: ...175 130 SPMA16X1 110 125 125 100 74 90 100 100 100 74 SPMA16X2 132 150 144 100 74 110 125 125 100 74 SPMD12X1 55 75 192 187 143 45 60 156 150 110 SPMD12X2 75 100 248 225 172 55 75 192 175 128 SPMD12X3 90 125 312 264 202 75 100 250 206 151 SPMD12X4 90 125 335 305 233 90 125 290 241 177 SPMD14X1 110 150 205 187 143 90 150 180 150 110 SPMD14X2 132 175 248 225 172 110 150 210 175 128 SPMD14X3 160 200 ...

Page 264: ...0 158 116 SPMD12X3 244 222 170 224 186 137 SPMD12X4 282 256 196 262 218 160 SPMD14X1 172 157 120 163 135 100 SPMD14X2 208 189 145 190 158 116 SPMD14X3 244 222 170 224 186 137 SPMD14X4 282 256 196 262 218 160 SPMD16X1 114 93 67 100 82 59 SPMD16X2 122 102 75 121 101 75 SPMD16X3 138 117 86 129 108 80 SPMD16X4 138 117 85 137 110 77 Model Normal Duty Heavy Duty Maximum permissible continuous output cur...

Page 265: ...80 2700 55 75 1510 1720 2150 SPMD12X3 90 125 3410 3700 3340 75 100 2670 2930 2910 SPMD12X4 90 125 3730 3540 3240 90 125 3020 3060 2820 SPMD14X1 110 150 2380 2650 2790 90 150 2070 2310 2370 SPMD14X2 132 175 2930 3290 3440 110 150 2490 2800 3120 SPMD14X3 160 200 3500 3650 3410 132 175 2930 3290 3120 SPMD14X4 185 300 3690 3520 3360 160 200 3380 3220 3040 SPMD16X1 110 125 2740 3040 2950 90 100 2160 25...

Page 266: ...2580 1630 1790 2110 SPMD12X2 2650 2910 2960 2030 2240 2630 SPMD12X3 3320 3170 3960 2670 2870 2630 SPMD12X4 3190 3060 2860 2940 2760 2560 SPMD14X1 2380 2650 2520 2070 2260 2150 SPMD14X2 2930 3000 2810 2490 2800 2800 SPMD14X3 3150 3010 2810 2930 2980 2810 SPMD14X4 3050 2920 2760 3030 2850 2720 SPMD16X1 2670 2610 2530 2160 2550 2430 SPMD16X2 2670 2600 2520 2670 2610 2420 SPMD16X3 2720 2650 2530 2710 ...

Page 267: ...current ratings See section 6 2 3 Supplies requiring additional line reactance on page 68 The current rating of the line reactors should be as follows Continuous current rating Not less than the continuous input current rating of the drive Repetitive peak current rating Not less than twice the continuous input current rating of the drive 14 1 6 Motor requirements No of phases 3 Maximum voltage Uni...

Page 268: ... 01 of the reference when a preset speed is used If an analog input is used the absolute accuracy is further limited by the absolute accuracy of the analog input The following data applies to the drive only it does not include the performance of the source of the control signals Open loop resolution Preset frequency reference 0 1Hz Precision frequency reference 0 001Hz Closed loop resolution Prese...

Page 269: ...or paralleled DC bus arrangements When supplied by a single SPMC or SPMU of the correct rating the AC input fuses provide protection for the drive and no DC fuse is required Size Dimension H W D F R SPMA 1169mm 46 016in 310mm 12 205in 298mm 11 732in 200mm 7 874in 98mm 3 858in SPMD 795 5mm 31 319in 202mm 7 953in 95mm 3 740in SPMC U 399 1mm 15 731in Size kg lb SPMA 80 176 4 SPMD 42 92 6 SPMC U 20 44...

Page 270: ...size HRC IEC Class gG UL class J Semi conductor IEC class aR AC input DC output cable Cable installation method A A A A mm2 AWG mm2 AWG SPMC U1402 344 379 450 400 2 x 120 2 x 4 0 2 x 120 2 x 4 0 B1 or C SPMC U2402 2 x 312 2 x 345 450 400 2 x 120 2 x 4 0 2 x 120 2 x 4 0 B1 or C Model Maximum input current Typical DC output current Semiconductor fuse in series with HRC fuse Typical cable size HRC IE...

Page 271: ...m Height H mm Weight kg Max ambient temp C Min airflow m s Required SPM module Part No OTL601 135 103 9 242 170 203 20 50 1 SPMA D 16X1 4401 0201 OTL602 156 81 8 242 170 203 20 50 1 SPMA D 16X2 4401 0202 OTL603 181 70 1 242 200 203 20 50 1 SPMD 16X3 4401 0203 OTL604 207 59 2 242 200 203 20 50 1 SPMD 16X4 4401 0204 The OTLX1X parallel output sharing chokes can only be used when two Unidrive SPM dri...

Page 272: ...tandard EN 50081 1 EN 61000 6 3 EN 61800 3 first environment unrestricted distribution Model Minimum resistance Ω Instantaneous power rating kW Averagepower for 60s kW SPMA1401 5 122 122 SPMA1402 5 122 122 SPMA1601 10 125 113 SPMA1602 10 125 125 SPMD1201 2 5 61 61 SPMD1202 2 5 61 61 SPMD1203 1 9 80 80 SPMD1204 1 9 80 80 SPMD1401 5 122 122 SPMD1402 5 122 122 SPMD1403 3 8 160 160 SPMD1404 3 8 160 16...

Page 273: ...th a specific standard is required unless emission tests can be carried out Table 14 38 SPMA 400V only emission compliance See user guide for maximum permitted length Table 14 39 SPMA 690V only emission compliance See user guide for maximum permitted length The tables below summarise the performance of all filters when used with single pairs of SPMD drives and SPMC or SPMU rectifiers assembled in ...

Page 274: ...d mA 1 phase open circuit mA 40 C 104 F A 50 C 122 F A 4200 6603 Schaffner 260 237 480 00 14 2 41 219 See Note 1 4200 6604 160 690 88 5 296 4200 6315 340 480 52 293 4200 6316 200 690 72 406 4200 6601 Epcos 260 195 480 13 45 220 See Note 2 4200 6602 160 120 690 5 60 310 4200 6313 340 255 480 74 375 4200 6314 200 150 690 79 392 4200 6801 600 546 500 66 96 6 4200 6802 1000 910 99 6 4200 6803 1600 145...

Page 275: ...oss referenced and then diagnosed using Table 15 1 Example 1 Trip code 3 is read from Pr 10 20 via serial communications 2 Checking Table 15 2 shows Trip 3 is an OI AC trip 3 Look up OI AC in Table 15 1 4 Perform checks detailed under Diagnosis Figure 15 1 Keypad status modes Figure 15 2 Location of the status LED Users must not attempt to repair a drive if it is faulty nor carry out fault diagnos...

Page 276: ...p Data location already contains data 179 Erase data in data location Write data to an alternative data location C cPr SMARTCARD trip The values stored in the drive and the values in the data block on the SMARTCARD are different 188 Press the red reset button C dAt SMARTCARD trip Data location specified does not contain any data 183 Ensure data block number is correct C Err SMARTCARD trip SMARTCAR...

Page 277: ...ive RS485 comms port 31 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 si...

Page 278: ...e 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 Check encoder cable shield Examine sine and cosine signals for noise Enc12 Drive encoder trip Hiperface encoder The encoder type could not be identified during auto configuration 162 Check e...

Page 279: ... Data processing error Main program stack overflow Hardware fault return drive to supplier HF13 Data processing error Software incompatible with hardware Hardware or software fault return drive to supplier HF17 Multi module system thermistor short circuit or open circuit 217 Hardware fault return drive to supplier HF18 Multi module system interconnect cable error 218 Parallel cable in wrong port N...

Page 280: ...ter closed loop vector only Check feedback device signal for noise Check the feedback device mechanical coupling It br Braking resistor overload timed out I2t accumulator value can be seen in Pr 10 39 19 Ensure the values entered in Pr 10 30 and Pr 10 31 are correct Increase the power rating of the braking resistor and change Pr 10 30 and Pr 10 31 If an external thermal protection device is being ...

Page 281: ... Reduce the values in speed loop gain parameters Pr 3 10 Pr 3 11 and Pr 3 12 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 vector and servo modes only OIAC P Power module over current detected from the module output currents 104 Acceleration deceleration rate is too short If seen dur...

Page 282: ... 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 Pr 6 46 PAd Keypad has been removed when the drive is rece...

Page 283: ...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 revert back to the user parameter set that was last saved s...

Page 284: ... an error Replace encoder 7 SM Universal Encoder Plus Initialisation failed 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 Pr 15 16 17 09 and the eq...

Page 285: ...valid RS485 configuration 50 Maths error divide by 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 ...

Page 286: ...O 24V Protected Digital input overload 3 SM I O PELV SM I O 24V Protected Analog input 1 current input too low 3mA SM I O 24V Protected Communications error 4 SM I O PELV User power 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 52 SM PROFIBUS DP SM Interbus SM DeviceNet SM CANOpen User control word t...

Page 287: ... Module Save parameters and reset drive SL rtd Solutions Module trip Drive mode has changed and Solutions Module parameter routing is now incorrect 215 Press reset If the trip persists contact the supplier of the drive SLX tO Solutions Module slot X trip Solutions Module watchdog timeout 201 206 211 Press reset If the trip persists contact the supplier of the drive SL3 tO Building automation inter...

Page 288: ...erminal 31 was active during the autotune procedure tunE1 The position feedback did not change or required speed could not be reached during the inertia test see Pr 5 12 11 Ensure the motor is free to turn i e brake was released Check feedback device wiring is correct Check feedback parameters are set correctly Check encoder coupling to motor tunE2 Position feedback direction incorrect or motor co...

Page 289: ...empted divide by zero 90 Check program UP OFL Onboard PLC program variables and function block calls using more than the allowed RAM space stack overflow 95 Check program UP ovr Onboard PLC program attempted out of range parameter write 94 Check program UP PAr Onboard PLC program attempted access to a non existent parameter 91 Check program UP ro Onboard PLC program attempted write to a read only ...

Page 290: ...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 14 tunE4 102 Oht4 P 195 EnC7 15 tunE5 103 OIbr P 196 EnC8 16 tunE6 104 OIAC P 197 EnC9 17 tunE7 105 Oht2 P 198 EnC10 18 tunE 106 OV P 199 DESt 19 It br 107 PH P 200 SL1 HF 20 It AC 108 PS P 201 SL1 tO 21 O ht1 109 OIdC P 202 SL1 Er 22 O ht2 110 Unid P 203 SL1 nF 23 O CtL 111 ConF P 204 SL1 d...

Page 291: ...o be saved at this point Table 15 3 Trip categories Priority Category Trips Comments 1 Hardware faults HF01 to HF16 These indicate fatal problems and cannot be reset The drive is inactive after one of these trips and the display shows HFxx The Drive OK relay opens and the serial comms will not function 2 Non resetable trips HF17 to HF32 SL1 HF SL2 HF SL3 HF Cannot be reset Requires the drive to be...

Page 292: ...t Limit switch is active Indicates that a limit switch is active and that it is causing the motor to be stopped i e forward limit switch with forward reference etc PLC Onboard PLC program is running An Onboard PLC program is installed and running The lower display will flash PLC once every 10s Upper display Description Drive output stage ACt Regeneration mode active Enabled The regen unit is enabl...

Page 293: ...e value transmitted 15 5 Behaviour of the drive when tripped If the drive trips the output of the drive is disabled so that the drive stops controlling the motor If any trip occurs except the UV trip the following read only parameters are frozen until the trip is cleared This is to help in diagnosing the cause of the trip Analog and digital I O The analog and digital I O on the drive continue to w...

Page 294: ...ignation 6 6 URD 32 0400 for a 400A 660Vac fuse or SIBA UL recognised semiconductor fuses type URS SQB2 690Vac e g Siba model number 20 627 31 400 SPMD inverter models are supplied by SPMU or SPMC rectifiers only The model does not comply with UL if any other fuses or MCBs are used in place of those stated For further details refer to Table 6 17 Unidrive SPMC U 400V input current fuse and cable si...

Page 295: ...PMD 42 Figure 5 16 Surface mounting the Unidrive SPMC U rectifier 42 Figure 5 17 Surface mounting the Unidrive SPMD with SPMC U rectifier and docking kit 43 Figure 5 18 Through panel mounting the Unidrive SPMA 44 Figure 5 19 Through panel mounting the Unidrive SPMD 45 Figure 5 20 Through panel mounting the Unidrive SPMC U rectifier 45 Figure 5 21 Through panel mounting the Unidrive SPMD with SPMC ...

Page 296: ...otor thermal protection Heavy Duty 146 Figure 10 2 Motor thermal protection Normal Duty 146 Figure 10 3 Torque and rated voltage against speed 147 Figure 11 1 Installation of the SMARTCARD 149 Figure 11 2 Basic SMARTCARD operation 149 Figure 12 1 Onboard PLC program scheduling 155 Figure 12 2 Programming options for Unidrive SP 156 Figure 13 1 Menu 1 logic diagram 166 Figure 13 2 Menu 2 logic diag...

Page 297: ...9 Table 6 8 400V dual output sharing choke ratings 69 Table 6 9 600V dual output sharing choke ratings 69 Table 6 10 DC bus capacitance and peak supply current values 71 Table 6 11 Available resistors 72 Table 6 12 Allowable Softstart resistor range 72 Table 6 13 MCBs available from Control Techniques 72 Table 6 14 Supply fault current used to calculate maximum input currents 74 Table 6 15 Unidriv...

Page 298: ... 14 21 Unidrive SPMD input current fuse and cable size ratings 269 Table 14 22 Unidrive SPMC U 400V input current fuse and cable size rating 270 Table 14 23 Unidrive SPMC U 690V input current fuse and cable size ratings 270 Table 14 24 400V input line reactor ratings 270 Table 14 25 400V dual input line reactor ratings 270 Table 14 26 690V input line reactor ratings 270 Table 14 27 690V dual input...

Page 299: ... 114 117 128 129 130 131 139 142 172 252 255 258 Defaults restoring parameter 105 Derating 263 Destination parameter 92 Diagnostics 275 Digital I O 1 95 Digital I O 2 95 Digital I O 3 95 Digital Input 1 95 Digital Input 2 95 Digital Input 3 95 Dimensions overall 269 Display 101 Display messages 105 Drive enable 96 Drive features 17 E Electrical Installation 64 Electrical safety 33 Electrical termi...

Page 300: ... drive set up 199 Menu 12 Threshold detectors and variable selectors 200 Menu 13 Position control 206 Menu 14 User PID controller 212 Menu 15 16 and 17 Solutions Module set up 215 Menu 18 Application menu 1 251 Menu 19 Application menu 2 251 Menu 20 Application menu 3 251 Menu 21 Second motor parameters 252 Menu 22 Additional Menu 0 set up 253 Menu structure 102 Minimum connections to get the moto...

Page 301: ...ions connections 92 Serial communications look up table 290 Serial communications port isolation 92 Servo 17 Single line descriptions 109 Slip compensation 137 SMARTCARD operation 149 155 SMARTCARD trips 153 Solutions Module 215 Solutions Module installing removal 37 Speed feedback 124 Speed limits 114 Speed loop gains 140 143 145 Speed range 268 Speed reference selection 114 Speed loop PID gains ...

Page 302: ...302 Unidrive SPM User Guide www controltechniques com Issue Number 3 W Warnings 7 Weights 269 ...

Page 303: ... １ ０ ９ ３ ３ ９ ０ 直 线 ８ ６ ０ ２ １ ３ ４ １ ７ ２ ６ ９ ４ 传 真 ８ ６ ０ ２ １ ５ １ ０ ９ ３ ３ ９ ０ ８ ０ １ ６ ８ ６ ０ ２ １ ６ ４ ７ ８ ５ ４ ４ ７ 地 址 上海市闵行区联明路３ ８ ９ 号Ａ 栋４ １ １ 室 邮编 ２ ０ １ １ ０ １ 网 址 ｗ ｗ ｗ ｓ ｈ ｌ ｃ ｃ ｔ ｃ ｏ ｍ 网 址 ｗ ｗ ｗ ｓ ｈ ｌ ｃ ｃ ｔ ｃ ｏ ｍ 邮 箱 ｓ ｈ ｌ ｃ ｓ ｈ ｌ ｃ ｃ ｔ ｃ ｏ ｍ 轻松一扫 即刻体验 ...

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